control method of drilling work and device for drilling work

专利摘要:
METHOD OF CONTROL OF DRILLING WORK AND DEVICE FOR DRILLING WORK. [Problem]. To make it possible to automatically discriminate two or more layers that are objects of the operation where a hole is formed based on the load torque applied to the drill in order to form a hole in a part that includes several areas of formation divided by being formed of materials of different qualities, to achieve the ease of drilling work in an operating condition adjusted for each layer object of the operation, and to improve the efficiency of operation. [Solution]. In a drilling work device that forms orifice 70 in part 50 having forming layers 51 to 56 divided by materials of different qualities, the means for determining the object layer of the operation determines the object layers of the operation 51a to 56a in order drilling work based on the start of drilling work and variation in the load torque applied to drill 4, the means for deciding the operation condition decides an adjusted operation rotation speed and an adjusted operation advance speed corresponding to materials formation of the respective layers object of the operation from 51a to 56a, and the means of (...).
公开号:BR112013000640B1
申请号:R112013000640-4
申请日:2011-07-08
公开日:2021-03-09
发明作者:Hideki Uchiuzo；Nobuhiko Kitamura；Takamichi Iwamoto；Koshirou Sakamoto
申请人:Sugino Machine Limited；Mitsubishi Heavy Industries, Ltd；
IPC主号:

专利说明:

TECHNICAL FIELD
[0001] The present invention relates to a method of controlling drilling work and a drilling work device in which a hole is formed in a workpiece through relative rotation and feed movement between the workpiece and a tool , and refers more specifically to a method of controlling drilling work and a drilling work device in which a hole is formed in a piece having several forming areas divided by being formed of materials of different qualities (layered product, for example). example). BACKGROUND OF THE TECHNIQUE
[0002] Drilling work devices are known which include a drive system that makes a workpiece and a tool (drill, for example) perform relative rotation movement and feeding movement so as to form a hole in the workpiece (reference Patent Literature 1 to 5, for example).
[0003] When a hole is formed in a workpiece through such a drilling work device, from a point of view of improving the precision of the operation and efficiency of the operation or protecting a cutting tool, according to the quality of the cutting material. workpiece formation and orifice depth, operating conditions including the speed of rotation of the rotating movement or the speed of feeding of the feeding movement between the workpiece and the tool are standardized and adjusted in advance (with reference to Patent Literature 2 , for example, and are adjusted according to the load torque applied to a tool during drilling work (with reference to Patent Literature 3 to 5, for example). Also, in order to form a deep hole, the operation step feeding can be performed in which after a tool has been retracted tentatively to unload cutting chips, the tool is advanced again (Patent Literature 2, 3, for example). CITATION LIST PATENT LITERATURE
[0004] Patent Literature 1: JP-A No. 2009-50942
[0005] Patent Literature 2: JP-A No. H5-50311
[0006] Patent Literature 3: JP-B No. H5-21683
[0007] Patent Literature 4: JP-A No. 2004-1120
[0008] Patent Literature 5: JP-A No. 2002-120219 SUMMARY OF THE INVENTION TECHNICAL PROBLEMS
[0009] However, when a part that becomes an object of drilling work includes several areas of formation divided by being formed of materials of different qualities (for example, in one case a layered product formed of several layers of formation divided by those layers joining together are formed of materials of different qualities), from the point of view of improving the precision of the operation and efficiency of the operation, protection of tools or improvement of the quality of the part after the operation (presence or absence of a burr, for example), and the like, it is preferable to carry out the drilling work with a condition of the appropriate operation for the material forming the respective areas.
[00010] Also, with spreading of composite materials excellent in strength and light in weight, the structures have been enlarged in that a member having a layered structure such as a layered product and the similar formed of a composite material, for example, CRFP (Carbon Fiber Reinforced Plastic), and a metal is subjected to drilling work.
[00011] However, when a worker adjusts an operation condition corresponding to the training area or selects an operation condition adjusted beforehand each time drilling work in each training area is started for a part having several areas divided by being formed of materials of different qualities, therefore, time and effort are obtained, and the efficiency of the operation is decreased. Also, it is preferable to prevent the generation of a conformation that deteriorates the quality of the part formed with an orifice such as an occurrence of burr, wear and the like when the orifice penetrates the part, the occurrence of detachment between the areas of formation or between the layers joining together on top of each other and the like.
[00012] The present invention was developed considering such circumstances and its objective is to automatically enable the discrimination of two or more layers of the object of the operation formed with an orifice in order to form the orifice in a part having several formation areas divided by be formed of materials of different qualities and facilitate the drilling work in a condition of the operation adjusted for each layer of the object of the operation as well as to improve the efficiency of the operation.
[00013] Also, the present invention aims to reduce the cost of a drilling work device and to improve the quality of a part formed with an orifice. SOLUTION TO THE PROBLEMS
[00014] An invention according to claim 1 is a method of controlling drilling work through a drilling work device including a control system (15) controlling drive systems (7, 8) that make a part ( 50, 60) and a tool (4) that forms a hole (70) in the part (50, 60) to carry out relative rotation and relative feed movement between them, where the part (50, 60) includes forming areas (51 to 56, 61, 62) of a predetermined number which is a plurality divided by being formed of materials of different qualities, a process of controlling the drive of the drive systems (7, 8) through the control system (15) includes a step of detecting load torque (S11) that detects load torque (T) applied to the tool (4), a step of determining the start of operation (S12) that determines the start of the drilling work operation for the part ( 50, 60), steps to determine the layer object of the operation o (S13, S18) that determine the two or more training areas (51 to 56; 61, 62), respectively, in the order of drilling work as two or more layers object of the operation (51a to 56a; 61a, 62a, 61b) arranged in a feeding direction which is a direction of the feeding movement at the beginning of the work and variation of the load torque (T), and a decision stage of the operation condition (S14) that decides the rotation speed (S) of the rotation movement and the feeding speed (F) of the feeding movement corresponding to forming materials. the layers object of the operation (51a to 56a; 61a, 62a, 61b) determined in the steps of determining the layer object of the operation (S13, S18), and the tool (4) forms the hole (70) on the two or more layers objects of the operation (51a to 56a; 61a, 62a, 61b).
[00015] According to the above, in the part including the areas of formation of a predetermined number formed of materials of different qualities two or more layers object of the operation where the drilling work is performed are automatically determined by detecting the load torque applied to the tool, and drilling work can be performed for respective operation object layers determined in an operation condition corresponding to each operation object layer decided by operation condition decision. As a result, for the two or more object layers of the operation where the orifice is formed, it is not necessary to adjust the position of the object object of the operation in the feed direction beforehand for each layer object of the operation and to adjust the amount of movement feed. feeding each time the layer object of the operation is switched corresponding to the thickness of each layer object of the operation, and in this way, the efficiency of drilling work can be improved.
[00016] An invention according to claim 2, is the method of controlling the drilling work according to claim 1 in which the control system (15) determines the start of the operation in the step of determining the start of the operation ( S12) determining the support of the workpiece (50, 60) and the tool (4) on top of each other based on the variation of the load torque (T).
[00017] According to the above, because the start of the drilling work operation is determined using the detected load torque to determine the layer that is the object of the operation, no exclusive means of detection is required to determine the start of the operation, and the cost of the drilling work device can be reduced. Also, the adjusted distance between the initial position of the tool and the workpiece in the feed direction and the adjusted distance until the workpiece and the tool touch each other are not required to contribute to improving the efficiency of the operation.
[00018] An invention according to claim 3 is the method of controlling the drilling work according to claim 1 or 2 wherein the orifice (70) is a continuous orifice that penetrates the part (50, 60), the two or more layers object of the operation (51a to 56a; 61a, 62a, 61b) include a finishing layer of the operation (56a, 61b) where an opening of the end terminal (71) of the orifice (70) is formed, the process of the drive control includes a penetration determination step just before (S15, S21) which determines that the tool (4) is in a penetration position just before (Pa) which is just before penetrating the part (50, 60) in the feature finish layer (56a, 61b), a step of detecting the feature finish position (S25) that detects a feature finish position (Pf) where the tool (4) penetrates the part (50, 60) and the drilling work ends, and a step of decelerating the feed speed (S24) The feed speed (F) is a slow feed rate that is slower than the feed rate of the operation in the finishing layer of the operation (56a, 61b), and the control system (15) controls the drive systems (7, 8) so that the tool (4) advances at a slow advance speed from the infeed position just before (Pa) to the finishing position of the operation (Pf).
[00019] According to the above, although the tool is from the infeed position immediately before within the finishing layer of the workpiece operation until it penetrates the workpiece and reaches the finishing position of the operation, the feeding movement is performed at a slow speed advance rate that is slower than the operation advance speed for the finish layer of the operation, therefore, an occurrence of conformation of quality deterioration such as burring, wear and the like in the finishing layer of the operation where the opening the orifice end terminal of the orifice openings can be suppressed, and the quality of the part formed with the orifice improves.
[00020] An invention according to claim 4 is the method of controlling the drilling work according to claim 3 wherein the step of determining penetration immediately before (S15, S21) includes a step of determining the finish layer (S15) which determines the finishing layer of the operation (56a, 61b) and a step of determining the load torque reduction (S21) which determines that the load torque (T) has been reduced by a predetermined rate of reduction or more , and the control system (15) determines that the tool (4) is in the infeed position just before (Pa) when the load torque reduction (T) of the predetermined reduction rate or more has been determined in the finishing layer of the operation (56a, 61b) in the penetration determination step immediately before (S15, S21).
[00021] According to the above, the part including the two or more layers object of the operation, the finishing layer of the operation is automatically determined by the step of determining the layer object of the operation and the penetration position immediately before the tool in the layer finishing of the operation is determined using the detected load torque to determine the layer object of the operation, therefore, unique detection means to determine the penetration position immediately before are not required, and the cost of the drilling work device can be reduced . Also, adjusting the amount of feed to determine the penetration position immediately before is not required, which contributes to improving the efficiency of the operation.
[00022] An invention according to claim 5 is the method of controlling the drilling work according to any one of claims 1 to 4 wherein, when the two layers object of the operation (51a to 56a; 61a, 62a, 61b) are arranged so as to be adjacent to each other in a preceding and following positional relation in the drilling work order, a layer object of the previous operation and an object layer of the next operation are made in the two or more layers object of the operation ( 51a to 56a; 61a, 62a, 61b), the drive control process includes a buoyancy reduction step (S16, S17) that employs a forward speed to reduce buoyancy force that is less than feeding speed (F) in the object layer of the previous operation in order to reduce a thrust force through the tool (4) when the load torque (T) becomes a predetermined torque or more during the drilling work for the object layer of the operation the precedent.
[00023] According to the above, because the thrust force of the drill applied to the object layer of the next operation reduces through the feed speed in the object layer of the previous operation decided in the operation condition decision step, it is decelerated to the speed advance to reduce the buoyant force, the deflection of the layer object of the next operation through an action of the buoyant force is suppressed, the occurrence of delamination between the object layer of the previous operation and the object layer of the next operation can be suppressed , and the quality of the part formed with an orifice improves.
[00024] An invention according to claim 6 is the method of controlling the drilling work according to any one of claims 1 to 5 in which the control system (15) determines the respective layers object of the operation (51a to 56a; 61a, 62a, 61b) in the step of determining the layer object of the operation (S13, S18) based on whether an absolute value of a torque variation coefficient (ΔT) which is a rate of an amount of torque variation of the load torque (T) to the load torque (T) is or is not a predetermined coefficient of variation or more.
[00025] According to the above, because the layer object of the operation is determined based on the coefficient of variation of the torque which is a relative value of the load torque, in comparison with a case in which the layer object of the operation is determined According to the variation of the absolute value of the load torque, the excellent determination accuracy of the layer object of the operation can be ensured even when the tool is worn out due to the secular change.
[00026] An invention according to claim 7 is the method of controlling the drilling work according to any one of claims 1 to 6 in which a relationship between a load torque for the step feed and an operation time step feed to perform the step feed operation of the feed movement is set in the control system (15) corresponding to the layers object of the operation (51a to 56a; 61a, 62a, 61b), and the control system (15 ) determines the support of the workpiece (50, 60) and the tool (4) on top of each other in the step feeding operation based on the variation of the load torque (T).
[00027] According to the above, even when the depth orifice operation becomes necessary in at least one of the two or more layers object of the operation, the step feed operation that performs drilling work while removing the chips from the operation is performed, and in this way, highly accurate drilling work is made possible for the part including the areas of formation of a predetermined number formed of materials of different qualities. Also, because of the support of the workpiece and the tool on top of each other, that is, the restart of the drilling work is determined using the load torque, the adjusted distance until the workpiece and the tool rest on each other becomes unnecessary that contributes to improving the efficiency of the operation.
[00028] An invention according to claim 8 is the method of controlling the drilling work according to any one of claims 1 to 7 wherein the control system (15) controls the drive systems (7, 8) so that the rotation speed (S) or the feed speed (F) in the layers object of the operation (51a to 56a; 61a, 62a, 61b) immediately after the determination in the step of determining the layer object of the operation (S13, S18) gradually increases or gradually decreases the speed of rotation (S) or the speed of feeding (F) immediately before the determination in the step of determining the layer object of the operation (S13, S18) to an adjusted speed of rotation (S1 to S6 ) or an adjusted feed speed (F1 to F6) decided in the step of deciding the condition of the operation (S14).
[00029] According to the above, when the drilling work is started for the layer object of the operation determined in the step of determining the layer object of the operation, the rotation speed or the feed speed in the layer object of the operation reaches the speed set rotation speed or the feed speed adjusted after gradually changing the rotation speed or feed speed immediately before the determination of the object layer of the operation in the step of determination of the object layer of the operation, thereby the precision of the operation of the orifice improves and the quality of the part improves.
[00030] An invention according to claim 9 is a drilling work device including a tool (4) that forms a hole in a part (50, 60), drive systems (7, 8) that make the part ( 50, 60) and the tool (4) perform relative rotation movement and relative feeding movement between them, and the control system (15) that controls the drive systems (7, 8), in which the part (50, 60) includes areas of formation (51 to 56, 61, 62) of a predetermined number which is a plurality divided by being formed of materials of different qualities, the control system (15) includes means of detecting the load torque (22 ) which detects the load torque (T) applied to the tool (4), means for determining the start of operation (31) which determines the start of operation of the drilling work for the part (50, 60), means for determining the layer object of the operation (33) that determines the two or more areas of formation (51 to 56, 61, 62) respectively n the order of drilling work as two or more layers object of the operation (51a to 56a; 61a, 62a, 61b) arranged in a feeding direction which is a direction of the feeding movement based on the beginning of the operation and variation of the load torque (T), means of deciding the condition of the operation (34) that decide the speed of rotation (S) and the feed speed (F) corresponding to the materials that form the layers object of the operation (51a to 56a; 61a, 62a, 61b) determined by the means to determine the layer object of the operation (33), and medium drive controls (41, 42) that control the drive systems (7, 8) in order to execute the rotation movement at the rotation speed (S) and the feeding movement at the feeding speed (F) so that the tool (4) forms the hole (70) on the two or more layers object of the operation (51a to 56a; 61a, 62a, 61b).
[00031] According to the above, actions and effects similar to those of the invention described in claim 1 can be exercised. ADVANTAGE EFFECTS OF THE INVENTION
[00032] According to the present invention, because an orifice is formed in a piece that includes several areas of formation divided by being formed of materials of different qualities, two or more layers object of the operation formed with an orifice, can be automatically broken down, drilling work in an operation condition adjusted for each layer object of the operation is facilitated, and the efficiency of the operation can be improved.
[00033] Also, according to the present invention, the cost of the drilling work device can be reduced, and the quality of a part formed with an orifice can be improved. BRIEF DESCRIPTION OF DRAWINGS
[00034] Figure 1 is a drawing showing schematically a part of a drilling work device in relation to an embodiment of the present invention, (a) is a front view of an essential part of the drilling work device and (b) is (a) as seen along an arrow b.
[00035] Figure 2 is a drawing explaining a piece worked by the drilling work device of figure 1, (a) shows a cross section of an essential part of the piece, (b) is an enlarged view around the distal end of a drill bit from (a), and (c) shows material from each layer object of the workpiece operation, adjusted rotation speed and adjusted feeding speed.
[00036] Figure 3 is a block diagram of an essential part of a control panel for the drilling work device in Figure 1.
[00037] Figure 4 is a part of a flow chart explaining an essential part of a drive control process for a drive system by the control panel of the drilling work device in figure 1.
[00038] Figure 5 is a remaining part of the flowchart of figure 4.
[00039] Figure 6 is a drawing equivalent to figure 2 (a) of a separate piece worked by the drilling work device in figure 1. DESCRIPTION OF MODALITIES
[00040] Below, an embodiment of the present invention will be described with reference to figure 1 through figure 6.
[00041] With reference to figure 1, the drilling work device 1 in relation to an embodiment of the present invention includes a drilling machine 2 that includes a mounting deck 3 where the part 50 is positioned and fixed and a drill 4 as a cutting tool to form a hole 70 which is a continuous hole in part 50, and a control system 15 that controls the drilling machine 2. The control system 15 includes a control panel 16 that includes a central processing unit , and an operation panel 17 as an operation unit allowing a worker to adjust the operation data including an operation condition via drilling machine 2 and information on part 50 beforehand. The operation data entry via the operation panel 17 is stored in a control system storage device 15.
[00042] In addition to the mounting deck 3 and the drill bit 4, the drilling machine 2 includes a housing 5 that is fixed to and supported by a support deck or a robot (not shown), a socket 6 as a retaining body capable of reciprocal movement in parallel with the feeding direction guided by a steering member (not shown) arranged in the housing 5, an axis motor 7 that is an electric motor as an axis drive system disposed in socket 6 and rotatingly driving the drill 4, a feed motor 8 which is an electric motor like a feed drive system driving socket 6 in the feed direction, a drive mechanism 9 for the shaft that transmits rotation from the shaft motor 7 to the drill 4, and a transmission mechanism 10 for the supply that transmits a driving force from the supply motor 8 to the socket 6.
[00043] Socket 6, both engines 7, 8, and both transmission mechanisms 9, 10 are accommodated within housing 5. Drill 4 is secured by socket 6 through transmission mechanism 9 for the shaft and motor axis 7, and is driven by the feed motor 8 to move in the direction with socket 6, the axis motor 7 and the transmission mechanism 9 for the axis.
[00044] Here, the feed direction is parallel to the axis of rotation of the drill 4 which is the axis of rotation of an axis 9a included in the drive mechanism 9 for the axis and includes a forward direction which is the working direction of drilling direction and a direction of retraction which is the opposite direction of the forward direction.
[00045] The axis motor 7 makes the part 50 and the drill 4 perform relative rotation movement between them making the drill 4 perform a rotation movement which is a cutting cut movement and the feed motor 8 makes the part 50 and the drill 4 perform relative feeding movement between them making the drill 4 perform the feeding movement. Here, the axis motor 7 and the feed motor 8 constitute a drive system for the drilling machine 2.
[00046] Also, the supply motor 8 includes a torque limiter 8a which limits the torque applied to the supply motor 8. The torque limiter 8a is capable of changing a limit value which is an upper torque limit value by adjusting a force (magnetic force, for example) to adjust the limit value.
[00047] The transmission mechanism 9 for shaft includes shaft 9a connected to a rotating shaft of shaft motor 7 and a mandrel 9b arranged at the distal end of shaft 9a so as to rotate integrally with shaft 9a with drill 4 being remarkably mounted on it. The shaft motor 7 and shaft 9a are accommodated within socket 6 of a tubular conformation.
[00048] The drive mechanism 10 for feeding includes a ball screw mechanism 10b consisting of a ball screw 10c connected to a rotation axis of the feed motor 8 through a speed reduction mechanism 10a and a ball nut 10d screwed to ball screw 10c and a bracket 10e connected to socket 6 and moving in the direction of supply integrally with ball nut 10d and converts the rotation movement of the feed motor 8 to translation movement of socket 6, the motor axis 7, axis 9a, mandrel 9b and drill 4 in the feed direction. In this way, the drill bit 4 can move in a range of maximum travel A in the feed direction driven by the feed motor 8. In figure 1 (b), a part of each one, of the drill bit 4, the chuck 9b and the socket 6 when moved by the maximum path A is shown in two dotted lines as a chain.
[00049] With reference also to figure 2, part 50 is a laminated product having a laminated structure formed from forming layers 51 to 56 as areas of formation of a predetermined number of a divided plurality, here six, being formed of materials of different qualities, and includes from the first to the sixth layers of formation from 51 to 56 in the order of the start side of the drilling work operation. From the first to the sixth training layers 51 to 56, training areas 51, 52; 52, 53; 53, 54; 54, 55; 55, 56 joining together in the feed direction of drill 4, contact each other.
[00050] The first, third and fifth formation areas 51, 53, 55 are formed from a material of a titanium or titanium alloy (shown as titanium in figure 2 (c)) as a first metal which is a first material, the second and sixth forming areas 52, 56 are formed of an aluminum or aluminum alloy material (shown as aluminum in figure 2 (c)) as a second metal which is a second material, and the fourth forming layer 54 it is formed of a material of a composite material, here CRFP, as a non-metal material which is a third material.
[00051] Also, from the first to the sixth formation layers 51 to 56 include from the first to the sixth layers objects of the operation 51a to 56a, respectively, which are portions where the orifice 70 is formed. In this way, each of the layers object of the operation 5A to 56a is a surrounding portion of the orifice 70 in the part 50 formed with the orifice 70.
[00052] Furthermore, the combination of the species of the two or more materials of different qualities forming part 50 is optional, and the combination of the species of materials of the layers object of the operation on top of each other in the feeding direction is also optional.
[00053] As shown in figure 2 (a), when the distance from a starting position Ps, where drill 4 starts the advance to start the drilling job to a finishing position of the operation Pf, where the drilling job ends and the advance of drill 4 ends is made from the path of operation B, within the path of operation B, part 50, an approach layer Ls from the starting position Ps of drill 4 (that is, a start position of advance) to where the drill 4 supports the first layer object of operation 51a of part 50 and the advance layer of post penetration Lf on which drill 4 starts from the sixth layer object of operation 56a of part 50 after penetrating the sixth layer object of operation 56a and reaches the finishing position of the Pf operation (that is, the forward finishing position) exists. The approach layer Ls and the post-penetration advance layer Lf are layers of air that are non-operating layers not equivalent to the layers that become objects of the drilling work in part 50.
[00054] Also, the orifice 70 penetrates each of the first to sixth layers of operation 51a to 56a, and is formed so as to penetrate the first layer of operation 51a over the sixth object of operation 56a. In this way, the first layer object of operation 51a is a layer of beginning of the operation where the drilling work is started in part 50, and the sixth layer object of operation 56a is a finishing layer of the operation where an opening of the end terminal 71 as an end portion of the end of the orifice 70 is formed and the drilling work ends.
[00055] With reference to figure 3, the control panel 16 (reference to figure 1) includes a detection unit 20 that detects a state of the drilling machine 2 and a control unit 30 that controls the movement of the respective motors 7, 8.
[00056] The detection unit 20 includes means for detecting the feed position 21 which detects the position in the feed direction of drill 4 (or the axis 9a) which is a feed movement executing a member, means of detecting the torque of load 22 which detects the load torque T applied to the drill 4 in a feed movement process, means of detecting the rotational speed of the axis 23 which detects a rotational speed of the axis of the motor 7 axis as a rotation speed S of the drill 4 (or axis 9a) which performs rotation movement (reference to figure 2 (c)), and feed speed detection means 24 which detects a feed rotation speed of the feed motor 8 as a feed speed F drill bit 4 (or axis 9a) (reference to figure 2 (c)).
[00057] The load torque detection means 22 detects an electric current value which is a motor drive signal value for driving the supply motor 8 (hereinafter referred to as "electric motor current value") and detects the load torque T of drill 4. More specifically, the value of the electric current of the motor is sampled by a predetermined number of sampling times in each predetermined time interval, and an average value by a method of averages of movement of the de sampling times the load torque T is made.
[00058] Referring also to figure 2, the feed position detection means 21 consisting of an encoder, for example, detects the initial position Ps as an origin, and detects the position of the drill bit 4 in the feed direction with respect to the starting position Ps. Here, the initial position Ps is previously set as a position where a distal end 4a of drill bit 4 leaves part 50 in the feed direction by a predetermined approach distance Ds. Also, the feed position detection means 21 detects the finishing position of the operation Pf of the drilling work through the drill 4. According to this modality, the finishing position of the operation Pf is a position where the distal end 4a of the drill bit 4 that has penetrated part 50 moves away from part 50 m in the feed direction through a predetermined infeed distance Df.
[00059] In this mode, the position of the drill bit 4 in the feed direction is equivalent to the position in the feed direction of the support 10e, the socket 6 and the axis 9a (all are to be referred to in figure 1) that moves in the direction of fully fed with drill 4.
[00060] The control unit 30 includes a means for determining the start of operation 31 that determines the start of the drilling work operation by determining the support of part 50 and drill 4 on top of each other, the means of calculating the coefficient of torque variation 32 that calculates a torque variation coefficient ΔT of the load torque T based on the load torque T detected by the load torque detection means 22, means for determining the layer object of operation 33 which determines two or more layers outside the first to sixth layers of formation 51 to 56 forming part 50 which are six layers of formation from the first to sixth layers of formation 51 to 56 in this embodiment as two or more of the first to sixth layers object of operation 51a to 56a which there are six layers that are the object of the operation here arranged in the feed direction which is the direction of the feed movement in the drilling work order based on the variation of the load torque T detected by the detection medium. loading torque 22, means of deciding the condition of the operation 34 that decides a condition of the operation including a rotation speed of the operation which is a rotation speed S of the rotation movement and an advance speed of the operation which is a speed feed F of the feed movement in the respective layers object of operation 51a to 56a corresponding to the materials that form the respective layers object of operation 51a to 56a, means for determining the step 35 operation to perform means for determination 36 for reduction of buoyant force that determines a state of the operation in which the buoyant force applied to the part 50 by the drill 4 in feed movement must be reduced, means for determining penetration immediately before 37 that determines that the drill 4, during drilling work, is in a penetration position just before (Pa) which is a position in the feed direction just before penetrating the part 50, means of changing the detection condition 38 which changes the detection condition for the load torque T by the load torque detection means 22 according to a state of the drilling machine 2, axis drive control means 41 which includes an inverter and controls a rotation speed of the 7 axis motor (thus, the rotation speed S), and a feed drive control means 42 that includes a servo amplifier and controls a rotation speed of the feed motor 8 (in this way, the feed speed F).
[00061] Here the drive control means of the axis 41 and the drive control means 42 constitute the drive control means and control the axis motor 7 and the supply motor 8, respectively, in order to obtain the rotation speed S and the feed speed F decided by means of deciding the condition of the operation 34.
[00062] With reference to figure 2, the operation panel 17 (reference to figure 1 (a)) is of a touch panel type, for example, and includes a start / stop switch, an input unit and a display unit. Through the input unit, a worker inputs data into part 50 including the layout of the first to sixth layers of operation 51a to 56a which are portions where orifice 70 is formed in part 50, data and an appropriate operation condition for work of perforation such as the set rotation speed of the rotation speed S, the adjusted feed speed of the feed speed F, and the like, and the operation data including position data in the feed direction including the starting position Ps, the position of finishing of the Pf operation and the retraction position in step feed as adjusted values.
[00063] Here, the layout of the object layers of operation 51a to 56a is in the drilling work order in part 50, and is the layout in the forward direction. Also, in the operating condition, an operating condition of the drilling work device 1 when it is not operating while the drilling machine 2 is in operation is also to be included.
[00064] The set rotation speed includes a rotation speed of the adjusted operation S1 to S6 which is a rotation speed of the operation for each of the layers object of the operation 51a to 56a when drill 4 performs the drilling work for the respective operation object layers 51a to 56a, a rotation speed adjusted for penetration just before Sf which is a rotation speed for penetration just before in a penetration process just before, a rotation speed of the adjusted approach Ss which is a rotation speed of the approach in an approach process and an adjusted restoration rotation speed which is a restoration rotation speed in an origin restoration process. The rotation speed of the approach is faster than the rotation speed of the operation for the respective object layers of the operation 51a to 56a.
[00065] Here, the penetration process just before is a process starting when drill 4 is in the penetration position just before Pa until reaching the finishing position of operation Pf, the approach process is a process starting when drill 4 is in the initial position Ps until supporting the part 50, and the process of restoration of origin is a process starting when the drill 4 is in the finishing position of the operation Pf until returning to the initial position Ps.
[00066] Also, the set feed speed includes an adjusted feed advance speed F1 to F6 which is an operation feed speed for each of the layers subject to operation 51a to 56a when drill 4 performs the drilling work for the respective layers object of operation 51a to 56a, an adjusted slow feed rate Ff which is a feed rate for penetration immediately before in a penetration process immediately before, an adjusted approach feed rate Fs which is the feed rate of approach in an approach process, an adjusted retraction speed of restoration which is a retraction speed of restoration in an original restoration process, an advance speed for reducing the reduced thrust force which is an advance speed for reducing the buoyant force limiting a buoyant buoyant force 4, and each of a retraction speed in reduced step feed which is a retraction speed in the step feed and an approach feedrate in the step feed which is an approach feedrate in the step feed when drill 4 retracts and advances in the step feed operation.
[00067] Approach forward speed, restoration retraction speed, approach advance speed at the step feed, and retraction speed at the step feed are faster than each of the operation forward speed . The adjusted forward feedrate Fs, the adjusted home restoration retraction speed, the forward feedrate on the adjusted step feed, and the retracted speed on the adjusted step feed can be adjusted the same as each other, and are settings for maximum speed on the feed motor 8 here.
[00068] On the other hand, the slow advance speed is slower than the advance speed of the operation in the sixth formation layer of the operation 56a, which is the finishing layer of the operation, and the advance speed for reducing the driving force. thrust is slower than each of the forward speed of the operation.
[00069] Figure 2 (c) shows numerical values that are examples of the rotation speed of the adjusted S1 to S6 operation and the speed of the operation from S1 to S6 in adjusted parentheses.
[00070] The control unit 30 will be further described with reference to figure 2 and figure 3.
[00071] The means for determining the start of operation 31 determines the support of part 50 and bit 4 on top of each other based on the load torque T detected by the load torque detection means 22. More specifically, when the load torque load T becomes a predetermined torque to start the operation or more due to the support of drill 4 and the first layer object of operation 51a on top of each other in a state where the load torque T is generally zero while drill 4 advances over the Approach distance Ds after starting to advance from the initial position Ps until it rests on part 50, drill 4 is determined to have rested on part 50, and in this way, the start of operation (that is, the cutting moment) is determined .
[00072] The torque variation coefficient ΔT is calculated based on the most recent load torque T detected by the load torque detection means 22 (hereinafter referred to as "most recent load torque") and the load torque T detected just before the most recent load torque (hereinafter referred to as "load torque just before"), and is calculated more specifically as a ratio of an amount of torque variation (that is, the difference between the torque of the load). most recent load and the load torque just before) to the load torque just before.
[00073] The means for determining the object layer of the operation 33 determines the first layer object of the operation 51a as a first layer object of the operation when the beginning of the operation was determined by the means for determining the beginning of the operation 31. Also, when the two object layers of the operation (for example, the first and second layers object of operation 51a, 52a, the second and third layers object of operation 52a, 53a, the third and fourth layers object of operation 53a, 54a, and the like ) arranged so as to be connected with each other in a preceding and following positional relation in the order of the drilling work in part 50, a layer object of the previous operation (for example, the first layer object of operation 51a) and a layer object of the next operation (for example, the second layer object of operation 52a) after the first layer object of operation 51a has been determined, the means for determining the layer object of operation 33 determines indicates that the object layer of the operation has been changed from the object layer of the previous operation to the object layer of the next operation positioned after the object layer of the previous operation in the drilling work order when an absolute value of the torque variation coefficient ΔT at the moment of drilling work in a condition of the operation in the layer object of the previous operation was changed by a predetermined coefficient of variation or more with respect to the load torque T applied to drill 4 in which the drilling work was carried out for the layer object of the previous operation .
[00074] Also, the means for determining the layer object of operation 33 determines from second to sixth layers objects of operation 52a to 56a (which are from the second to sixth layers of formation 52 to 56 as well) which are the five layers object of operation remnants included in part 50 other than the first layer object of the operation (that is, the first layer object of the operation 51a) based on the moments of occurrence of variation of the load torque T through a predetermined coefficient of variation or more after the beginning of the operation has been determined by the means for determining the start of operation 31 and the layout of the layers object of operation 51a to 56a of part 50 in advance adjusted through the panel of operation 17.
[00075] Therefore, the determination processes that determine the object layers of operation 52 to 56 other than the first layer object of operation 51a are performed one by one between the first and second layers object of operation 51a, 52a, between the second and the third layer object of operation 52a, 53a, between the third and fourth layer object of operation 53a, 54a, between the fourth and fifth layer object of operation 54a, 55a, and between the fifth and sixth layer object of operation 55a, 56a and the respective layers object of the operation 51a to 56a in part 50 are determined respectively in the drilling work order.
[00076] In other words, with respect to the object layers of operation 52a to 56a different from the first layer object of operation 51a, based on the variation of the load torque T applied to drill 4 during operation of the object layer of the previous operation where the work drilling is carried out previously between the object layers of operation 51a, 52a; 52a, 53a; 53a, 54a; 54a, 55a; 55a, 56a contacting each other in the feed direction, the object layers of the next operation that follow the object layers of the previous operation are determined, and these determination processes are repeated until the object layer of the next operation becomes the layer of the next operation. finishing of the operation (the sixth layer object of operation 56a in this modality).
[00077] Here, the predetermined coefficient of variation is adjusted in advance based on the formation materials of the respective layers that are the object of the operation from 51a to 56a according to the combination of the object layers of the previous operation and the object layers of the next operation.
[00078] Also, when the object layers of the operation 51a to 56a, where the drilling work is started have been determined by the means for determining the layer object of the operation 33, the means of deciding the condition of the operation 34 regains the speed of set rotation and set feed speed stored in the control system storage device 15 in order to decide the rotation speed S and the feed speed F in the object layers of the operation from 51a to 56a and decide the rotation speed S and the feed speed F in the rotation speed of the adjusted operation S1 to S6 and in the feed speed of the adjusted operation F1 to F6 corresponding to each of the object layers of the operation from 51a to 56a, and drilling work for each of the object layers from operation 51a to 56 is performed in a condition of the appropriate operation.
[00079] In a pair of the object layer of the previous operation and the object layer of the next operation, the means for determining 36 for reducing the buoyant force determines an operation state in which the load torque T detected by the torque detection means load 22 becomes equal to or greater than a predetermined torque for reducing the thrust force previously adjusted during drilling work for the layer object of the previous operation. When it has been determined by the means for determining 36 the thrust force that the load torque T of the predetermined torque for reducing the thrust force or more has been applied to drill 4, the operating condition decision means 34 decides the feed rate F at a feedrate set for reducing the thrust force which is a feedrate for reducing the thrust force which is slower than the feedrate of the set operation decided corresponding to the object layer of the previous operation.
[00080] This advance speed for reducing the buoyant force is adjusted from the point of view of suppressing deflection of the layer object of the next operation based on the forming material and the thickness of the layer object of the next operation, the feed speed F in the layer object of the previous operation, and the like.
[00081] Also, the load torque T adjusted in the step feed and the operation time in the step feed adjusted for the case of performing step feed operation during drilling work in the respective layers object of the operation from 52a to 56a are adjusted beforehand through the operation panel 17 corresponding to the respective layers object of the operation 52a to 53a, 55a, 56a excluding the fourth object layer of the operation 54a which is formed of CFRP as a starting condition of the step feeding operation that constitutes a part of the transaction data.
[00082] If the load torque T detected by the load torque detection means 22 is the load torque for step feed and when it has been detected that the operation time for step feed corresponding to the load torque for feed step has expired by means of time measurement (not shown) which constitutes the detection unit 20, the means for determining the step feeding operation 35 determines that the condition of starting the step feeding operation has been established.
[00083] Also, when it has been determined by the means for determining the step feeding operation 35 that the start condition of the step feeding operation has been established, the means of deciding the condition of operation 34 decides the feeding speed F in the retraction speed in the adjusted step feed and the advance speed of approach adjusted in the step feed while maintaining the rotation speed S at the set rotation speed of the operation in the object layer of the operation during the operation and the step feed operation is performed.
[00084] Additionally, the support of part 50 and bit 4 on top of each other in the step feed operation is determined by means of determining the resumption of operation for step feed based on the variation of the load torque T detected by the load torque detection means 22. More specifically, when the load torque T in the approach process in the step feed becomes a predetermined torque in the step feed or more due to the support of an operating object layer and the drill bit 4 one over the other during operation at a time point when the retraction in the step feed operation is initiated, the means for determining the restart of production for the step feed determines that drill 4 supported on part 50, and thus , the restart of drilling work is determined.
[00085] In this step feed operation, a retraction position in the step feed in the feed direction in a retraction process in the step feed in which the drill 4 tentatively retracts is set to the initial position Ps. As another example, the retraction position in the step feed can be adjusted so that the distal end 4a of drill 4 occupies a position within part 50 or a position closer to part 50 than the initial position Ps.
[00086] When drill 4 approaches the penetration position just before Pa of part 50, because the thickness of the remaining part of the operation reduces in the sixth layer object of operation 56a, which is the finishing layer of the operation, the load torque T reduces . Thus, when it is determined that the object layer of the operation is the sixth object layer of the operation 56a through the means to determine the layer object of the operation 33 and it was determined that the torque variation coefficient ΔT calculated by the load, the means of calculating the torque variation coefficient 32 based on the load torque T is a reduction rate of a predetermined reduction rate or more, the means for determining penetration just before 37 determines that drill bit 4 is in the penetration position just before Pa. The predetermined rate of reduction is obtained by an experiment and simulation based on the formation material of the sixth layer object of operation 56a, the rotation speed of the operation and the advance speed of the operation on the sixth layer object of operation 56a, the thickness of the remaining part of the transaction, and the like.
[00087] Also, when it was determined by the means for determining penetration just before 37 that drill 4 is in a position close to penetration, the decision condition of operation condition 34 decides the rotation speed S and the feed speed F at the speed of rotation for the penetration just before set and the set slow feed rate Ff, respectively, and the feed rate of the set operation F6 is decelerated to the set feed rate Ff. Although the rotation speed adjusted for penetration immediately before is maintained at the rotation speed of the adjusted operation S6 in the sixth layer object of operation 56a in this mode, as another example, it can be adjusted slower than the rotation speed of operation S6, and the effect of preventing the occurrence of a deteriorating quality conformation is improved in the case.
[00088] Here, the quality deterioration conformation is a conformation such as a burr, wear, or delamination described below, and the similar that occurs when drill bit 4 penetrates part 50 and deteriorates the quality of part 50.
[00089] The adjusted slow advance speed Ff is adjusted from the point of view of preventing the occurrence of the deterioration conformation of quality, and is adjusted according to the quality of the sixth layer object of the operation 56a. Also, the set slow feed rate Ff is kept constant after drill 4 penetrates part 50 until it reaches the finishing position of the Pf operation. As another example, the set slow feed rate Ff can also change within a wider range. slower than the advance speed set in the sixth layer object of operation 56a between the penetration position immediately before Pa and the finishing position of the operation Pf established that the deterioration of the quality does not occur. For example, if the slow advance speed is thus increased, the operation time can be shortened while preventing the deterioration of quality from occurring.
[00090] Also, the means of deciding the condition of operation 34 decides the feed rate F at the advance speed of the adjusted approach Fs during the approach process, and decides the feed rate F at the retraction speed for penetration just before adjusted after drill 4 has reached the finishing position of operation Pf.
[00091] Axis drive control means 41 controls the 7 axis motor in such a way that the drill bit 4 performs rotation movement at the rotation speed of the adjusted operation S1 to S6 based on a detected rotation speed of the axis by means of detecting the speed of rotation of the shaft 23. Similarly, the feed drive control means 42 feeds the feed motor 8 so that the drill bit 4 performs a feed movement at the set feed speed based on a feed rotation speed detected by the feed speed detection means 24.
[00092] Also, immediately after the object layers of operation 51a to 56a have been determined by the means for determining the layer object of operation 33, the axis drive control means 41 and the feed drive control means 42 control the respective motors 7, 8 so that at least any speed of rotation speed S and feed speed F can be set to values other than the rotation speed of the adjusted operation S1 to S6 and the feed speed of the adjusted operation F1 to F6, adjustment for the object layers of the operation from 51a to 56a, (hereinafter referred to as "intervention control").
[00093] More specifically, the respective motors 7, 8 are controlled by intervention so that when the drill bit 4 advances in the approach layer Ls to support in the part 50 and the drilling work for the part 50 (drilling work for the first layer object of operation 51a here) is started (that is, at the moment of cutting), at least both the speed of the rotation speed S and the feed speed F are decelerated once from the adjusted approach rotation speed Ss and the speed advance rate of the adjusted approach Fs in the approach layer Ls for the predetermined rotation speed and the predetermined feed speed, respectively, and is henceforth gradually increased for the rotation speed of the adjusted operation S1 and the advance speed of the adjusted operation F1 in the first layer object of operation 51a, respectively.
[00094] Here, the predetermined speed of rotation is slower than the speed of rotation of the adjusted approach Ss and the speed of rotation of the adjusted operation S1 in the first layer object of operation 51a, and the predetermined feed speed is slower than that the advance speed of the adjusted approach Fs and the advance speed of the adjusted operation F1.
[00095] Also, as another example, when the first object layer of operation 51a was determined by the means for determining the object layer of operation 33, intervention control can be performed after drill 4 retracts once for a predetermined distance ( 1mm, for example).
[00096] In addition, when the drilling work moves from a layer with high hardness to an operation with a lower hardness, the respective engines 7, 8 are controlled by intervention so that by minus any speed of rotation speed S and feed speed F gradually increases according to the hardness.
[00097] In addition, when drilling work shifts from an operating layer of a high hardness quality to an operating layer of a lower quality hardness, the respective motors 7, 8 are controlled by intervention so that at least any speed of rotation speed S and feed speed F gradually decreases according to the hardness. <Intervention control at the beginning of the drilling work>
[00098] Also, in this modality, at the beginning of the drilling work, the drive control means for axis 41 controls by intervention the motor of axis 7 so that the rotation speed S in the first layer object of operation 51a, immediately after to be determined by the means for determining the object layer of the operation 33, it is decelerated once to the predetermined rotation speed which is lower than the rotation speed of the adjusted approach Ss and the rotation speed of the adjusted operation S1 and, hence onwards gradually increases from the predetermined rotation speed to the rotation speed of the adjusted operation S1 which has been adjusted for the first layer object of the operation 51a. As another example, in the control by intervention at the beginning of the drilling work, at the rotation speed S, the rotation speed of operation S1 can be made immediately without going through the set predetermined rotation speed.
[00099] Similarly, the feed drive control means 42 intervenes the feed motor 8 so that, at the beginning of the drilling work, the feed speed F in the first layer object of operation 51a is decelerated once to the predetermined feed rate which is lower than the set feed rate and thereafter gradually increases from the predetermined feed rate to the set feed rate F which has been set for the first layer object of operation 51a. <Intervention control during drilling work>
[000100] Also, during drilling work on the workpiece, the drive control means for axis 41 controls the axis motor 7 so that the rotation speed S in the layers covered by the operation 52a to 56a immediately after being determined by the means for determining the object layer of the operation 33 gradually increases (that is, gradual increase) or gradually reduces (that is, gradual reduction) of the rotation speed of the operation S1 to S5 which is the rotation speed S immediately before the determination by means to determine the object layer of the operation 33 for the rotation speed of the operation adjusted S2 to S6 that was adjusted for the object layers of the operation from 52a to 56a.
[000101] Similarly, during drilling work on the workpiece, the feed drive control means 42 intervenes the feed motor 8 so that the feed speed F in the operating object layers 52a to 56a immediately after be determined by the means for determining the object layer of the operation 33 gradually increase or gradually decrease the advance speed of the adjusted operation F1 to F5 which is the feed speed F immediately before the determination by the means for determining the layer object of the operation 33 or a advance speed set to reduce the thrust force to the advance speed of the adjusted operation F2 to F6 which is the adjusted feed speed having been adjusted for the object layers of the operation from 51a to 56a.
[000102] Also, the degree to which the rotation speed S and the feed speed F gradually increase or gradually decrease, that is, the degree of gradual increase or gradual reduction of speed, is adjusted from the point of view of improving precision of the operation considering the adjusted rotation speed, the adjusted feeding speed, the quality of the materials forming the layers that are the object of the operation from 51a to 56a (hardness, for example), and the like.
[000103] For example, the speed of rotation S and the speed of feed F of the first to sixth layers of the objects of operation 51a to 56a during intervention control are adjusted respectively at the set speed of rotation and the feed speed adjusted in the layer of approach Ls immediately before the first to sixth layers of operation 51a to 56a are determined by the means for determining the layer object of operation 33 and the first to fifth layers of operation 51a to 55a during drilling work (equivalent to the object layer of the preceding operation outside the two layers object of the operation joining together in the drilling work order), or based on the set rotation speed and feed rate adjusted from the first to the sixth layer objects of the operation from 51a to 56a immediately after the first to sixth layers object of operation 51a to 56a are determined by the means to determine the layer object of the operation 33 (equivalent to the object layer of the next operation outside of two layers object of the operation joining together in the drilling work order).
[000104] Thus, as an example of the set rotation speed and the set feed speed that become the basis for setting the rotational speed S and the feed speed F during intervention control, it is also possible to constantly select the speed set rotation speed and the feed rate adjusted in the object layer of the operation where the adjusted rotation speed and the set feed speed are higher outside the object layers of the operation immediately before and immediately after being determined by the means for determining the object layer of the operation operation 33 (equivalent to the two layers object of the operation joining together in the drilling work order).
[000105] Also, as shown in figure 2 (b), drill bit 4 includes a conical shaped part 4c where the outer diameter changes from its distal end 4a to a shoulder 4b (a portion where the outer diameter of drill 4 becomes maximum). In this way, when the length Lt of the conical forming part 4c is shorter than the thickness of each of the layers object of the operation 51a to 56a, it is preferable that the intervention control be performed in a predetermined thickness range of the length Lt or less in the respective layers object of the operation from 51a to 56a. Thus, when the intervention control is performed, it is necessary to select a drill considering the thickness of the object layers of the operation from 51a to 56a or to combine drill 4 and part 50 according to drill 4 and the thickness of the object layers of the operation. operation from 51a to 56a.
[000106] Additionally, the feed drive control means 42 performs the acceleration control of the feed speed F through the feed rotation speed, and control of the limiting value of the torque limiter 8a (reference to figure 1 (b) ).
[000107] More specifically, when the drill bit 4 which has been in a state of interruption of rotation initiates the advance from the initial position Ps, the acceleration of the feed speed F of the feed motor 8 is adjusted in the acceleration in the approach process that is less than the acceleration in operation when drilling work is performed for part 50 in the approach process (or a layer before the start of the operation). Therefore, a marked increase in the electric current supplied to the supply motor 8 can be suppressed.
[000108] Also, the feed drive control means 42, in order to reduce the impact applied to drill 4 at the time point, drill 4 supports in part 50, in the approach process (or in the approach layer) and in the step feeding approach process in which the drill 4 that tentatively retracted in the step feeding retraction process advances until it rests on part 50 again, the torque limiter limit value 8a is set to a lower approach limit value than a limit value in operation when part 50 is worked.
[000109] The means of changing the detection condition 38 which changes a detection function by means of the detection of the load torque 22 changes the number of sampling times performed in any predetermined time interval by means of the detection of the load torque 22 in the approach process and the step feeding approach process in order to become less than the number of sampling times during drilling work. Therefore, because the variation in the motor current value caused by the support of part 50 and the drill bit 4 on top of each other (in this way, the variation in the load torque T) can be sensibly detected, the support detection of part 50 and the drill 4 on top of each other can be made faster, and the responsibility for controlling the shaft motor 7 and the feed motor 8 at the beginning of the drilling work can be improved.
[000110] Also, the means of changing the detection condition 38 performs a disguise process in order to prevent erroneous determination of the layer subject to the operation by means of determining the layer of the operation caused by the sharp variation in the current value of the motor immediately after of the switching and in order to prevent erroneous determination of the layer object of the operation through the means for determining the layer of the operation caused by the sharp variation in the value of the motor current immediately after shifting from the retraction process in the step feed in the step feed operation for the step feeding process in switching the layer object of the operation when the absolute value of the torque variation coefficient ΔT becomes a predetermined variation coefficient or more.
[000111] The masking process includes not detecting the motor current value, or excluding the detected motor current value from the calculation of the absolute value. Because the value of the motor current that becomes noisy in detecting the load torque T is ignored by the cloaking process, the accurate detection of the load torque detection means 22 improves.
[000112] With reference mainly to figure 4, figure 5 although with reference to figure 1 to figure 3 according to the need, the process of the control of the drive of the axis motor 7 and the supply motor 8 carried out by the system will be described control 15 in a method of controlling drilling work by the drilling work device 1.
[000113] The operation data including operation conditions such as the layout of the first to sixth layers of the operation objects 51a to 56a in part 50 as well as the rotation speed S and the feed speed F and the like are adjusted through the operation panel 17, then the drilling machine 2 operation is started, and thereafter in step S11 as a load torque detection step, the load torque T applied to drill 4 is constantly detected by the detection means of the load torque 22 while the drilling machine 2 is operated.
[000114] Then, in step S12 as a step of determining the start of operation, the load torque T of drill 4 that is advancing in the approach layer Ls from the initial position Ps towards part 50 is detected by the means of detecting the load torque 22, and whether load torque T has changed or not through a predetermined torque to start operation or more is determined by the means for determining start of operation 31. The means for determining start of operation 31 determines that the drill 4 rests on the part 50, in this way, it determines to be initiated by the drilling machine 2, when the load torque T has become the predetermined torque to initiate the operation or more, and determines that the drill 4 is in the process of approach when the load torque T is less than the predetermined torque to start the operation.
[000115] Because of the means for determining the start of operation 31 determined to be the start of the operation in step S12, the means for determining the layer that is the object of the operation 33 determines that the layer that is the object of the operation of the drilling work performed immediately after the determination is the first layer object of operation 51a in step S13, and then in step S14, the decision medium of the condition of operation 34 decides the rotation speed of operation S1 and the advance speed of the adjusted operation F1 corresponding to the first layer subject of operation 51a. Also, axis drive control means 41 and feed drive control means 42 control shaft motor 7 and feed motor 8 so that drill bit 4 is driven at the set operating speed S1 and at the advance speed of the set operation F16, and the drilling work is performed for the first layer object of operation 51a.
[000116] Then, in step S15, whether or not the layer object of the operation was determined in step S13 is the finishing layer of the operation (the sixth layer object of operation 56a in this modality) is determined. In the present case, because the layer object of the operation is the first layer object of the operation 51a and is not the sixth object layer of the operation 56a, the process goes to step S16, and whether or not the load torque T applied to the drill bit 4 during operation of the first layer object of operation 51a which is the object layer of the previous operation is a predetermined torque for reducing the buoyant force or more is determined by the means for determining 36 for reducing the buoyant force. When it has been determined that the load torque T of the predetermined torque for the reduction of the buoyant force or more has been applied to the drill bit 4, in step S17, the means of deciding the condition of the operation 34 decides the slow advance speed for the reduction of the buoyant force which is slower than the advance speed of operation F1 in the first layer object of operation 51a in order to prevent or suppress deflection current caused by a buoyant force of drill 4 in the second layer object of operation 52a it is the object layer of the next operation.
[000117] When the loading torque T applied to drill 4 during operation of the first layer object of operation 51a is less than the predetermined torque for reducing the buoyant force in step S16, the process goes to step S18, and the middle to determine the layer object of the operation 33 determines whether or not the absolute value of the torque variation coefficient ΔT calculated by means of the calculation of the torque variation coefficient 32 is a predetermined variation coefficient or more.
[000118] When the torque variation coefficient ΔT is less than the predetermined variation coefficient, the process goes to step S19, whether or not the start condition of the step feeding operation has been established is determined, and, when the start of operation condition has been established, the step feed operation is performed in step S20. When the start of operation condition is not established in step S19, the process goes to step S16, steps S16 to S18 are performed, and the drilling work for the first layer object of operation 51a is continued.
[000119] When it has been determined that the absolute value of the torque coefficient of variation ΔT is the predetermined coefficient of variation or more in step S18, the means for determining the layer object of the operation 33 determines that the layer object of the operation is switched from first object layer of operation 51a for the second layer object of operation 52a in step S13, the decision medium of the condition of operation 34 decides the rotation speed of the adjusted operation S2 and the advance speed of the adjusted operation F2 corresponding to the second object layer of operation 52a, shaft motor 7 and feed motor 8 controlled by shaft drive control means 41 and feed drive control means 42, respectively, drill bit 4 at the set operation speed S2 and the advance speed of the adjusted operation F2, and the drilling work is performed for the second layer object of operation 52a in step S14.
[000120] Hereinafter, until it is determined that the layer object of the operation is the sixth object layer of operation 56a (that is, the finishing layer of the operation) in step S15, steps S13 to S20 are performed repeatedly, and until at the third to sixth layers, objects of the operation 51a to 56a are determined one by one.
[000121] Also, it is determined that the layer object of the operation is the sixth object layer of operation 56a in step S13, it is determined that the present layer object of the operation is the finishing layer of the operation in step S15, and the process goes to step S21.
[000122] In this way, the steps S13, S18 constitute a step of determining the layer object of the operation that determines the formation layers 51 to 56 of part 50, respectively, as two or more layers object of the operation 51a to 56a, arranged in the feed direction in the drilling work order, and step S14 constitutes an operation condition decision step that decides the rotation speed S of the rotation movement and the feeding speed F of the feeding movement corresponding to materials that form the object layers of the operation 51a to 56a, determined in the step of determining the layer object of the operation. Also, the steps S16, S17 constitute a step of reducing the buoyant force that employs a forward speed for the reduction of the buoyant force that is slower than the forward speed of the operation in the layer object of the previous operation in order to reduce the buoyant force applied to the layer that is the object of the next operation by drill 4.
[000123] In step S21, the means for determining penetration immediately before 37 determines whether or not the torque variation coefficient ΔT is a reduction rate of the predetermined reduction rate or more and, when the load torque T has not reduced through the predetermined reduction rate or more, determines not to have reached the penetration position immediately before Pa, the process goes to step S22, the step feeding operation is performed similarly to steps S19, S20 when the start condition step feed rate has been established, since when the start operation condition has been established, drilling work is performed for the sixth layer object of operation 56a at the rotation speed of operation S6 and the advance speed of the adjusted operation F6 until be determined in step S21 that the load torque T has been reduced by the predetermined rate of reduction or more to determine that drill 4 has reached the immediate penetration position before Pa.
[000124] When it is determined that drill bit 4 has reached the penetration position just before Pa in step S21, the process goes to step S24, the means of deciding the condition of operation 34 decides the feed rate F at the slow feed rate set Ff, and the feed speed F is decelerated from the feedrate of the set operation F6 to the set feedrate Ff in a state where the rotation speed S is maintained at the rotation speed of operation S6.
[000125] Drill 4 is kept at the set slow feed speed Ff until it reaches the finishing position of operation Pf to perform the drilling job for the sixth layer object of operation 56a, and advances to the finishing position of operation Pf afterwards that from hole 70 penetrated the part 50. Also, when it is detected by means of the detection of the feed position 21 that the drill bit 4 reached the finishing position of the operation Pf in step S25, the process goes to step S26, the operating condition decision 34 decides the feed rate F at the set restoration rotation speed, and drill 4 retracts to the initial position Ps at a fast set restoration rotation speed.
[000126] Here, steps S19, S20 and steps S22, S23 constitute a step of the step feed operation to perform the step feed operation.
[000127] Also, steps S15, S21 constitute a penetration determination step immediately before. In this way, the penetration determination step immediately before includes step S15 which is a step of determining the finishing layer of the operation to determine the finishing layer of the operation and step S21 which is a step of determining the torque reduction of the operation. load to determine that the load torque T has decreased by the predetermined rate of reduction or more.
[000128] Additionally, step S24 constitutes a step of decelerating the feed speed which makes the feed speed F the slow feed speed which is slower than the feed speed of the operation in the finish layer of the operation, and the step S25 constitutes a finishing position for operation Pf detecting the finishing position of operation Pf where drill 4 penetrates part 50 and finishes the drilling work.
[000129] In the following, actions and effects of the modality constituted as described above will be described.
[000130] In the drilling work device 1 that forms the orifice 70 in the part 50 including a predetermined number of the forming layers 51 to 56 divided, being formed of materials of different qualities, in a process of the control of the drive of the axis motor 7 and the feed motor 8 by its control system 15, the means for determining the layer object of operation 33 determines the two or more layers object of operation 51a to 56a in drilling work order respectively based on variation in torque of load T detected by means of detection of load torque 22 and the start of operation determined by the means for determining the start of operation 31, the decision medium of the condition of operation 34 decides the rotation speed of the operation adjusted S1 to S6 and the advance speed of operation F1 to F6 corresponding to the formation movement of the object layers of the operation from 51a to 56a determined by the medium to determine the layer object of the operation 3 3, and axis drive control means 41 and feed drive control means 42 control shaft motor 7 and feed motor 8 over two or more layers subject to operation from 51a to 56a at rotational speed operation adjusted from S1 to S6 and the advance speed of operation F1 to F6.
[000131] Therefore, part 50 including the layers covered by the operation 51a to 56a of the predetermined number, the two or more layers covered by the operation 51a to 56a where the drilling work is performed, are automatically determined by detecting the loading torque T applied to drill 4, and drilling work can be performed for the layers subject to the 51a to 56a operation determined in an operation condition corresponding to each of the layers subject to the 51a to 56a operation decided by the means of decision of the condition of the operation 34. As a result, with respect to the two or more object layers of the operation 51a to 56a formed with the orifice 70, it is not necessary to adjust the position of the object layers of the operation 51a to 56a in the feed direction beforehand for each of the object layers of the operation from 51a to 56a and adjust the amount of feed of the feeding movement every time the object layers of the operation from 51a to 56a are switched s corresponding to the thickness of the respective layers object of the operation from 51a to 56a, in this way, the drilling work in the condition of the operation adjusted for each layer object of the operation is facilitated and the efficiency of the operation can be improved.
[000132] The means for determining the start of operation 31 of the control system 15 determines the start of operation by determining the support of part 50 and the tool on top of each other to represent the load torque T, which is a predetermined torque for starting the operation or more based on the variation of the load torque T. Therefore, because the drilling work is determined using the load torque T detected to determine the object layers of the operation from 51a to 56a by the means to determine the layer object of the operation 33, the means for exclusive determination to determine the start of the operation is not required, and the cost of the drilling work device 1 can be reduced. Also, adjusting the approach distance Ds between the starting position Ps of the drill bit 4 and the part 50 in the feed direction and adjusting the amount of feed up to the support of the part 50 and the tool on top of each other are not required which contributes to improving the efficiency of the operation.
[000133] Also, with respect to the feed speed F of drill 4, the feedrate of the approach in the approach process, the rotation speed of restoration in the retraction position, the feedrate of the approach in the step feed and the retraction speeds in the step feed in the step feed operation are faster than the advance speed of the operation in the object layers of the operation from 51a to 56a, thus, the operation time can be shortened and the efficiency of the operation improves .
[000134] In the process of the drive control through the control system 15, the means for determining penetration just before 37 determines that the drill bit 4 is in the penetration position just before Pa immediately before penetrating the part 50 in the sixth layer object of the operation 56a which is the finishing layer of the operation, and the feed rate F is decelerated so that the feed movement is performed at a slow feed rate is slower than the feed rate of the operation for the sixth object layer of operation 56a since the drill bit 4 starts from the penetration position immediately before Pa inside the sixth layer object of the operation 56a of the part 50 until it penetrates the part 50 and reaches the finishing position of the operation Pf, thus, the occurrence of the conformation of quality deterioration such as a burr and the like in the finishing layer of the operation where the opening of the end terminal 71 of the orifice 70 opens can be suppressed and the quality of the part 50 formed with the orifice 70 improves.
[000135] In the drive control process via the control system 15, the means for determining penetration just before 37 determines that the drill bit 4 is in the penetration position just before Pa when the means for determining the layer subject to the operation 33 determines the finishing layer of the operation and it is determined that the load torque T has been reduced by the predetermined reduction rate or more based on the torque variation coefficient ΔT.
[000136] Consequently, in part 50 including the two or more layers object of the operation 51a to 56a, the sixth object layer of the operation 56a which is the finishing layer of the operation is automatically determined by the means for determining the layer object of the operation 33 and the penetration position immediately before Pa of drill 4 in the sixth layer object of operation 56a is determined using the load torque T detected to determine the sixth layer object of operation 56a, thereby the unique detection means to determine the position of penetration just before Pa is not required, and the cost of the drilling work device 1 can be reduced. Also, adjusting the amount of feed to determine the penetration position just before Pa is not required, which contributes to improving the efficiency of the operation.
[000137] When the two object layers of the operation are made so as to join one another in a preceding and following positional relation in the drilling work order, a layer object of the previous operation and an object layer of the next operation in the two or more layers that are objects of operation 51a to 56a of part 50, in the process of controlling the control of the control system 15, when the means for determining 36 for the reduction of the buoyant force determines that the load torque T is a predetermined torque for reduction of the buoyant force or more during the drilling work for the layer object of the previous operation, in order to reduce a buoyant force through the drill 4, the means of decision of the condition of the operation 34 decides the speed of advance of the operation in the slow advance speed to reduce the buoyant force that is slower than the layer object of the previous operation.
[000138] Consequently, the feed speed F in the layer object of the previous operation is decelerated to the advance speed to reduce the thrust force, the thrust force of the drill 4 applied to the object layer of the next operation thus reduces the deflection of the layer object of the next operation through an action of the buoyant force is suppressed by intervention of occurrence of the deflection or reduction of the deflection, the occurrence of delamination between the object layer of the previous operation and the object layer of the next operation (ie , the conformation of quality deterioration) can be suppressed, and the quality of the part 50 formed with the orifice 70 improves.
[000139] The means for determining the object layer of the operation 33 and the means for determining the penetration just before 37 determine the object layers of the operation 51a to 56a and the penetration position immediately before Pa, respectively, based on the coefficient of variation torque ΔT which is a ratio of the amount of torque variation from the load torque T to the load torque T, and thus an excellent accuracy of determining the layers subject to the operation from 51a to 56a can be ensured even when the tool is worn out due to the secular change compared to a case in which the layers covered by the operation from 51a to 56a are determined according to the variation of the absolute value of the load torque T.
[000140] Axis drive control means 41 intervenes the axis motor 7 so that the rotation speed S for the layers subject to the operation from 51a to 56a immediately after having been determined by the means for determining the layer object of operation 33 gradually increases or gradually decreases the rotation speed of the approach Ss, which is the rotation speed S just before determination, to the rotation speed of the adjusted operation S1 via the predetermined rotation speed with respect to the first object layer of operation 51a, and from the first to the fifth rotation speed of the operation adjusted S1 to S5 to the second to sixth rotation speed of the operation adjusted S2 to S6 with respect to the second to sixth layers of the operation from 51a to 56a. Similarly, the feed drive control means 42 intervenes the feed motor 8 so that the feed rate F of the layers subject to the operation from 51a to 56a immediately after determination gradually increases or gradually decreases the feed rate. adjusted approach Fs which is the feed speed F just before determining the advance speed of the adjusted operation F1 via the predetermined feed speed with respect to the first layer object of the operation 51a, and from the first to the fifth advance speed of the adjusted operation F1 to F5 or the slow advance speed for the reduction of the thrust force for the second to sixth speed of the operation adjusted F2 to F6 with respect to the second to sixth layers of the operation from 51a to 56a.
[000141] Therefore, when the drilling work is started for the respective layers that are the object of the operation 51a to 56a having been determined by the means for determining the layer that is the object of the operation 33, the rotation speed S and the feed speed F in the operation object layers 51a to 56a reach the set rotation speed and the set feed speed after having gradually changed the rotation speed S and the feed speed F just before determining the respective object layers from the 51a to 56a operation by the means for determining the layer object of the operation 33, in this way the precision of the operation of the orifice 70 improves, and the quality of the part 50 improves.
[000142] The relationship between the load torque T for the step feed and the operation time for the step feed to perform the step feed operation of the feed movement is adjusted in advance corresponding to the object layers of the 51a operation at 56a, and the means for determining the start of operation for step feeding included in control system 15 determines the support of part 50 and bit 4 on top of each other in step feeding operation based on the variation of the load torque T.
[000143] Therefore, even when the deep hole operation is required for at least one of the two or more layers object of the 51a to 56a operation, the step feed operation that performs the drilling work while removing chips is performed, and, in this way, high precision drilling work is made possible for part 50 including areas for forming a predetermined number formed of materials of different qualities. Also, because the support of part 50 and the tool on top of each other, that is, the restart of drilling work, is determined using the load torque T, the adjustment of the amount of feed until the support of part 50 and the drill 4 one over the other is not required which contributes to the improvement of the efficiency of the operation.
[000144] In the storage device of the control system 15, the layout of the layers object of the operation from 51a to 56a in the order of the orifice 70 is formed, the set rotation speed which is an adjustment value of the rotation speed S, and the set feed rate which is a feed rate set value F in the respective operation layers 51a to 56a are stored before the drilling machine 2 operation is initiated by the operation panel operation 17, thus the adjustment of the rotation speed S and the feed speed F each time the object layers of the operation from 51a to 56a are switched is not required, and the efficiency of the operation can be improved.
[000145] Below, with respect to a modality in which a part of the constitution of the modality described above has been changed, the changed constitution will be described.
[000146] The tool can be a known drilling tool other than drill 4.
[000147] Although orifice 70 was formed in part 50 which included layers of a predetermined number on the layers of the predetermined number in the mode described above, orifice 70 can be formed on the areas object of the operation (or layers object of the operation) two or more other than the predetermined number. The orifice 70 can be an orifice whose end portion of the end is closed, that is, an orifice with a bottom, instead of a continuous orifice.
[000148] The drive system can make part 50 or both part 50 and the tool perform at least any of the two movements, rotation movement and feeding movement. For example, the shaft drive system can rotate the part 50 instead of the drill 4 through an axis 9a, and, when the part 50 is driven by the shaft drive system, the feed position detection means 21 detects the position of part 50 in the feed direction.
[000149] The load torque detection means 22 can be one that detects a motor drive signal value to drive at least any one of the supply motor 8 and the axis motor 7.
[000150] Housing 5 can be supported by a support deck in order to be movable in the feeding direction, and a feed drive system can be attached to the support deck in order to be able to drive housing 5 and the shaft drive system integrally in the feeding direction.
[000151] The combination of materials can be metals of various species, metal and a synthetic resin, and various composite materials. The non-metal layer may be made of plastics other than fiber reinforced plastics, and may be made of materials other than plastics.
[000152] The drive system can be an air motor instead of an electric motor, in which case a motor drive signal value is air pressure.
[000153] The piece can be one in which a member with different quality is inserted. For example, as shown in figure 6, a part 60 can be one that includes several forming areas 61, 62 where materials with the different quality of that of a material forming a base material are embedded in the base material, and a peripheral portion where the orifice 70 having the end terminal opening 71 is formed can form a laminated structure locally as from the first to the third layers object of the operation 61a, 62a, 61b. Here, the third layer object of operation 61b is the finishing layer of the operation.
[000154] The means for determining penetration just before 37 can be one that determines the penetration position just before Pa just before penetrating a layer which is the object of the specific operation which is an object layer of the operation different from the finishing layer of the operation as a position in the feeding direction. More specifically, detecting the infeed position just before Pa adjusted in advance through the operation panel 17 by means of sensing the feeding position 21 as a position in the feeding direction, two or more layers object of the operation of part 50 include a layer finishing layer where the end portion of the orifice end 70 is formed and a layer that is the subject of the specific operation that is an object layer of the operation different from the finishing layer of the operation, the drive control process includes a penetration determination step just before it determines that the tool is in the infeed position just before Pa just before penetrating the layer object of the specific operation and a step of decelerating the feed speed which makes the forward speed of the operation a slow forward speed that is more slower than the speed of progress of the operation in the layer object of the specific operation ica, and the control system 15 controls the feed motor 8 so that the drill bit 4 advances at the slow rate of advance from the infeed position just before Pa until it penetrates the layer object of the specific operation.
[000155] Therefore, because the feed movement is performed at the slow feed rate which is slower than the feed rate of the operation for the layer object of the specific operation since the tool starts from the infeed position just before Pa within the layer object of the specific operation different from the finishing layer of the operation of the part 50 until penetrating the layer object of the operation, the deflection of the layer object of the operation adjacent to the layer object of the specific operation in the forward direction is suppressed by a force of thrust caused by the feeding movement of the tool from the infeed position just before Pa until it penetrates the object layer of the specific operation, the occurrence of delamination between the object layer of the specific operation and the object layer of the adjacent operation can be suppressed, and the quality of the part 50 formed with orifice 70 improves. Also, with respect to the layer-forming material itself of the specific operation, when fiber-reinforced plastics as a composite material, for example, have a laminated structure of fiber layers, detachment between the fiber layers is prevented.
[000156] The finishing layer of the operation can be formed of a composite material (for example, CFRP). In this case, due to the advance in the low advance speed, the occurrence of wear at the peripheral edge of the opening of the end terminal 71 and the delamination in the laminated structure that the composite material itself can be prevented. In addition, with respect to the layer-forming material itself of the specific operation, when fiber-reinforced plastic, such as a composite material, for example, has a laminated structure of fiber layers, detachment between the fiber layers is prevented.
[000157] The rotation speed S in the second to sixth layers of the operation from 51a to 56a in intervention control can be the rotation speed of the operation adjusted from S2 to S6 in the second to the sixth layers of the operation from 51a to 56a respectively, without going through a gradual increase or a gradual reduction in the rotation speed S.
[000158] Also, the working device and the operation control method described above are also applicable to a part formed of a single layer material making the forming areas divided according to the positions in the feeding direction. REFERENCE LISTING 1 ... drilling work device 2 ... drilling machine 4 ... drill 7 ... spindle motor 8 ... feed motor 15 ... control system 21 ... middle for the detection of the feeding position 22 ... the means for detecting the load torque 31 ... the means for determining the start of operation 33 ... the means for determining the layer subject to the operation 34 ... the means for deciding the condition operation 35 ... means for determining step feed operation 36.1. means for determination 36.2. means for determining penetration immediately before 50, 60 ... part 70.1. orifice Pf ... operation finish position Pa ... penetration position just before S1 to S6 ... rotation speed of the adjusted operation F1 to F6 ... advance speed of the adjusted operation Ff ... forward speed adjusted slow

权利要求:
Claims (7)
[0001]
1. Method of controlling drilling work using a drilling work device including a control system (15) controlling drive systems (7, 8) that make a part (50, 60) and a tool (4) that form a hole (70) in the part (50, 60) to carry out relative rotation movement and relative feeding movement between them, the part (50, 60) includes forming areas (51-56, 61, 62) of a predetermined number which is a plurality divided by being formed of materials of different qualities, the tool (4) forms the orifice (70) on two or more layers of work object (51a-56a, 61a, 62a, 61b), the control process drilling work characterized by comprising the following steps: detecting a load torque applied to the tool (4); determine a start of operation of the drilling work for the part (50, 60); determine two or more formation areas (51-56, 61, 62), respectively, in order of drilling work as two or more layers operating objects (51a-56a, 61a, 62a, 61b) arranged in a feed direction which is a direction of the feed movement based on times of occurrence of variation of the load torque by a predetermined variation coefficient or more after the start of operation and a layout of the operating object layers (51a-56a, 61a, 62a, 61b) of the part pre-established in the control system; deciding a rotation speed of a rotation movement and a feeding speed of the feeding movement corresponding to materials that form the operating object layers (51a-56a, 61a, 62a, 61b) that are determined; determining that an operating object layer of the operating object layers (51a-56a, 61a, 62a, 61b) is an operating finishing layer (56a, 61b); determine that the load torque has been reduced by a predetermined rate of reduction or more; determine that the tool (4) is just before the penetration position which is just before the workpiece penetrates (50, 60) into the operating finish layer (56a, 61b) by feeling that a reduction in load torque is the rate predetermined or more reduction in the operating finish layer (56a, 61b); control the drive systems so that the tool (4) moves forward at a slower speed from just before the infeed position to an operating finish position; detect the finishing position of operation where the tool (4) penetrates the part (50, 60) and finishes the drilling work; and making the feed rate a slow feed rate that is slower than an operating feed rate in the operating finish layer (56a, 61b).
[0002]
2. Drilling work control method according to claim 1, characterized by the fact that when the two layers object of the operation (51a-56a, 61a, 62a, 61b) are arranged so as to be adjacent to each other in a preceding and following positional relation in the drilling work order, a layer object of the previous operation and an object layer of the next operation are made in the two or more layers object of the operation (51a-56a, 61a, 62a, 61b); the drive control process comprises a step of reducing the buoyant force (S16, S17) which employs an advance speed for reducing the buoyant force which is slower than the feed speed in the layer object of the previous operation of in order to reduce a thrust force through the tool (4) when the load torque becomes a predetermined torque or more during the drilling work for the layer object of the previous operation.
[0003]
3. Method of controlling the drilling work according to claim 1 or 2, characterized by the fact that the control system determines the respective object layers of the operation (51a-56a, 61a, 62a, 61b) based on whether the value The absolute value of a torque variation coefficient that is a ratio of a load torque variation amount to the load torque is or is not a predetermined variation coefficient or more.
[0004]
4. Method of controlling the drilling work according to any one of claims 1 to 3, characterized by the fact that a relationship between the load torque for the step feed and an operating time for step feed to perform the feed operation step of the feeding movement is adjusted in the control system (15) corresponding to the layers object of the operation (51a-56a, 61a, 62a, 61b); and the control system (15) determines an established start-up operation condition for the step feed, when the load torque is the load torque for step feed and when it has been detected that the operating time for step feed has passed; and the control system (15) moves the tool (4) back when the condition of starting the feed operation is established.
[0005]
5. Drilling work control method according to claim 4, characterized by the fact that the load torque for the step feed is established in the control system (15), corresponding to the operating object layers (51a, 52a, 53a, 54a, 55a, 56a, 61a, 62a, 61b) excluding the object layer which is formed of CFRP (54a).
[0006]
6. Drilling work control method according to any one of claims 1 to 4, characterized in that the control system (15) controls the drive system (7, 8) so that the speed of rotation or the feed speed in the layer object of the operation (51a-56a, 61a, 62a, 61b) immediately after the determination of two or more formation areas (51, 56, 61-62) gradually increases or gradually reduces the rotation speed or the feed speed just before determining two or more forming areas (51-56, 61, 62) at an adjusted rotation speed or an adjusted feed speed.
[0007]
7. Drilling work device, comprising: a tool (4) that forms a hole in a piece (50, 60); drive systems (7, 8) that make the part (50, 60) and the tool (4) perform relative rotation movement and relative feeding movement between them; and a control system (15) that controls the drive systems (7, 8), in which: the part (50, 60) includes formation areas (51-56, 61, 62) of a predetermined number which is a plurality divided by being formed of materials of different qualities; and the control system (15), characterized by the fact that it includes: means of detecting load torque (22) that detects load torque applied to the tool (4); means for determining the start of operation (31) which determines the start of operation of drilling work for the part (50, 60); means for determining the layer object of the operation (33) which determines the two or more areas of formation (51-56, 61, 62), respectively, in order of drilling work as two or more layers object of the operation arranged in one direction of feeding which is a direction of the feeding movement based on times of occurrence of variation of the load torque by a predetermined variation coefficient or more after the start of work and a layout of the operating object layers (51a-56a, 61a, 62a, 61b) of the part (50, 60) pre-established in the control system (15); means for deciding the condition of the operation (34) which decides the rotation speed and feed speed corresponding to materials that form the layers object of the operation (51a-56a, 61a, 62a, 61b) determined by the means to determine the layer object of the operation operation (33); drive control means (41, 42) that controls the drive systems (7, 8) in order to execute the rotation movement at the rotation speed and the feeding movement at the feeding speed so that the tool (4) forms the hole over the two or more layers object of the operation (51a-56a, 61a, 62a, 61b); a penetration determination means just before (37) which determines that the tool (4) is in a position just before penetration which is just before penetrating the part (50, 60) in an operating finish layer (56a, 61a) by detecting a reduction in load torque is a predetermined reduction rate or more in the finishing layer of operation (56a, 61a), in which the penetration determination means immediately before (37) determines that a layer object of operation of the operating object layers (51a-56a, 61a, 62a, 61b) is the operating finishing layer (56a, 61b) and determines that the load torque has been reduced by a predetermined reduction rate or more; an operating finish position detection means that detects an operating finish position where the tool (34) penetrates the part (50, 60) and finishes the drilling work; and an operating condition decision means makes the feed rate a slow feed rate that is slower than an operating feed rate in the operating finish layer (56a, 61b); wherein the control system (15) determines that the tool (15) is just before the infeed position when the reduction of the load torque of the predetermined reduction rate or more has been determined in the operating finish layer (56a, 61b) in the penetration determination medium immediately before (37); and the control system (15) controls the drive systems (7, 8) so that the tool (4) moves forward at slow speed from the infeed position immediately before to the operating finish position.

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法律状态:
2018-12-26| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|

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2019-11-19| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|

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2020-06-30| B07A| Technical examination (opinion): publication of technical examination (opinion)|

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2021-01-19| B09A| Decision: intention to grant|

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2021-03-09| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 08/07/2011, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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JP2010156370A|JP5622463B2|2010-07-09|2010-07-09|Drilling control method and drilling apparatus|

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JP2010-156370|2010-07-09|

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PCT/JP2011/065708|WO2012005356A1|2010-07-09|2011-07-08|Piercing control method and piercing device|

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