Drilling apparatus and drilling method
View Patent ↗A drilling apparatus includes: a drill rotatable about a center axis and capable of advancing and retracting along the axis; and a pressing unit for pressing a work in an advancing direction of the drill. The drilling apparatus advances the drill while rotating the drill about the center axis to form a hole in the work, in a state in which the work is pressed by the pressing unit. A pressing force applied on the work by the pressing unit is set to a predetermined pressing force based on machining reaction applied to the drill from the work during drilling and the pressing force causing deformation of the work in the advancing direction of the drill. The predetermined pressing force can suppress deformation of the work and displacement of the drill due to the machining reaction. The machining reaction and the pressing force are calculated beforehand in a drilling test.
1. A drilling apparatus comprising:
a drill rotatable about a center axis and capable of advancing and retracting along the center axis;
a pressing unit for pressing a work in an advancing direction of the drill; and
a controller configured to:
advance the drill while rotating the drill about the center axis to form a hole in the work, in a state in which the work is pressed by the pressing unit,
store a machining reaction force applied to the drill from the work during drilling and a deforming force that will deform the work in the advancing direction of the drill, the machining reaction force and the deforming force calculated in a drilling test performed in advance,
set a predetermined pressing force applied on the work by the pressing unit to be equal to or greater than the machining reaction force while also being less than the deformation force, such that the predetermined pressing force is set as a force that will suppress displacement of the drill and suppress deformation of the work, and
control the pressing unit to press the work via a drilling jig that comes into contact with the work in an area larger than the area of a pressing surface of the pressing unit.
2. The drilling apparatus according to claim 1 , further comprising a pressing force detector for detecting a pressing force applied on the work by the pressing unit.
3. The drilling apparatus according to claim 1 , wherein
the drilling jig includes a positioning hole for positioning a hole formed in the work, and
the pressing unit includes a fitting unit of which relative position to the drill in a plane orthogonal to the center axis of the drill is fixed and which is capable of fitting in the positioning hole of the drilling jig, the drilling jig being pressed in a state in which the fitting unit is fit in the positioning hole.
4. The drilling apparatus according to claim 2 , wherein
the drilling jig includes a positioning hole for positioning a hole formed in the work, and
the pressing unit includes a fitting unit of which relative position to the drill in a plane orthogonal to the center axis of the drill is fixed and which is capable of fitting in the positioning hole of the drilling jig, the drilling jig being pressed in a state in which the fitting unit is fit in the positioning hole.
5. The drilling apparatus according to claim 1 , wherein the drilling apparatus is an end effector mounted at a distal end of a multi joint robot.
6. The drilling apparatus according to claim 2 , wherein the drilling apparatus is an end effector mounted at a distal end of a multi joint robot.
7. The drilling apparatus according to claim 3 , wherein the drilling apparatus is an end effector mounted at a distal end of a multi joint robot.
8. The drilling apparatus according to claim 4 , wherein the drilling apparatus is an end effector mounted at a distal end of a multi joint robot.
9. A drilling method comprising:
utilizing the drilling apparatus according to claim 1 ;
determining, based on testing performed in advance, the machining reaction force and the deforming force;
setting the predetermined pressing force; and
pressing the work with the pressing unit via the drilling jig.
10. The drilling method according to claim 9 , wherein the drilling apparatus includes a pressing force detector for detecting a pressing force applied on the work by the pressing unit.
11. The drilling method according to claim 9 , wherein
the drilling jig includes a positioning hole for positioning a hole formed in the work, and
the pressing unit includes a fitting unit of which relative position to the drill in a plane orthogonal to the center axis of the drill is fixed, the fitting unit being capable of fitting in the positioning hole of the drilling jig, the drilling jig being pressed in a state in which the fitting unit is fit in the positioning hole.
12. The drilling method according to claim 10 , wherein
the drilling jig includes a positioning hole for positioning a hole formed in the work, and
the pressing unit includes a fitting unit of which relative position to the drill in a plane orthogonal to the center axis of the drill is fixed, the fitting unit being capable of fitting in the positioning hole of the drilling jig, the drilling jig being pressed in a state in which the fitting unit is fit in the positioning hole.
13. The drilling method according to claim 9 , wherein the drilling apparatus is an end effector mounted at a distal end of a multi-joint robot.
14. The drilling method according to claim 10 , wherein the drilling apparatus is an end effector mounted at a distal end of a multi joint robot.
15. The drilling method according to claim 11 , wherein the drilling apparatus is an end effector mounted at a distal end of a multi-joint robot.
16. The drilling method according to claim 12 , wherein the drilling apparatus is an end effector mounted at a distal end of a multi joint robot.