CN111093893A - 机床系统 - Google Patents

机床系统 Download PDF

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CN111093893A
CN111093893A CN201780094845.3A CN201780094845A CN111093893A CN 111093893 A CN111093893 A CN 111093893A CN 201780094845 A CN201780094845 A CN 201780094845A CN 111093893 A CN111093893 A CN 111093893A
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tool
holder
workpiece
electrode
self
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CN111093893B (zh
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白根正浩
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Makino Milling Machine Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15526—Storage devices; Drive mechanisms therefor
    • B23Q3/15539—Plural magazines, e.g. involving tool transfer from one magazine to another
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
    • B23H11/00—Auxiliary apparatus or details, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
    • B23H11/00—Auxiliary apparatus or details, not otherwise provided for
    • B23H11/003—Mounting of workpieces, e.g. working-tables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q13/00—Equipment for use with tools or cutters when not in operation, e.g. protectors for storage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
    • B23Q7/1426—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices
    • B23Q7/1436—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices using self-propelled work holders
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G05B19/41845—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by system universality, reconfigurability, modularity
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15526—Storage devices; Drive mechanisms therefor
    • B23Q2003/15532—Storage devices; Drive mechanisms therefor the storage device including tool pots, adaptors or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15526—Storage devices; Drive mechanisms therefor
    • B23Q2003/15537—Linearly moving storage devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q2003/1558—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling involving insertion or removal of other machine components together with the removal or insertion of tools or tool holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/046—Handling workpieces or tools
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/16—Tool changing with means to transfer work
    • Y10T483/165—Plural machine tools, e.g., flexible manufacturing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
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    • Y10T483/17—Tool changing including machine tool or component
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
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    • Y10T483/1736—Tool having specific mounting or work treating feature
    • Y10T483/1738—Tool head
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

一种机床系统，具备刀具保持架适配器(63)，该刀具保持架适配器(63)具有收纳刀具保持架(73)的孔部及形成了与自行机器人(51)的机械手卡合的卡合部(67)的法兰(65)，在从保存多个刀具保持架适配器(63)的刀具储藏库(61)向机床(11)运送刀具保持架(63)时，自行机器人(51)把持刀具保持架适配器(63)运送刀具。

Description

机床系统
技术领域
本发明涉及由多个机床和多个自行机器人构成的机床系统。
背景技术
机床使用刀具，将被加工物加工成所希望的形状。此时，需要进行被加工物向机床安装的作业及刀具向机床的刀具更换装置安装的作业和运出加工结束的被加工物的作业。此时，不是通过用人工而是通过使用机器人、无人运送车以自动运转方式进行安装和运出，能提高生产效率。
在专利文献1中公开了一种生产系统，该生产系统在龙门装载机上具有机械手放置处，可更换地具备工件用机械手、刀具机械手等多种机械手，与运送的对象相应地更换机械手，运送工件及刀具。
在先技术文献
专利文献
专利文献1：日本特公平05-23906号公报
发明内容
发明所要解决的课题
在由机床加工被加工物的情况下，进行被加工物的安装和运出。另外，因为机床的刀具更换装置所具备的刀具因加工而磨损或折损，所以需要将不要的刀具向机床的外部运出，将新的刀具插入机床的刀具更换装置。为了提高生产效率，这些作业使用机器人自动进行，但需要与被加工物和刀具的形状的差异应对。
在欲运送被加工物和刀具的情况下，存在如专利文献1的那样与运送的对象相应地更换机械手的方式。在更换机械手的情况下，需要用于更换的装置及用于更换的更换时间。
本发明是鉴于上述情况做出的发明，以提供一种能与被加工物和刀具的形状的差异对应的机床系统，即不用花费更换机械手的工夫，由有效地进行运送作业的自行机器人构成的机床系统为目的。
为了解决课题的手段
本发明是一种机床系统，该机床系统将刀具和被加工物向多个机床运送，其中，具备刀具保持架、自行机器人、刀具保持架适配器和刀具储藏库，该刀具保持架保持刀具，该自行机器人具有与规定的形状卡合的机械手，该刀具保持架适配器具有收纳刀具保持架的孔部及形成了与前述机械手卡合的卡合部的法兰，该刀具储藏库保存对刀具保持架进行收纳的多个刀具保持架适配器，在从前述刀具储藏库向机床运送刀具保持架时，前述自行机器人把持刀具保持架适配器运送刀具。
由此，即使是具有比被形成在刀具保持架上的刀具更换用的槽大而不能与刀具更换用的槽嵌合的机械手的自行机器人，也能将刀具保持架从刀具储藏库运送到机床的处于刀具更换装置上的刀具刀库。
进而，在本发明中，前述多个机床中的至少一台机床具有与托盘卡合的托盘夹头，具备托盘、被加工物适配器和被加工物储藏库，该托盘与前述托盘夹头卡合，该被加工物适配器具有安装被加工物的安装部，在该托盘和该安装部之间形成了与前述机械手卡合的卡合部，该被加工物储藏库在将被加工物安装在前述安装部的状态下保存多个载置了被加工物的托盘，在从前述被加工物储藏库向机床运送被加工物时，前述自行机器人把持被加工物适配器运送被加工物。
由此，即使是具有比被形成在托盘上的托盘更换装置用的槽小而不能与托盘更换装置用的槽嵌合的机械手的自行机器人，也能将托盘从被加工物储藏库运送到机床的托盘更换装置。
发明的效果
根据本发明，由于能由相同形状的机械手把持刀具保持架适配器、被加工物适配器、电极保持架，所以能不用更换机械手地由一种自行机器人有效地将刀具、被加工物、电极从储藏库向机床运送。
附图说明
图1是表示本发明的机床系统的实施方式的概略图。
图2是表示本发明的机床的概略图。
图3a是说明本发明的刀具保持架适配器的图。
图3b是说明本发明的刀具保持架适配器的图。
图4是说明本发明的被加工物适配器的图。
图5是说明本发明的电极适配器的图。
具体实施方式
为了实施发明的方式
在图1中表示本发明的实施方式。本发明是使用自行机器人51，在收纳刀具T、被加工物W的各自的收纳库和多个机床11、放电加工机31之间运送刀具T、被加工物W、电极95的机床系统。
图2所示的机床11是通过由进给轴使刀具T和被加工物W相对地移动，由旋转的刀具T对被加工物W进行切削加工的加工中心。机床11由加工室13、刀具收纳装置15、托盘更换装置17构成。机床11具有把持刀具T的主轴21。主轴21可旋转地被支承在主轴头19上。主轴头19能由进给轴在X方向及Z方向移动。机床11具有工作台27，该工作台27具备对载置被加工物W的托盘23进行把持的夹头25。工作台27能由进给轴在Y方向移动。通过使主轴头19和工作台27相对地移动，刀具T和被加工物W相对地移动。机床11为了自动地更换保持在主轴21上的刀具T，将刀具T以装配在刀具保持架73上的状态保存在刀具收纳装置15中。刀具收纳装置15保存多个刀具保持架73，通过由未图示的刀具更换装置将把持在主轴21上的刀具保持架和处于刀具收纳装置15中的刀具保持架73对调来更换刀具T。托盘更换装置17进行把持在工作台27上的托盘23和其它的托盘23的更换。
放电加工机31是刻模放电加工机，该刻模放电加工机具有把持电极95的主轴和载置被加工物W的工作台，由进给轴使主轴和工作台相对地移动，向电极和被加工物之间施加电压，产生放电，进行放电加工。放电加工机31由加工室33、电极收纳装置35、托盘更换装置17构成。放电加工机31为了自动地更换保持在主轴上的电极，将电极95以装配在电极保持架93上的状态保存在电极收纳装置35中。电极收纳装置35通过由未图示的电极更换装置将把持在主轴上的电极保持架93和处于电极收纳装置35中的电极保持架93对调来更换电极。另外，与机床11同样，具备托盘更换装置17，进行把持在工作台上的托盘23和其它的托盘23的更换。
自行机器人51具备无人运送车53和被安装在无人运送车53上并具有三个以上的自由度的操作器55，在操作器55的前端具有机械手57。在自行机器人51的无人运送车53的上部具备用于暂时放置运送的物品的搬运台59。
机械手57由两根指部构成，在运送的对象物上形成了卡合部，以便与指部的形状卡合。在本发明中，卡合部呈槽状地形成在搬运的物体的外周。通过将机械手57的指部插入槽状的卡合部，进而，通过将两根指部向内侧关闭，把持运送的对象物。机械手57的指部与槽形状一致，由此，能不会脱落地可靠地进行把持。
在本发明的机床11在使用的刀具T被安装在规定形状的刀具保持架73上。刀具保持架73由锥部75、法兰部77、前端部79构成。刀具保持架73的法兰部75和锥部77的形状按照规格确定。刀具保持架73的锥部77在主轴21把持刀具保持架73时使用。在刀具保持架73的法兰部77形成了槽，此槽在由机床的自动刀具更换装置更换主轴21和刀具收纳装置15的刀具保持架73时使用。
刀具保持架适配器63是筒状的零件，在上部具有法兰65，在法兰65上形成了与机械手57的指部卡合的槽状的卡合部67。能将刀具保持架73的前端侧插入筒的孔部。图3a表示将刀具保持架73插入刀具保持架适配器63前的状态，图3b表示将刀具保持架73插入了刀具保持架适配器63的状态。刀具保持架73的前端部的形状多种多样，本来不适合作为把持的部分，但通过将刀具保持架73插入刀具保持架适配器63，由机械手57把持刀具保持架适配器63，能间接地把持刀具保持架73。
多个预备的刀具保持架73以被插入在刀具保持架适配器63中的状态被保存在刀具储藏库61中。自行机器人51由机械手57把持刀具保持架适配器63的法兰65，将刀具保持架73与刀具保持架适配器63一起在自行机器人51的搬运台和刀具储藏库61之间移载。
对由本发明的机床11及放电加工机31使用的托盘23进行说明。在托盘23上，在外周具有槽部88，其是为了在更换工作台上的托盘23时托盘更换装置把持托盘23而使用的。由于向托盘23装载被加工物W，所以托盘23的外周制作得比刀具保持架73大。因为托盘23的外周大，所以不能由大小与在刀具保持架73的运送中使用的自行机器人51的机械手57相同的机械手57把持。因此，以往在刀具保持架73和被加工物W的运送中需要准备机械手的大小不同的自行机器人或进行更换机械手本身的作业。
参照图4，对被加工物适配器83进行说明。被加工物适配器83被形成在托盘23的上方。在托盘23的下方具有用于与夹头23结合的牵引螺栓89。被加工物适配器83的上面成为用于安装被加工物W的安装部86。被加工物适配器83被形成得比托盘23的外形小。在被加工物适配器83的外周形成与机械手57的指卡合的槽状的卡合部85。由此，能不用更换机械手57地由自行机器人51的机械手57进行把持。
在被加工物储藏库81中，加工前的被加工物W分别经被加工物适配器83固定在托盘23上。自行机器人51通过由机械手57把持被加工物适配器83，能将被加工物W与托盘23一起向自行机器人51的搬运台59移载。另外，在加工后，自行机器人51从机床11或放电加工机31将加工了的被加工物W与托盘23和被加工物适配器83一起回收，向被加工物储藏库81运送。
接着，参照图5，对电极保持架93进行说明。在电极保持架93的外周，形成了在电极更换装置保持电极保持架93时使用的槽状的卡合部97。在电极保持架93的上方具有用于与主轴结合的牵引螺栓99。此电极保持架93的卡合部97做成了与自行机器人51的机械手用的卡合部相同的形状。由此，由自行机器人51的机械手57也能把持电极保持架93。在放电加工机31的电极收纳装置35和电极储藏库91之间，能由自行机器人51运送电极保持架93。
在电极储藏库91中保存了多个预备的电极保持架93。自行机器人51由机械手57直接把持电极保持架93的卡合部97，在自行机器人51的搬运台59和电极储藏库91之间移载电极保持架93。
根据上面的结构，从对机床系统整体进行管理的中央控制装置接收到运送指令的自行机器人51，在机床11或放电加工机31和被加工物储藏库81之间运送被加工物W。自行机器人51通过由机械手57把持被加工物适配器83，能将被加工物W与托盘23一起向自行机器人51的搬运台59转移。此后，自行机器人51行走到作为目的地的托盘更换装置17的附近，由机械手57把持被加工物适配器83，将处于搬运台59上的被加工物W放置在目的地。
刀具保持架73的运送也与被加工物W的情况相同，从中央控制装置接收到运送指令的自行机器人51在机床11和刀具储藏库61之间运送刀具保持架73。自行机器人51通过由机械手57把持刀具保持架适配器63，将刀具保持架73与刀具保持架适配器63一起向自行机器人51的搬运台59转移。此后，自行机器人51行走到作为目的地的机床的刀具收纳装置15的附近，由机械手57把持刀具保持架适配器63，将处于搬运台59上的刀具保持架73与刀具保持架适配器63一起放置在目的地。
机床11及放电加工机31，根据被记载在分别独立地执行的加工程序中的指令，一面将机床11或放电加工机31的处于主轴或工作台上的刀具保持架73、托盘23、电极保持架93与处于刀具收纳装置15、托盘更换装置17、电极收纳装置35上的刀具保持架73、托盘23、电极保持架93自动更换一面进行加工。
根据本发明，提出了一种机床系统，该机床系统能由一台自行机器人51的一种机械手57进行机床11、放电加工机31和刀具储藏库61、被加工物储藏库81、电极储藏库91之间的运送，能不用进行更换机械手的作业地对应。本发明在具有多个自行机器人51的情况下也有效。例如，在刀具保持架73的运送多时，能将更多的自行机器人51分配给刀具保持架73的运送，若被加工物W的运送增加，则能容易增加分配给被加工物W的运送的自行机器人51的台数，能进行浪费少的运用。
另外，本发明由于在刀具保持架适配器63、被加工物适配器83中追加了自行机器人的机械手用的卡合部，所以不需要变更机床11的刀具更换装置及托盘更换装置卡合的部分的刀具保持架的形状、托盘的形状。由此，能保持不变地使用已有的刀具保持架、托盘及把持它们的刀具更换装置、托盘更换装置。因此，容易将已有的机床组装到本发明的机床系统中。另外，因为不需要更换机械手51的机构，所以自行机器人51的操作器55成为轻量，可提高使机械手51动作的速度。
符号的说明
11：机床；13：加工室；15：刀具收纳装置；17：托盘更换装置；19：主轴头；21：主轴；23：托盘；25：夹头；27：工作台；31：放电加工机；33：加工室；35：电极收纳装置；51：自行机器人；53：无人运送车；55：操作器；57：机械手；59：搬运台；61：刀具储藏库；63：刀具保持架适配器；65：法兰；67：卡合部；73：刀具保持架；75：锥部；77：法兰部；79：前端部；81：被加工物储藏库；83：被加工物适配器；85：卡合部；86：安装部；88：槽部；89：牵引螺栓；91：电极储藏库；93：电极保持架；95：电极；97：卡合部；99：牵引螺栓。

Claims (3)

1.一种机床系统，该机床系统将刀具和被加工物向多个机床运送，其特征在于，
具备刀具保持架、自行机器人、刀具保持架适配器和刀具储藏库，
该刀具保持架保持刀具，
该自行机器人具有与规定的形状卡合的机械手，
该刀具保持架适配器具有收纳刀具保持架的孔部及形成了与前述机械手卡合的卡合部的法兰，
该刀具储藏库保存对刀具保持架进行收纳的多个刀具保持架适配器，
在从前述刀具储藏库向机床运送刀具保持架时，前述自行机器人把持刀具保持架适配器运送刀具。
2.如权利要求1所述的机床系统，其特征在于，
前述多个机床中的至少一台机床具有与托盘卡合的托盘夹头，
具备托盘、被加工物适配器和被加工物储藏库，
该托盘与前述托盘夹头卡合，
该被加工物适配器具有安装被加工物的安装部，在该托盘和该安装部之间形成了与前述机械手卡合的卡合部，
该被加工物储藏库在将被加工物安装在前述安装部的状态下保存多个载置了被加工物的托盘，
在从前述被加工物储藏库向机床运送被加工物时，前述自行机器人把持被加工物适配器运送被加工物。
3.如权利要求2所述的机床系统，其特征在于，
前述多个机床中的至少一台机床具有与电极保持架卡合的电极保持架用夹头，
具备保存多个把持了电极的电极保持架的电极储藏库，
在前述电极保持架上形成了与前述机械手卡合的卡合部，在从前述电极储藏库向机床运送电极时，前述自行机器人把持电极保持架进行运送。
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US11135693B2 (en) 2021-10-05
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