JP2005279781A - Machining system, machining method and part assembling method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a machining system and a machining method, realizing the most efficient machining in spite of variation in size and weight of works. <P>SOLUTION: In this machining system, while a work and a tool are relatively moved, the work is machined with the tool. The system includes: a table means 60 and a three-dimensional moving mechanism 10 for moving a Z-axis slider 11 with respect to the table means. The three-dimensional moving mechanism is provided with a first holder means 30 for selectively and replaceably fitting the work and the tool. The table means 60 is provided with a second holder means 62 for selectively and replaceably holding the tool or work corresponding to one of the work and the tool fitted to the first holder means. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a machining system and a machining method for machining a workpiece with a tool while relatively moving the workpiece and the tool. For example, the present invention relates to a processing system, a processing method, and a part assembling method for performing processing such as turning, drilling, intermittent processing, and grinding processing on a workpiece.

Conventionally, in the case of a processing machine that processes a workpiece with a tool, it is configured so that the workpiece can be moved about a part of the movement axis of the tool and a tool moving type processing machine that is configured so that the workpiece is fixed to a table and the tool is movable. It can be roughly divided into the machined and tool moving type processing machines.
In the former tool movement type processing machine, for example, the spindle side holding the tool is in a three-dimensional direction with respect to the table on which the workpiece is placed, that is, the lateral direction (X-axis direction), the longitudinal direction (Y-axis) Direction) and the vertical direction (Z-axis direction).
In the latter work / tool moving type processing machine, for example, a table on which a work is placed is configured to be movable in the front-rear direction (Y-axis direction), and the spindle side holding the tool is transverse to the table (X-axis direction). ) And the vertical direction (Z-axis direction) (see, for example, Patent Document 1).

JP-A-11-70428

In conventional processing machines, the tool moving type processing machine or the workpiece / tool moving type processing machine described above holds (fixes) the work on the table side and the tool on the spindle side. Depending on the processing content, it may be disadvantageous.
For example, if the workpiece is large and heavy, the table on which the workpiece is placed is fixed, and the spindle holding the tool moves relative to the table can increase the relative movement speed between the two, and the inertia at the time of stopping Since the force can be kept small, it is advantageous in terms of processing efficiency and processing accuracy. However, when the workpiece is fine and lightweight, the spindle side holding the tool becomes heavy against the fine and lightweight workpiece, which is disadvantageous in terms of relative movement speed and inertial force compared to the opposite case. Cases arise.

  An object of the present invention is to provide a machining system and a machining method capable of realizing the most efficient machining even when the size and weight of a workpiece are changed, and further provide a component assembling method using the machining system.

  The machining system and the machining method of the present invention can select whether to move either the workpiece or the tool relative to the other when machining the workpiece with the tool while relatively moving the workpiece and the tool. There is a feature.

  The machining system of the present invention is a machining system for machining a workpiece with a tool while relatively moving the workpiece and the tool, and includes table means and moving means for moving a movable member relative to the table means, The movable member of the moving means is provided with first holder means for selectively and replaceably attaching a work and a tool, and the table means includes a work attached to the first holder means and A second holder means for selectively and replaceably attaching a tool and a workpiece corresponding to any of the tools is provided.

  According to this configuration, either the workpiece or the tool is selected and attached to the first holder means, and the tool or the workpiece corresponding to either the workpiece or the tool attached to the first holder means is selected. Are attached to the second holder means. For example, a tool is attached to the first holder means and a workpiece is attached to the second holder means. In this state, the moving means is operated to move the tool attached to the first holder means with respect to the work attached to the first holder means, and the work is processed by the tool.

  In the present invention, since the workpiece and the tool can be selectively attached to the first and second holder means, the most efficient machining can be realized even if the size or weight of the workpiece changes. That is, when the workpiece is heavy, the workpiece is attached to the second holder means (table means) side and the tool is attached to the first holder means (moving means) side. In this state, the tool is moved to the moving means. Machining while moving by. On the other hand, when the workpiece is fine or lightweight, the workpiece is attached to the first holder means (moving means) side and the tool is attached to the second holder means (table means) side, and the workpiece is moved in this state. Processing is performed while moving by means. Therefore, even if the size and weight of the workpiece change, the most efficient and highly accurate machining can be realized in terms of relative movement speed and inertial force.

The processing system of the present invention further includes stocker means for stocking at least one of a work and a tool attached to the first and second holder means, and taking out the work and tool stocked in the stocker means. In order to attach to the first holder means and the second holder means, it is preferable to include transport means for transporting them, and control means for controlling the moving means and the transport means.
According to this configuration, since the stocker means, the transport means and the control means are further provided, any one of the workpieces and tools stocked in the stocker means can be selected while controlling the transport means by the control means. It can be transported and held by the first and second holder means. Accordingly, it is possible to automatically and efficiently perform the work of exchanging tools and workpieces with respect to the first and second holder means. Further, since the processing can be performed while the movement of the moving means is controlled by the control means, if the moving path of the moving means is programmed in advance, it is possible to automatically operate according to the preset path.

In the machining system of the present invention, the stocker means stores the workpiece and the tool including the measurement device that measures the workpiece before or after machining, and the control means further includes the measurement device. It is preferable to have display means for displaying the measured measurement results, and corrective operation calculating means for executing the corrective action at the next machining while comparing the measurement results with preset setting values.
According to this configuration, if a measuring device is selected from the stocker means and this measuring device is mounted on the holder means on which the tool is attached, the shape and dimensions of the workpiece processed using the measuring device, etc. Can be measured. In addition, the measurement result is displayed on the display means, and the correction operation is executed at the next machining while the measurement result is compared with the set value stored in advance, so that the same workpiece is continuously machined. Even in this case, it can be processed while ensuring a certain accuracy.

In the processing system of the present invention, the first holder means includes a pair of coupling / separating elements that can be coupled and separated from each other, and one coupling / separating element of the pair of coupling / separating elements. Is attached to the movable member, and the other coupling / separating element is preferably provided with a holding mechanism for holding either the workpiece or the tool.
According to this configuration, one coupling / separation element attached to the movable member of the moving mechanism and the other coupling / separation element holding either the workpiece or the tool can be coupled to each other and separable. Both the work and the tool can be attached to and detached from the movable member of the moving mechanism by the coupling / separating function of both. Therefore, the work and tool replacement work for the first holder means can be easily and quickly performed.

In the processing system of the present invention, the other coupling / separation element is a coupling plate that can be coupled to and separable from the one coupling / separation element, and holds either the workpiece or the tool provided on the coupling plate. A holding mechanism is preferably included.
According to this configuration, the other coupling / separation element includes the connection plate that can be coupled to and separable from the one coupling / separation element, and the holding mechanism that holds either the workpiece or the tool. Therefore, if the holding mechanism is formed in an optimum shape for holding each workpiece or tool, the connection plate can be used in common.

In the machining system of the present invention, it is preferable that the holding mechanism holds a spindle unit that rotatably supports either the tool or the workpiece.
According to this configuration, since the spindle unit that rotatably supports either the tool or the workpiece is held by the holding member, the workpiece is processed using a rotary tool such as a drill, an end mill, or a milling cutter as the tool. be able to.

In the machining system of the present invention, the spindle unit includes a unit main body, a main spindle rotatably supported by the unit main body, a chuck mechanism that holds either the tool or the workpiece on the main spindle, and the spindle. Between the pair of coupling / separating elements, when the other coupling / separating element is coupled to one coupling / separating element, the air is separated from the one coupling / separating element. It is preferable that an air flow path to be supplied to the air turbine through the other coupling / separation element is formed. (Claim 7)
According to this configuration, when the other coupling / separation element is coupled to one coupling / separation element, air is supplied from the one coupling / separation element to the air turbine of the main shaft unit through the other coupling / separation element. An air flow path is formed. If air is supplied in this state, the main shaft can be rotated by the rotation of the air turbine. Therefore, since the spindle (tool or workpiece) of the spindle unit can be rotated simply by coupling the other coupling / separating element to one coupling / separating element, the tool and workpiece can be easily replaced. .

In the processing system of the present invention, of the pair of coupling / separation elements, one of the coupling / separation elements is formed with an air pipe that protrudes from the air flow path, and the other one of the coupling / separation elements has the above-mentioned It is preferable that an engagement hole into which the air pipe is inserted is formed, and the pair of coupling / separating elements are configured to be connectable and separable by the air pipe and the engagement hole.
According to this configuration, the air pipe constituting the air flow path is formed to protrude from one coupling / separation element, and the engagement hole into which the air pipe is inserted is formed in the other coupling / separation element. Thus, when the pair of coupling / separating elements are coupled, an air flow path is formed, and the pair of coupling / separating elements can be coupled and separable by fitting the air pipe and the engagement hole.

In the processing system of the present invention, the second holder means includes a pair of coupling / separating elements that can be coupled and separated from each other, and one coupling / separating element of the pair of coupling / separating elements. Is attached to the table means, and the other coupling / separating element is preferably provided with a holding mechanism for holding either the workpiece or the tool.
According to this configuration, one coupling / separation element attached to the table means and the other coupling / separation element holding either the workpiece or the tool can be coupled and separable from each other. With the coupling / separation function, either the workpiece or the tool can be attached to or detached from the table means. Therefore, the work and tool exchange operation for the second holder means can be performed easily and quickly.

In the processing system of the present invention, the second holder means includes a base plate fixed to the table means, and a holding mechanism that is attached to the base plate and holds either the workpiece or the tool. It is preferable.
According to this configuration, the second holder means includes the base plate fixed to the table means and the holding mechanism that holds either the workpiece or the tool. The base plate can be used in common if it is formed in an optimal shape for holding them each time.

In the processing system of the present invention, it is preferable that the processing system further includes a rotation driving unit that rotationally drives the holding mechanism.
According to this configuration, since the rotation driving means for rotating the holding mechanism provided on the table means side is provided, the work attached to the table means side is rotated, or as a tool, a drill, an end mill, a milling cutter, etc. The workpiece can be machined using the rotary tool.

In the processing system of the present invention, it is preferable that the moving means includes three shaft drive mechanisms for moving the movable member in three axial directions orthogonal to each other, and each shaft drive mechanism is driven by a linear motor.
According to this configuration, the moving mechanism can be moved in three axial directions orthogonal to each other by the three shaft driving mechanisms, and each shaft driving mechanism is driven by the linear motor, so that high-speed and high-precision machining can be realized.

  The machining method of the present invention is a machining method for machining a workpiece with a tool while relatively moving the workpiece and the tool, the table means, a moving means for moving a movable member relative to the table means, and the movement Corresponding to any one of the first holder means provided on the movable member of the means for selectively and replaceably attaching the workpiece and tool, and the workpiece and tool provided on the table means and attached to the moving means A preparation step of preparing a second holder means for selectively and replaceably holding a tool or a work to be performed, and selecting and holding either the work or the tool in the first holder means, A mounting step of holding the tool or workpiece corresponding to the workpiece and the tool held by the holder means on the second holder means, and the moving hand And a machining step of machining the workpiece with either the workpiece or the tool held by the first holder means and the tool or the workpiece held by the second holder means corresponding to the workpiece. It is characterized by that.

According to this configuration, after preparing the table means, the moving means, the first holder means, and the second holder means in the preparation step, either the workpiece or the tool is placed on the first holder means in the mounting step. Is selected and held, and the tool and workpiece corresponding to the workpiece and the tool held by the first holder means are held by the second holder means. After that, in the machining step, the workpiece is moved by either the workpiece or tool held by the first holder means while moving the moving means, and the tool or workpiece held by the second holder means corresponding to the workpiece. Is processed.
In the present invention, since the workpiece and the tool can be selectively attached to the first and second holder means, even if the size and weight of the workpiece are changed, the most efficient operation is achieved by the same action as described above. Can be realized.

In the processing method of the present invention, the preparation step is further stocked in stocker means for stocking at least one of a work and a tool attached to the first and second holder means, and the stocker means. A step of preparing a conveying means for conveying the workpiece and tool to take them out and attach them to the first holder means and the second holder means, and the mounting step is stocked in the stocker means A workpiece and a tool are conveyed by the conveying means, and the first holder means selects and holds either the workpiece or the tool, and a tool or tool corresponding to the workpiece and the tool held by the first holder means or It is preferable that the work is held by the second holder means.
According to this configuration, since the stocker unit and the transport unit are further provided, the transport unit selects and transports either the workpiece or the tool stocked in the stocker unit, and the first and second It can be held by the holder means. Accordingly, it is possible to automatically and efficiently perform the work of exchanging tools and workpieces with respect to the first and second holder means.

It is preferable that the processing method of the present invention further includes a measurement step for measuring the processed workpiece.
According to this structure, since the measurement process which measures the workpiece | work before a process or after a process is provided, the shape of a processed workpiece, a dimension, etc. can be measured.

In the processing method of the present invention, a two-dimensional position detection scale is arranged on the table means before the processing step or the measurement step, and light is applied to the two-dimensional position detection scale on the first holder means. Is attached to a sensor that detects the coordinate position on the two-dimensional position detection scale by receiving reflected light from the two-dimensional position detection scale, and moves when the moving means is moved with respect to the table means. An error storage step for storing an error between the position command value and the coordinate position on the two-dimensional position detection scale detected by the sensor, and the error stored in the error storage step is obtained from the operation of the processing step or the measurement step. It is preferable to correct.
According to this configuration, since the movement error can be corrected in the moving means from the operations of the machining process and the measurement process, higher-precision machining and measurement can be expected.

The processing method of the present invention preferably includes a correction operation execution step of executing a correction operation at the next processing while comparing the measurement result measured in the measurement step with a preset value stored in advance.
According to this configuration, since the correction operation is performed at the next machining while the measurement result measured by the measurement process is compared with the set value stored in advance, even when machining the same workpiece continuously, Processing can be performed while ensuring a certain accuracy.

The component assembling method of the present invention is a component assembling method for assembling a component on a substrate, wherein the substrate is held by the second holder means, and the moving means is operated to cause the first holder means to move to the first holder means. After the component is held, the moving means is operated to assemble the component held by the first holder means to the substrate held by the second holder means.
According to this configuration, the substrate is held by the second holder means, the moving means is operated and the first holder means is held, and then the moving means is operated and held by the first holder means. By assembling the parts to the board, it is possible to provide a function for assembling the parts to the board. Therefore, not only processing but also assembly is possible, so that it is expected to expand the usage.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 shows a machining system according to this embodiment. The machining system of the present embodiment is a system for machining a workpiece with a tool while relatively moving the workpiece and the tool, and includes a three-dimensional movement mechanism 10 as a moving means, a table means 60, a stocker means 80, Conveying means 90 and control means 100 are provided.

  As shown in FIG. 2, the three-dimensional moving mechanism 10 moves the Z-axis slider 11, which is a movable member, with respect to the table unit 60 in three axial directions (X-axis direction, Y-axis direction, and Z-axis direction) orthogonal to each other. It is configured with three shaft drive mechanisms to be moved. That is, the X-axis drive mechanism 12X, the Y-axis drive mechanism 12Y, and the Z-axis drive mechanism 12Z are provided.

  The Y-axis drive mechanism 12Y includes a pair of left and right guide rails 13 disposed along the front-rear direction, a Y-axis beam 14 spanned between the guide rails 13, and the Y-axis beam 14 along the guide rail 13. And a linear motor 15 that moves in the front-rear direction (Y-axis direction). A displacement detector 16 is provided between one guide rail 13 and one end side of the Y-axis beam 14 to detect the position (movement displacement amount) of the Y-axis beam 14 in the Y-axis direction. The displacement detector 16 includes a scale 17 disposed along one guide rail 13 and a detection head 18 disposed on one end side of the Y-axis beam 14 so as to face the scale 17 with a slight gap. It is configured.

  The X-axis drive mechanism 12X includes an X-axis slider 19 that is movably provided on the Y-axis beam 14, and a linear motor that moves the X-axis slider 19 in the left-right direction (X-axis direction) along the Y-axis beam 14. 20. Between the X-axis slider 19 and the Y-axis beam 14, a displacement detector (not shown) that detects the position (movement displacement amount) of the X-axis slider 19 in the X-axis direction is provided. Since this displacement detector has the same configuration as the displacement detector 16, description thereof is omitted.

  The Z-axis drive mechanism 12Z is attached to the X-axis slider 19 and extends along the vertical direction, and a Z-axis slider (movable member) 11 provided to be movable along the Z-axis guide plate 21. And a linear motor 22 that moves the Z-axis slider 11 in the vertical direction along the Z-axis guide plate 21. Between the Z-axis slider 11 and the Z-axis guide plate 21, a displacement detector (not shown) that detects the position (movement displacement amount) of the Z-axis slider 11 in the Z-axis direction is provided. Since this displacement detector also has the same configuration as the displacement detector 16, description thereof is omitted.

  The Z-axis slider 11 (movable member of the three-dimensional moving mechanism 10) is provided with first holder means 30 for selectively and replaceably attaching a workpiece and a tool. The first holder means 30 includes a pair of coupling / separating elements 31 and 41 that can be coupled and separated from each other.

As shown in FIG. 3, one coupling / separation element 31 of the pair of coupling / separation elements 31, 41 includes a coupling plate 33 attached to the Z-axis slider 11 via a mounting plate 32, and this coupling plate. The positioning block 34 is arranged at the center of the front surface of 33, and the air supply blocks 35 are arranged on both sides of the front surface of the connecting plate 33 with the positioning block 34 interposed therebetween.
In the positioning block 34, an engagement hole 34A is formed at the center, and square protrusions 34B are formed at left and right and up and down positions around the engagement hole 34A. In the air supply block 35, an engagement hole 35A is formed in the center of the front surface, and an air pipe 35B communicating with the engagement hole 35A is provided on the upper surface.

As shown in FIG. 4, the other coupling / separation element 41 of the pair of coupling / separation elements 31, 41 includes a coupling plate 43 that can be coupled to and separable from one coupling / separation element 31, and this coupling plate. 43, a holding mechanism 44 that is provided in the center of the front surface and holds either a workpiece or a tool, and an air supply block 45 that is disposed on both sides of the front surface of the connecting plate 43 with the holding mechanism 44 interposed therebetween.
As shown in FIG. 5, on the back surface of the connecting plate 43, an engagement shaft portion detachably engaged with an engagement hole 34 </ b> A and a projection 34 </ b> B formed in the positioning block 34 of one coupling / separation element 31. 43A and a locking portion 43B are formed, and an air pipe 43C that is detachably inserted into the engagement hole 35A of the air supply block 35 is provided projectingly.

  As shown in FIG. 6, the holding mechanism 44 holds the spindle unit 51 that supports any one of a tool and a workpiece in a replaceable manner. The main shaft unit 51 includes a unit main body 52, a main shaft 53 rotatably supported on the unit main body 52 via an air bearing, a chuck mechanism 54 provided on the main shaft 53 and holding either a tool or a workpiece, An air turbine (not shown) that rotates the main shaft 53 is provided. An air pipe 55 for supplying air to an air bearing and an air turbine that rotatably supports the main shaft 53 is attached to the upper surface of the unit main body 52.

The air supply block 45 is provided with an air pipe (not shown) communicating with the air pipe 55 on the bottom surface. This air pipe and an air pipe 55 formed in the unit main body 52 are connected via an air tube 56.
Thus, when the other coupling / separation element 41 is coupled to one coupling / separation element 31, air is supplied from one coupling / separation element 31 to the air turbine through the other coupling / separation element 41. A flow path is formed, and the pair of coupling / separating elements 31 and 41 are configured to be connectable and separable by the air pipe 43C and the engagement hole 35A.

  As shown in FIG. 7, the table means 60 is for selectively attaching a workpiece and a tool, and includes a table 61 such as a surface plate. The table 61 may have a size on which the three-dimensional movement mechanism 10 can be placed, or may be a table different from the table on which the three-dimensional movement mechanism 10 is placed. The table 61 is provided with second holder means 62 for selectively and replaceably holding a tool or a work corresponding to either the work or the tool attached to the first holder means 30.

  The second holder means 62 includes a base plate 63 fixed to the table 61 of the table means 60, a holding mechanism 64 that is attached to the base plate 63 and holds either a workpiece or a tool, and the holding mechanism 64 is attached to the base plate 63. The rotary drive means 68 is configured to be driven to rotate. The holding mechanism 64 includes a chuck main body 65, three chuck pieces 66 arranged on the upper surface of the chuck main body 65 at intervals of 120 degrees and configured to be simultaneously advanced and retracted toward the center, and the three chuck pieces 66 are simultaneously advanced and retracted. And an opening / closing drive source 67 to be operated.

  The stocker means 80 includes a tool stocker 81 storing the tools held by the first holder means 30 and the second holder means 62, and a workpiece held by the first holder means 30 and the second holder means 62. A stored work stocker 82 is provided. The tool stocker 81 and the work stocker 82 are arranged beside the three-dimensional movement mechanism 10.

  As shown in FIG. 8, the tool stocker 81 includes a stocker base 83 for storing a plurality of types of tools. The tools stored on the stocker table 83 are stored in the state of only the tools or in the state of being attached to the other coupling / separating element 41 via the chuck mechanism 54. On the stocker table 83, only the other coupling / separation element 41 having the chuck mechanism 54 at the tip of the main shaft 53, or a measuring device for measuring a workpiece before or after processing is stored.

As tools, rotary cutting tools such as drills and end mills, rotary grinding tools such as grindstones, cutting tools such as tools, ultrasonic vibration tools and the like are also stored. As the measuring device, a touch signal probe 84 that emits a touch signal when it touches a workpiece is stored.
Although not shown, the work stocker 82 is provided with a stocker table for stocking a plurality of works in the same manner as the tool stocker.

  The conveying means 90 takes out the workpiece and tool stored in the stocker means 80 and takes the first holder means 30 (holder means on the three-dimensional movement mechanism 10 side) and the second holder means 62 (holder means on the table means side). These are transported to be attached to a robot, and are provided with a robot transport mechanism 91 shown in FIG. The robot transport mechanism 91 includes a guide rail 92 disposed along the direction in which the three-dimensional movement mechanism 10 and the stocker unit 80 are arranged (X-axis direction), and an X-axis provided to be movable along the guide rail 92. A slider 93, a column 94 erected on the X-axis slider 93, a Z-axis slider 95 that can be moved up and down (Z-axis direction) along the column 94, and the Z-axis slider 95 A Y-axis arm 96 that is slidable in the Y-axis direction, a swivel arm 97 that is slidable around an axis parallel to the X-axis at the tip of the Y-axis arm 96, and a tip of the swivel arm 97 It is comprised from the holding | grip mechanism 98 provided in this.

  The control means 100 controls the three-dimensional movement mechanism 10, the table means 60, and the robot transport mechanism 91. The control means 100 displays the measurement result measured by the measuring device and the measurement result and the preset value stored in advance. And a correction operation calculating means 102 for executing a correction operation at the next machining.

Next, the operation of this embodiment will be described.
Either a workpiece or a tool is selected and attached to the first holder means 30 of the three-dimensional moving mechanism 10, and a tool or workpiece corresponding to any of the workpiece and the tool attached to the first holder means 30 is attached. Select and attach to the second holder means 62.
For example, a tool is attached to the first holder means 30 and a workpiece is attached to the second holder means 62. Specifically, a tool necessary for processing is selected from the tool stocker 81 by the operation of the robot transport mechanism 91, transported to the position of the three-dimensional movement mechanism 10, and then attached to the first holder means 30. Further, a work to be machined is selected from the work stocker 82, transported to the position of the table means 60, and then held by the holding mechanism 64 of the table means 60.

  At this time, when attaching the tool to the first holder means 30, the other coupling / separation element 41 constituting the first holder means 30 is removed from the coupling / separation element 31 to one side, The other coupling / separation element 41 to which the tool is mounted is selected, conveyed to the position of the three-dimensional movement mechanism 10, and then coupled to one coupling / separation element 31. Then, the air pipe 43C of the other coupling / separation element 41 is inserted into the engagement hole 35A of the one coupling / separation element 31, and both are positioned and coupled, and air is supplied from one coupling / separation element 31 to the other. The air flow path supplied to the air turbine of the spindle unit 51 is formed through the coupling / separating element 41. If air is supplied in this state, the main shaft 53 is rotated by the rotation of the air turbine.

  Conversely, in order to attach a workpiece to the first holder means 30 and attach a tool to the second holder means 62, the workpiece to be machined is selected from the workpiece stocker 82 by the operation of the robot transport mechanism 91. Then, after transporting to the position of the three-dimensional movement mechanism 10, it is attached to the first holder means 30. Further, a tool necessary for machining is selected from the tool stocker 81, conveyed to the position of the table means 60, and then held by the holding mechanism 64 of the table means 60.

In this way, the tool and workpiece are selected and attached to the first holder means 30 and any one of the corresponding workpiece and tool is attached to the second holder means 62, and then machining is performed.
In the processing, the tool and workpiece held by the first holder means 30 and the second holder means 62 are moved relative to each other while moving the three-dimensional movement mechanism 10 in the three-dimensional directions (X-axis, Y-axis, and Z-axis directions). While moving, the workpiece is machined with a tool.
At this time, for example, when a tool is attached to the first holder means 30 and a work is attached to the second holder means 62, the work is processed by the tool while the work is kept stationary and the tool is rotated. When the work is attached to the first holder means 30 and the tool is attached to the second holder means 62, the work is processed by the tool while the work is kept stationary and the tool is rotated.

After processing, measure as necessary. For example, when processing is performed with a tool attached to the first holder means 30 and a workpiece attached to the second holder means 62, the other coupling / separation element 41 constituting the first holder means 30 is measured. Is removed from the coupling / separation element 31 on one side, and the other coupling / separation element 41 on which the measuring device is mounted is selected from the tool stocker 81 and conveyed to the position of the three-dimensional movement mechanism 10. , One of the coupling / separation elements 31 is coupled.
In this state, the measuring device and the work held by the first holder means 30 and the second holder means 62 while moving the three-dimensional movement mechanism 10 in the three-dimensional directions (X-axis, Y-axis, Z-axis directions). Measure the workpiece with a measuring instrument while moving the

  For example, when a measurement is performed by attaching a touch signal probe that emits a touch signal when it comes into contact with a workpiece, the touch signal is generated each time the touch signal probe contacts the workpiece. Then, every time a touch signal is issued from the touch signal probe, the calculation means 102 of the control means 100 reads the displacement detector values in the X, Y, and Z axes, and the touch signal probe contacts based on these data. The coordinate position of the workpiece is calculated and displayed on the display means 101. Further, the correction operation is executed at the next machining while comparing the measurement result with the set value set and stored in advance. That is, the moving operation of the three-dimensional moving mechanism 10 is controlled so that the measurement result matches the preset value that is set and stored. Therefore, even when processing the same workpiece continuously, it can be processed while ensuring a certain accuracy.

According to this embodiment, the following effects can be expected.
(1) Since the workpiece and the tool can be selectively attached to the first holder means 30 and the second holder means 62, even if the size and weight of the workpiece change, the most efficient and high Accurate machining can be realized.

  (2) Since the stocker unit 80, the transport unit 90, and the control unit 100 are provided, one of the workpieces and tools stocked in the stocker unit 80 is selected while the transport unit 90 is controlled by the control unit 100. And can be held by the first holder means 30 and the second holder means 62. Accordingly, it is possible to automatically and efficiently replace the tool and the workpiece with respect to the first holder means 30 and the second holder means 62. Further, since the processing can be performed while controlling the movement of the three-dimensional movement mechanism 10 by the control means 100, if the movement route of the three-dimensional movement mechanism 10 is programmed in advance, automatic operation is performed according to the preset route. It can be carried out.

  (3) If a measuring device is selected from the stocker means 80 and this measuring device is attached to the holder means on which the tool is attached, the shape and dimensions of the workpiece processed using the measuring device can be measured. can do.

  (4) One coupling / separation element 31 attached to the Z-axis slider 11 (movable member) of the three-dimensional movement mechanism 10 and the other coupling / separation element 41 holding either a workpiece or a tool are mutually connected. Since they are connectable and separable, either a workpiece or a tool can be attached to or detached from the Z-axis slider 11 (movable member) of the three-dimensional moving mechanism 10 by the connecting / separating function of both. Therefore, the work and tool replacement work for the first holder means 30 can be performed easily and quickly.

  (5) The other coupling / separation element 41 includes a coupling plate 43 that can be coupled to and separable from one coupling / separation element 31 and a holding mechanism 44 that holds either the workpiece or the tool. Therefore, if the holding mechanism 44 is formed in an optimum shape for holding each workpiece or tool, the connection plate 43 can be used in common.

  (6) Since the spindle unit 51 that rotatably supports either the tool or the workpiece is held by the holding mechanism 44, the workpiece is processed using a rotary tool such as a drill, an end mill, or a milling cutter as the tool. Can do.

  (7) When the other coupling / separation element 41 is coupled to one coupling / separation element 31, air is supplied from one coupling / separation element 31 to the air turbine of the spindle unit 51 through the other coupling / separation element 41. An air flow path is formed. Therefore, only by coupling the other coupling / separation element 41 to one coupling / separation element 31, the spindle 53 (tool or workpiece) of the spindle unit 51 can be rotated, and the tool and workpiece can be easily replaced. It can be carried out.

  (8) An air pipe 43C constituting an air flow path is formed to protrude from the other coupling / separation element 41, and an engagement hole 34A into which the air pipe 43C is inserted is formed in one coupling / separation element 31. From the above, when the pair of coupling / separating elements 31, 41 are coupled, an air flow path is formed, and the pair of coupling / separating elements 31, 41 are connected by fitting the air pipe 43C and the engagement hole 34A. Can be combined and separable.

  (9) Since the second holder means 62 includes the base plate 63 fixed to the table means 60 and the holding mechanism 64 holding either the workpiece or the tool, the holding mechanism 64 The base plate 63 can be used in common if it is formed in an optimum shape for holding each tool.

  (10) Since the second holder means 62 is provided with the rotation driving means 68 for rotating the holding mechanism 64, the second holder means 62 is rotated while the work is being rotated, or a rotary tool such as a drill, end mill, or milling cutter is used as a tool. , Can work the workpiece.

  (11) Since the three-dimensional movement mechanism 10 can be moved in the three axis directions orthogonal to each other by the three axis drive mechanisms 12X, 12Y, and 12Z, and each axis drive mechanism 12X, 12Y, and 12Z is driven by the linear motor 15. High-speed and high-precision machining can be realized.

Note that the present invention is not limited to the above-described embodiment, and modifications, improvements, and the like within a scope in which the object of the present invention can be achieved are included in the present invention.
In the above embodiment, the first holder means 30 having the spindle unit 51 is provided on the three-dimensional movement mechanism 10 side, and the second holder means 62 having the holding mechanism 64 is provided on the table means 60 side. As shown in the figure, the second holder means 62 may have the same configuration as that of the first holder means 30.
In this case, the second holder means 62 includes one coupling / separation element 31 fixed to the base plate 63, and the other coupling / separation element 31 that can be coupled to and separable from the other coupling / separation element 31. It is composed of a coupling / separation element 41. Accordingly, the second holder means 62 can also be replaced in the same manner as the first holder means 30. Further, the other coupling / separation element 41 of the second holder means 62 can be configured to be detachable from the one coupling / separation element 31 of the first holder means 30 and the other of the first holder means 30 can be configured to be removable. The coupling / separation element 41 can be configured to be detachable from one coupling / separation element 31 of the second holder means 62. That is, the first holder means 30 and the second holder means 62 can be configured to be interchangeable with each other.

Further, as shown in FIG. 11, a two-dimensional movement mechanism 111 (X-axis drive mechanism and Y-axis drive mechanism) is provided between one coupling / separation element 31 of the second holder means 62 and the base plate 63. If so, the degree of freedom of processing increases.
Further, as shown in FIG. 12, the second holder means 62 provided on the table means 60 side includes not only the spindle unit 51 but also a holding mechanism 64 in which three chuck pieces 66 advance and retract simultaneously toward the center. It may be provided, or another mechanism may be used.

  In the above embodiment, both the first holder means 30 and the second holder means 62 have the function of rotating the tool or the workpiece. However, both the first holder means 30 and the second holder means 62 are provided. May not have a function of rotating a tool or a workpiece, and it is sufficient if at least one of them has a function of rotating.

  In the above embodiment, the stocker unit 80 and the transfer unit 90 (robot transfer mechanism 91) are provided so that the tool and the workpiece can be exchanged automatically. May be attached to or removed from the first holder means 30 and the second holder means 62 manually.

  In the embodiment, the control unit 100 is provided, and the control device 100 controls all the mechanisms and units of the three-dimensional movement mechanism 10, the table unit 60, and the robot transport mechanism 91. However, at least the three-dimensional movement is performed. Only the operation of the mechanism 10 may be controlled, and other operation control may be performed by the worker himself.

  In the above embodiment, the first holder means 30 is configured to include a pair of coupling / separating elements 31 and 41 that can be coupled and separated. However, the Z-axis slider 11 that is a movable member has a chuck means (of the first holder means). The tool and workpiece may be selected and attached to the chuck means. At this time, the main shaft may be rotatably provided on the Z-axis slider 11, and chuck means (corresponding to the first holder means) may be provided on the main shaft.

  In the above-described embodiment, the second holder means 62 includes the base plate 63 fixed to the table 61, the holding mechanism 64 that holds either the workpiece or the tool, and the holding mechanism 64 is driven to rotate with respect to the base plate 63. The rotation driving means 68 is included, but the present invention is not limited to this.

For example, as with the first holder means 30, a pair of coupling / separating elements that can be coupled and separated from each other may be included. At this time, one of the pair of coupling / separating elements is attached to the table 61 of the table means 60, and the other coupling / separating element has a holding mechanism for holding either the workpiece or the tool. Provide. Furthermore, if the other coupling / separating element is provided with a rotation driving means for rotating the holding mechanism, the same effect as that of the first holder means 30 can be expected.
Alternatively, chuck means (corresponding to the second holder means) may be provided on the table 61 of the table means 60, and a tool and a workpiece may be selected and attached to the chuck means. At this time, the main shaft may be rotatably provided on the table 61, and chuck means (corresponding to the first holder means) may be provided on the main shaft.

  In the above embodiment, the three-dimensional drive mechanism 10 is used as the moving means, and the first holder means 30 is moved in the three-dimensional direction by the three-dimensional drive means 10, but the three-dimensional drive mechanism is used as the moving means. It is not limited to 10. For example, a one-dimensional or two-dimensional movement mechanism may be used.

  In the above embodiment, the robot transport mechanism 91 is used as the transport means. However, the present invention is not limited to this, and any mechanism that can transport the tool and workpiece stored in the stocker means 80 to the first and second holder means 30 and 62 is used. Other configurations may be used.

  In the above embodiment, the stocker means 80 includes the tool stocker 81 and the work stocker 82, and the tool and the work are stored separately. However, these (tool and work) are stored together. One stocker may be used.

In the above embodiment, if the error storage step is executed before the processing step (measurement step) and the error stored in the error storage step is corrected from the operation of the processing step or the measurement step, three-dimensional Since the movement error of the moving mechanism 10 can be corrected from the operations of the machining process and the measurement process, more accurate machining and measurement can be expected.
Specifically, in the error storing step, first, before the second holder means 62 is mounted on the table means 60, a two-dimensional position detection scale is arranged on the table means 60 and the first holder means 30 A sensor for irradiating light to the two-dimensional position detection scale and receiving reflected light from the two-dimensional position detection scale to detect the coordinate position on the two-dimensional position detection scale is attached. In this state, the three-dimensional movement mechanism 10 is moved with respect to the table means 60, and the error between the movement position command value at that time and the coordinate position on the two-dimensional position detection scale detected by the sensor is stored. The stored error is corrected from the operation of the machining process or the measurement process.
The two-dimensional position detection scale is also called a crossed lattice scale, and a position on a plane can be detected by applying light on the scale and detecting interference of reflected light.

In the above-described embodiment, an example in which a workpiece is machined with a tool has been described. However, the machining system of the present invention can also be applied to a case where components are assembled to a substrate.
For example, as shown in FIG. 13, the second holder means 62 provided on the table means 60 side has one coupling / separation element 31 fixed to the base plate 63 and the one coupling / separation element 31. The other connecting / separating element 41 is connectable and separable. The other coupling / separation element 41 is constituted only by a coupling plate 43 that can be coupled to and separable from one coupling / separation element 31. The connection plate 43 is provided with a vacuum chuck as a holding means for holding the substrate 112. The first holder means 30 is provided with a gripping mechanism (a plurality of gripping claws that can be opened and closed) for gripping a component, but is not limited thereto.

  In assembling, the substrate 112 is held on the second holder means 62 and the three-dimensional moving mechanism 10 is operated to hold the parts on the first holder means 30. In this case, parts are stocked in advance within the movement range of the first holder means 30. After that, the three-dimensional moving mechanism 10 is operated to assemble the component held by the first holder means 30 to the substrate 112 held by the second holder means 62. Instead of the chuck mechanism 54 of the first holder means 30, a vacuum chuck may be used.

  The present invention can be used for processing a workpiece having a general size and weight, in addition to being used for processing a fine workpiece such as a micro component, a semiconductor device component, and a connector component.

The top view which shows the processing system which concerns on one Embodiment of this invention. The perspective view which shows the three-dimensional movement mechanism and table means of embodiment same as the above. The perspective view which shows the 1st holder means (one coupling | bonding / separation element) of embodiment same as the above. The perspective view which shows the 1st holder means (other coupling | bonding / separation element) of embodiment same as the above. The figure which shows the back surface of the 1st holder means (other coupling | bonding / separation element) of embodiment same as the above. The disassembled perspective view which shows the holding | maintenance mechanism of a 1st holder means (other coupling | bonding / separation element) and a spindle unit same as the above. The perspective view which shows the 2nd holder means of embodiment same as the above. The perspective view which shows the tool stocker of embodiment same as the above. The perspective view which shows the robot conveyance mechanism of embodiment same as the above. The perspective view which shows the three-dimensional movement mechanism and table means of other embodiment of this invention. The perspective view which shows the modification of the said other embodiment. The perspective view which shows the further different modification of the said other embodiment. The perspective view which shows the three-dimensional movement mechanism and table means of other embodiment of this invention.

Explanation of symbols

10 ... three-dimensional movement mechanism,
11 ... X-axis slider (movable member),
12X, 12Y, 12Z ... X, Y, Z axis drive mechanism,
30. First holder means,
31... Coupling / separation element,
35A ... engagement hole,
41 ... coupling / separation element,
43 ... connecting plate,
44 ... holding mechanism,
51 ... Spindle unit,
52 ... Unit body,
53 ... Spindle,
54 ... Chuck mechanism,
55 ... Air piping,
60 ... Table means,
62 ... second holder means,
63 ... Base plate,
64 ... holding mechanism,
68. Rotation drive means,
80 ... Stocker means,
81 ... Tool stocker
82 ... Work stocker,
90 ... conveying means,
91 ... Robot transfer mechanism,
100 ... control means,
101 ... display means,
102: Calculation means.

Claims (18)

A machining system for machining a workpiece with a tool while relatively moving the workpiece and the tool,
Table means and moving means for moving the movable member relative to the table means;
The movable member of the moving means is provided with a first holder means for selectively and replaceably attaching a workpiece and a tool,
The table means is provided with second holder means for selectively and replaceably attaching a tool and a work corresponding to either the work or the tool attached to the first holder means. A featured processing system. The processing system according to claim 1, further comprising:
Stocker means for stocking at least one of a work and a tool attached to the first and second holder means;
In order to take out workpieces and tools stocked in the stocker means and attach them to the first holder means and the second holder means, conveying means for conveying them,
A processing system comprising: a control unit that controls the moving unit and the transport unit. The processing system according to claim 2,
The stocker means includes a measuring device for measuring the workpiece before processing or after processing, and stores the workpiece and tool,
The control means further includes a display means for displaying a measurement result measured by the measuring device, and a correction operation calculation for executing a correction operation at the next machining while comparing the measurement result with a preset value stored A processing system comprising means. In the processing system according to any one of claims 1 to 3,
The first holder means includes a pair of coupling / separating elements that can be coupled and separated from each other,
One coupling / separation element of the pair of coupling / separation elements is attached to the movable member, and the other coupling / separation element is provided with a holding mechanism for holding either the workpiece or the tool. A processing system characterized by that. The processing system according to claim 4, wherein
The other coupling / separation element includes a coupling plate that can be coupled to and separable from the one coupling / separation element, and a holding mechanism that is provided on the coupling plate and holds either the workpiece or the tool. Machining system characterized by being. The processing system according to claim 5, wherein
A machining system, wherein the holding mechanism holds a spindle unit that rotatably supports either the tool or the workpiece. The processing system according to claim 6, wherein
The main spindle unit includes a unit main body, a main shaft rotatably supported by the unit main body, a chuck mechanism that holds either the tool or the workpiece on the main shaft, and an air turbine that rotates the main shaft. Configured,
Between the pair of coupling / separating elements, when the other coupling / separating element is coupled to one coupling / separating element, air flows from one coupling / separating element to the other coupling / separating element. A processing system characterized in that an air flow path to be supplied is formed. The processing system according to claim 7,
Of the pair of coupling / separating elements, one of the coupling / separating elements has a protruding air pipe forming the air flow path, and the other one of the coupling / separating elements has the air pipe inserted therein. A machining system, wherein a joint hole is formed, and the pair of coupling / separating elements are configured to be coupled and separable by the air pipe and the engagement hole. In the processing system according to any one of claims 1 to 8,
The second holder means includes a pair of coupling / separating elements that can be coupled and separated from each other,
One coupling / separation element of the pair of coupling / separation elements is attached to the table means, and the other coupling / separation element is provided with a holding mechanism for holding either the workpiece or the tool. A processing system characterized by that. In the processing system according to any one of claims 1 to 8,
The second holder means includes a base plate fixed to the table means, and a holding mechanism attached to the base plate and holding either the workpiece or the tool. In the processing system according to claim 9 or 10,
A machining system comprising a rotation driving means for rotating the holding mechanism. In the processing system according to any one of claims 1 to 11,
The moving system includes a three-axis drive mechanism that moves the movable member in three axial directions orthogonal to each other, and each axis drive mechanism is driven by a linear motor. A machining method for machining a workpiece with a tool while relatively moving the workpiece and the tool,
Table means, moving means for moving the movable member relative to the table means, first holder means provided on the movable member of the moving means for selectively and replaceably attaching the workpiece and the tool, A preparatory step of preparing second holder means for selectively and replaceably holding a tool or a work corresponding to any one of a work and a tool provided on the table means and attached to the moving means;
Either the workpiece or the tool is selected and held in the first holder means, and the tool or workpiece corresponding to the workpiece and the tool held in the first holder means is held in the second holder means. Installation process;
A machining step of machining a workpiece with either the workpiece or tool held by the first holder means and the tool or workpiece held by the second holder means corresponding to the workpiece while moving the moving means. A processing method characterized by comprising: The processing method according to claim 13, wherein
The preparation step further includes stocker means for stocking at least one of a work and a tool attached to the first and second holder means, and taking out the work and tool stocked in the stocker means. Preparing a first holder means and a conveying means for conveying them to attach to the second holder means;
In the mounting step, the work and tool stocked in the stocker means are transported by the transport means, and the first holder means selects and holds either the work or the tool, and the first holder means. A tool or a workpiece corresponding to the workpiece and the tool held by the second holder means is held by the second holder means. The processing method according to claim 13 or 14, further comprises:
A processing method comprising a measuring step of measuring a workpiece before or after processing. The processing method according to claim 15, wherein
A processing method comprising: a correction operation executing step of executing a correction operation at the next processing while comparing a measurement result measured in the measurement step with a preset value stored in advance. The processing method according to claim 15, further comprising:
Prior to the processing step or the measuring step, a two-dimensional position detection scale is arranged on the table means, and the first holder means is irradiated with light on the two-dimensional position detection scale, and the two-dimensional position detection scale is provided. When a sensor for detecting the coordinate position on the two-dimensional position detection scale is received by receiving reflected light from the two-dimensional position detection scale and the moving means is moved with respect to the table means, it is detected by the moving position command value and the sensor. An error storage step of storing an error with the coordinate position on the two-dimensional position detection scale,
A processing method comprising correcting an error stored in the error storage step from the operation of the processing step or the measurement step. A component assembling method for assembling a component on a board using the processing system according to claim 1,
Holding the substrate on the second holder means;
After operating the moving means to hold the component in the first holder means,
A component assembling method comprising assembling a component held by the first holder means by operating the moving means to a substrate held by the second holder means.

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