JP2020172108A - Machine tool device and method for controlling the same - Google Patents

Abstract

To provide a machine tool device, and a method for controlling the same, which can reduce a number of man-hours required for processing a formed work in a machine tool.SOLUTION: There is provided a machine tool device that comprises: a clamping mechanism for automatically replacing a tool; a tool storage area for storing the tool capable of clamping in the clamping mechanism; a molding device storage area that stores a molding device that can be clamped by the clamping mechanism in the molding device that ejects molten material; a spindle that rotates the tool clamped by the clamping mechanism; and a control unit that controls the rotation of the spindle using control commands, in which the control unit controls the molding device clamped by the clamping mechanism by using a control command.SELECTED DRAWING: Figure 1

Description

The present invention relates to a machine tool device and a control method thereof.

Conventionally, 3D (Three-Dimensional) -CAD (Computer-Aided Design), 3DCG (Computer graphics), etc. are created based on the exposed 3D data, and the materials are further laminated to form a model (work). There are known 3D printers that model. Various modeling methods are used for 3D printers. For example, there is an FDM (Fused Deposition Modeling) type 3D printer in which materials melted by heat are stacked to form a work. An FDM type 3D printer has a spindle that moves a discharge unit that discharges a material such as molten resin in three dimensions (or two dimensions), and a control unit that controls the spindle moves the spindle based on 3D data. The work is shaped by.

Further, there is an apparatus used by attaching the ejection part of a 3D printer to the spindle of a machining center (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 11-207744

However, the dimensional accuracy of the work produced by modeling with a 3D printer is generally lower than the dimensional accuracy of the work produced by processing with a machine tool such as a machining center. Therefore, in order to manufacture a work with high dimensional accuracy, two steps are required: a process of shaping the work using a 3D printer and a process of processing the shaped work using a machine tool. In some cases, the production man-hours increased.

Further, in the apparatus of Patent Document 1, since the discharge portion is attached to the spindle of the machining center with bolts and nuts, it takes time to set up for exchanging the machining tool attached to the spindle and the discharge portion. In some cases, the production man-hours would increase.

Further, in a machining center or the like, it is necessary to create a program including a control command for rotating or moving a tool in advance and execute the program by a controller that controls the machining center or the like. Therefore, in order to control the operation of new jigs other than tools such as 3D printers, it is necessary to change the system to execute new control commands in the controller, and the production man-hours for system change and program creation. In some cases.

The present invention has been made in view of the above circumstances, and one object of the present invention is to provide a machine tool device and a control method thereof, which can reduce the manufacturing man-hours when processing a shaped work.

(1) In order to solve the above problems, the machine tool apparatus of the embodiment has a clamp mechanism for automatically changing tools, a tool storage area for storing a tool that can be clamped in the clamp mechanism, and a molten material. A modeling device storage area that stores a modeling device that can be clamped by the clamping mechanism, a spindle that rotates a tool clamped by the clamping mechanism, and a control command to control the rotation of the spindle. A control unit is provided, and the control unit controls a modeling device clamped by a clamping mechanism by using a control command.

(2) Further, in the machine tool apparatus of the embodiment, the control unit controls the start or stop of injection of the material from the modeling apparatus by using the control command instructing the start or stop of the rotation of the tool, and the rotation of the tool. The amount of material discharged from the modeling apparatus may be controlled by using a control command for specifying the speed.

(3) Further, in the machine tool apparatus of the embodiment, a material supply unit that supplies materials to the modeling apparatus is further provided, and the control unit moves the modeling apparatus to the material supply unit and further from the material supply unit to the modeling apparatus. It may control the operation of supplying the material.

(4) Further, in the machine tool apparatus of the embodiment, the material supply unit may heat the material and supply the heated material to the modeling apparatus.

(5) Further, in the machine tool device of the embodiment, the control unit is modeled by using the material ejected from the modeling device clamped by the clamp mechanism, and further by using the tool clamped by the clamp mechanism. It may control the operation of machining the work.

(6) Further, in the machine tool apparatus of the embodiment, the modeling apparatus may include a heat insulating portion for retaining heat of the molten material.

(7) Further, in the machine tool apparatus of the embodiment, the modeling apparatus is a power supply that is automatically connected to a melting portion for melting a material and supplies power to the melting portion when clamped by a clamping mechanism. It may be further provided with a mechanism.

(8) Further, in the machine tool apparatus of the embodiment, the modeling apparatus is a connector mechanism that is automatically connected to a melting portion for melting a material and supplies power to the melting portion when clamped by a clamping mechanism. May be further provided.

(9) In order to solve the above problems, the control method of the machine tool device of the embodiment is a clamp mechanism for automatically changing a tool in a modeling device storage area for storing a modeling device that ejects a molten material. A modeling device clamp step that clamps the modeling device, and a modeling step that ejects molten material from the clamped modeling device to form a workpiece by using a control command that rotates a tool clamped by the clamping mechanism. In the tool storage area where the tool is stored, a tool clamp step that clamps the tool with the clamp mechanism, a machining step that rotates the tool clamped by the clamp mechanism by using a control command, and a machining step that processes the shaped workpiece. including.

According to one embodiment of the invention, the machine tool device ejects a clamp mechanism for automatically changing tools, a tool storage area for accommodating tools in the clamp mechanism, and a molten material. A modeling device storage area that stores a modeling device that can be clamped by the clamping mechanism, a spindle that rotates a tool clamped by the clamping mechanism in the tool storage area, and a control command to control the rotation of the spindle. The control unit is provided with a control unit to control the modeling device clamped by the clamping mechanism in the modeling device storage area by using a control command, thereby reducing the number of manufacturing steps when processing the modeled work. be able to.

It is a side view which shows an example of (A) when a tool is attached, and (B) when a modeling apparatus is attached with respect to the spindle in an embodiment. It is a top view which shows an example of the structure of the machine tool apparatus in embodiment. It is a flowchart which shows an example of the operation of the machine tool apparatus in embodiment. It is a figure which shows an example of manufacturing of the workpiece using the tool of the machine tool apparatus in embodiment. It is a figure which shows an example of the production of the work using the modeling apparatus of the machine tool apparatus in embodiment. It is a figure which shows an example which supports the spindle which the modeling apparatus was clamped with the robot arm in the machine tool apparatus of embodiment. It is a figure which shows an example which supports the spindle in which a tool is clamped by the robot arm in the machine tool apparatus of embodiment. It is a top view which shows another example of the structure of the machine tool apparatus in embodiment. It is a figure which shows an example of the production of the work using the robot arm of the machine tool apparatus in embodiment.

Hereinafter, the machine tool apparatus and the control method thereof according to the embodiment of the present invention will be described in detail with reference to the drawings.

First, the mounting of the tool and the modeling device in the machine tool device will be described with reference to FIG. FIG. 1 is a side view showing an example of (A) when the tool is clamped and (B) when the modeling device is clamped with respect to the spindle in the embodiment.

In FIGS. 1A and 1B, the machine tool apparatus 1 has a spindle 11. The spindle 11 has a clamp mechanism 111, a material supply unit 112, and a power supply mechanism 113. FIG. 1A shows how the tool 2 is clamped to the clamp mechanism 111. Further, FIG. 1B shows how the modeling device 3 is clamped to the clamp mechanism 111.

The spindle 11 has a clamp mechanism 111 for automatically changing tools. Clamping means grabbing or pinching. The clamp mechanism 111 is a mechanism (device structure) for automatic tool change (Auto Tool Changer: ATC) used in a machine tool such as a machining center. The clamp mechanism 111 automatically replaces (attaches / detaches) the tool to the spindle 11 by clamping or unclamping the tool used for machining from among a plurality of tools. The shape of the clamp mechanism 111 is defined by, for example, the MAS standard (Japan Machine Tool Manufacturers Association standard), the DIN standard, the ANS standard, etc. as the industrial standard for the taper shank for ATC. The clamp mechanism 111 can clamp using, for example, an HSK type that restrains two surfaces of the tool 2. The tool 2 is, for example, a milling cutter, a drill, a reamer, or the like.

In FIG. 1A, the spindle 11 is attached to a moving device (not shown) capable of moving the spindle 11 in three dimensions. The clamp mechanism 111 is attached to the lower end of the spindle 11 and moves together with the spindle 11. That is, the tool 2 (or the modeling device 3) attached to the clamp mechanism 111 is moved three-dimensionally by the moving device. Further, the spindle 11 has a rotating device (not shown) for rotating the tool 2 clamped by the clamping mechanism 111. The movement of the spindle 11 and the rotation of the clamped tool 2 are controlled by a control program executed by a control unit described later. The control program includes, for example, a control command for moving the spindle 11 in three dimensions, a control command for instructing the start or stop of rotation of the tool 2, a control command for designating the rotation speed of the spindle 11, and the like. Is included. The control program is, for example, an NC (numerical control) program. The control command is stored in a storage unit (not shown) of the control unit 10 and executed by a CPU (Central Processing Unit).

The material supply unit 112, the power supply unit 113A, and the heating unit 114 are attached to the spindle 11 and move together with the spindle 11. The material supply unit 112 supplies the material for modeling when the modeling device 3 is clamped to the clamping mechanism 111. Therefore, when the modeling device 3 is not clamped, the material is not supplied from the material supply unit 112. The power feeding unit 113A supplies electric power to the modeling device 3 when the modeling device 3 is clamped by the clamp mechanism 111. Further, the heating unit 114 heats the modeling material supplied to the modeling device 3 when the modeling device 3 is clamped by the clamp mechanism 111. The details of the material supply unit 112, the power supply unit 113A, and the heating unit 114 will be described with reference to FIG. 1 (B).

In FIG. 1B, the clamp mechanism 111 attached to the lower end of the spindle 11 clamps the modeling device 3. The tool 2 and the modeling device 3 can be automatically replaced by the clamp mechanism 111. The modeling device 3 has a discharge nozzle 31, a receiving unit 32, a heat retaining unit 33, and a melting unit 34.

The modeling device 3 is, for example, a head portion of an FDM printer that melts the supplied material and discharges the melted material from the discharge nozzle 31. Hereinafter, in this embodiment, the case where the material modeling method is the FDM method will be described, but the modeling apparatus 3 is a stereolithography method in which the discharged liquid material is cured by ultraviolet rays or the like, and powder and binder are discharged. Other methods used for 3D printers, such as a powder fixing method for solidifying, may be used.

The discharge nozzle 31 ejects the molten material for shaping the work. The injection of the material may be performed according to the rotation of the spindle 11. For example, the modeling device 3 may have a screw-shaped transport mechanism inside, and the material may be moved by rotating the transport mechanism to eject the material from the discharge nozzle 31.

For example, the machine tool device 1 controls the start or stop of material injection by rotating the transfer mechanism of the modeling device 3 based on a control command for instructing the start or stop of rotation of the tool. The control command for instructing the start or stop of the rotation of the tool is, for example, the M code of the NC program. The M code is a control command that defines an auxiliary function for machining in an NC program. The M code is defined in, for example, the JIS (Japanese Industrial Standards) standard. For example, "M03" is a command for rotating the tool (spindle) in the normal direction, and "M05" is a command for stopping the rotation of the tool. It is possible to control that the injection of the material is started by the command of "M03" and the injection of the material is stopped by the command of "M05". As a result, it is possible to control the start or stop of material injection without adding a new command for controlling the molding apparatus 3, and it is possible to reduce the manufacturing man-hours.

Further, the machine tool device 1 controls the amount of material injection by controlling the rotation speed of the transfer mechanism of the modeling device 3 based on a control command for designating the rotation speed of the tool. The control command for specifying the rotation speed of the tool can be executed, for example, in the S code of the NC program. The S code is a control command for setting the rotation speed of the tool. For example, "S2000" is a command for rotating the tool at 2,000 rpm. The S code is used in conjunction with the M code described above. By controlling the rotation speed of the transport mechanism in the S code, it is possible to control the material injection amount without adding a new command to control the modeling device 3, and it is possible to reduce the manufacturing man-hours. ..

The material supply unit 112 of the spindle 11 can supply the material to the receiving unit 32 so as to face the receiving unit 32 when the modeling device 3 is clamped by the clamping mechanism 111. For example, the material supply unit 112 has a hollow structure, and supplies the material to the receiving unit 32 by dropping the material in the hollow structure. The material supply unit 112 has a heating unit 114. The heating unit 114 heats the material supplied to the receiving unit 32. The heating unit 114 may be heated until the material is melted. For example, when the melting point of the material is high, the heating unit 114 heats (remains heat) the material, so that the energy required for melting the material in the modeling apparatus 3 can be reduced. Further, since the heating unit 114 melts the material, the melting of the material in the modeling apparatus 3 can be omitted. Further, the material supply unit 112 may have a screw-shaped transport mechanism inside, and may move the material by rotating the screw to supply the material to the receiving unit 32. By facing the material supply unit 112 and the receiving unit 32 when the modeling device 3 is clamped, it is possible to automatically supply the material to the modeling device 3 continuously. This makes it possible to improve the operating rate of the machine tool apparatus 1 as compared with the case where the material is manually supplied each time the material is exhausted, for example.

The power receiving unit 113B faces the power feeding unit 113A when the modeling device 3 is clamped by the clamping mechanism 111, and receives the electric power supplied from the power feeding unit 113A. The combination of the power feeding unit 113A and the power receiving unit 113B forms the power feeding mechanism 113. The power feeding unit 113A that supplies electric power facing the power receiving unit 113B may be referred to as a power feeding mechanism. For example, even when the modeling device 3 is not clamped by the clamp mechanism 111, the machine tool device 1 is provided with a power feeding mechanism (power feeding unit 113A).

The power feeding mechanism 113 is a contacted connector mechanism that supplies electric power by contacting the contacts of the power feeding unit 113A and the contacts of the power receiving unit 113B when the modeling device 3 is clamped by the clamping mechanism 111. By using the contacted connector mechanism, the structure becomes simple and it becomes possible to supply electric power at low cost. By applying gold plating to the contacts, for example, it is possible to stabilize the electrical resistance due to the contact of the contacts.

Further, in the power feeding mechanism 113, the power feeding unit included in the power feeding unit 113A and the power receiving unit included in the power receiving unit 113B are in close contact with each other when the modeling device 3 is clamped by the clamping mechanism 111, thereby supplying electric power (wireless). ) A power feeding method may be used. For example, the power supply unit of the power supply unit 113A is provided with a power supply coil, and the power reception unit of the power reception unit 113B is provided with a power reception coil, and power is supplied by receiving the electromagnetic waves generated from the power supply coil by the power reception coil. .. By using the non-contact power feeding method in the power feeding mechanism 113, it is possible to prevent a power feeding failure due to poor contact of the contacts.

Further, the power feeding mechanism 113 receives power by joining the rotation mechanism of the power feeding unit 113A and the rotation mechanism of the power receiving unit 113B so that the rotational force can be transmitted when the modeling device 3 is clamped by the clamping mechanism 111. The rotor of the generator provided inside the unit 113B may be rotated to generate electric power. For example, by rotating the rotating mechanism of the power feeding unit 113A with a control command, the rotating mechanism of the power receiving unit 113B may be rotated to rotate the rotor of the generator. By generating electricity from the generator provided inside the power receiving unit 113B, it is possible to omit the electrical connection between the power feeding unit 113A and the power receiving unit 113B.

Further, the power supply to the modeling device 3 may be performed by using a power generation device (not shown) provided in the modeling device 3. The power generator may be, for example, a generator in which the rotor is rotated by rotating the spindle 11. For example, the generator may be one in which the rotor rotates with the rotation of the transport mechanism for discharging the material. Further, the generator may be one in which the rotor rotates by switching between the rotation of the transport mechanism for discharging the material and the transmission of the rotational force. By using the power generation device provided in the modeling device 3 for supplying power to the modeling device 3, it is possible to omit the power feeding mechanism in the spindle 11.

The heat retaining unit 33 keeps the material supplied to the modeling apparatus 3 warm. The heat insulating unit 33 has a heat insulating layer like a thermos bottle to prevent the temperature of the material from being transmitted to the outside of the modeling apparatus 3. When the heat insulating unit 33 keeps the material warm, for example, when the material is melted in the heating unit 114, it is possible to maintain the molten state and omit the melting of the material in the modeling apparatus 3. There is.

The melting unit 34 melts the material ejected from the modeling apparatus 3. The melting unit 34 melts the material based on the electric power supplied to the power receiving unit 113B. The melting unit 34 is, for example, an electric heater. The melting unit 34 may control the electric heater based on, for example, the temperature of the material inside the modeling apparatus 3. Further, the melting unit 34 may control the electric heater according to the rotation of the transport mechanism of the modeling device 3.

Next, the structure of the machine tool device will be described with reference to FIG. FIG. 2 is a plan view showing an example of the structure of the machine tool device according to the embodiment.

In FIG. 2, the machine tool device 1 includes a control unit 10, a spindle 11, a clamp mechanism 111, a tool storage area 12, a modeling device storage area 13, a manufacturing area 14, a tool shutter 15, and a modeling device shutter 16.

The control unit 10 controls the operation of the machine tool device 1. The control unit 10 controls the clamping operation by the clamping mechanism 111, the modeling of the work using the modeling device, and the machining using the tool.

The tool storage area 12 is an area for storing the tool clamped by the clamp mechanism 111. The tool is clamped in the tool storage area 12. The tool storage area 12 is an area for mounting a tool clamped by the clamp mechanism 111, that is, an area where ATC is performed. The tool storage area 12 includes an ATC mechanism (not shown) for automatically changing tools (ATC). The tool stored in the tool storage area 12 is, for example, moved to a position where the clamp mechanism 111 can be clamped by the ATC mechanism and mounted on the spindle 11.

The modeling device storage area 13 is an area for storing the modeling device clamped by the clamp mechanism 111. Clamping of the modeling device 3 is performed in the modeling device storage area 13. That is, the modeling device storage area 13 is an area for mounting the modeling device clamped by the clamping mechanism. The modeling device 3 is placed at a predetermined position in the modeling device storage area 13. The clamp mechanism 111 is attached to a moving device (not shown) for moving the spindle 11 of the machine tool device 1 in three dimensions or the like. The modeling device can be clamped by moving the clamping mechanism 111 to a position where the modeling device can be clamped by the moving device. The modeling device storage area 13 includes a holding mechanism (not shown) for holding the modeling device. The modeling device stored in the modeling device storage area 13 is, for example, moved to a position where the clamping mechanism 111 can be clamped by a holding mechanism and mounted on the spindle 11.

The manufacturing area 14 is an area for manufacturing a work by processing with a tool or manufacturing a work by modeling using a modeling device. The spindle 11 manufactures a work by rotating a tool in the manufacturing area 14 or discharging a material from a modeling device. The table on which the work is placed (setting) may be rotated, moved, or the like independently of the spindle 11.

The tool shutter 15 is a shutter that shuts off the tool storage area 12 and the manufacturing area 14. Further, the modeling device shutter 16 is a shutter that shuts off the modeling device storage area 13 and the manufacturing area 14. The tool shutter 15 and the modeling device shutter 16 have an opening / closing mechanism, and the opening / closing mechanism is controlled by the control unit 10. When the modeling apparatus is a printer that performs FDM-type modeling, the modeling apparatus can be a heat source because the material is melted by applying temperature or pressure to the solid material in order to melt the material. On the other hand, the machining accuracy of the machine part such as the spindle 11 of the machine tool device 1 or the workpiece may decrease due to the temperature change. The modeling device shutter 16 can prevent heat transfer to the manufacturing area by thermally blocking the modeling device serving as a heat source and the manufacturing area. Further, the tool shutter 15 and the modeling device shutter 16 prevent contamination in the area due to cutting powder or the like generated in the manufacturing area 14.

Next, the operation of the machine tool device will be described with reference to FIG. FIG. 3 is a flowchart showing an example of the operation of the machine tool device according to the embodiment. The operation of the flowchart described in FIG. 3 can be realized by executing the control program in the control unit 10.

In FIG. 3, the machine tool apparatus determines whether or not to perform the production of the work by modeling the material using the modeling apparatus (step S11). The determination in step S11 is made according to the content of the production program for producing one work executed by the control unit 10.

When it is determined in step S11 that the modeling of the material is to be executed (step S11: YES), the control unit 10 clamps the modeling device 3 with the clamping mechanism 111 (step S12).

After executing the process of step S12, the control unit 10 discharges the material to form the work (step S13). The molding of the work is performed by the FDM method. That is, the control unit 10 shapes the workpiece by discharging the molten material from the discharge nozzle 31 and laminating it while moving the clamped modeling device 3 by the moving device of the machine tool device 1.

The control unit 10 further controls the supply amount of the material supplied from the clamped material supply unit 112 when the modeling device 3 is clamped by the clamp mechanism 111. That is, when the detachable modeling device 3 is clamped, the control unit 10 can control it in the same manner as the movement control of the spindle 11. As a result, in one program for manufacturing a work, it is possible to manufacture a continuous work of modeling using the modeling device 3 and machining using the tool 2.

After executing the process of step S13, the control unit 10 unclamps the modeling device 3 in the modeling device storage area 13 and places it in a predetermined position.

After executing the process of step S14, the control unit 10 determines whether or not to execute the production of the work by processing the material using the tool (step S15). The determination in step S15 is made based on the content of the production program executed by the control unit 10. When it is determined not to execute the machining of the material using the tool (step S15: NO), the control unit 10 ends the operation shown in the flowchart. That is, the control unit 10 finishes the production of the work only by modeling using the modeling device 3.

On the other hand, when it is determined not to execute the machining of the material using the tool (step S15: YES), or when it is determined not to execute the modeling of the material in the process of step S11 (step S11: NO), the control unit 10 , The tool 2 is clamped by the clamp mechanism 111 (step S16). The clamp mechanism 111 clamps a tool used for machining from a plurality of tools based on a control program.

After executing the process of step S16, the control unit 10 executes machining of the workpiece by the tool 2 (step S17). The machining of the work is the cutting of the work using a tool (including polishing, drilling, tapping, boring, etc.). In the present embodiment, by processing the work formed by the modeling apparatus 3 as it is, the work of setting the work becomes unnecessary, and the man-hours for creating the work can be reduced. Further, since the work can be machined without moving the work, the machining accuracy can be improved.

After executing the process of step S17, the control unit 10 unclamps the tool 2 in the tool storage area 12 and places it in a predetermined position (step S18). After executing step S18, the control unit 10 ends the operation shown in the flowchart.

In addition, in FIG. 3, the case where the work using the tool 2 is processed independently or after the material is formed has been described. However, the execution order of modeling using the modeling device 3 and processing using the tool 2 is not limited to this. For example, the control unit 10 may be formed by adding a material to the work using the tool 2 by using the modeling device 3. Further, the control unit 10 may process the work while exchanging a plurality of tools. Further, the control unit 10 may alternately perform modeling using the modeling device 3 and machining using the tool 2 a plurality of times.

Next, the production of the work in the machine tool apparatus 1 will be described with reference to FIGS. 4 and 5. FIG. 4 is a diagram showing an example of manufacturing a work using the tool 2 of the machine tool device 1 in the embodiment. FIG. 5 is a diagram showing an example of manufacturing a work using the modeling device 3 of the machine tool device 1 in the embodiment.

In FIGS. 4 and 5, the machine tool device 1 includes a spindle 11, a clamp mechanism 111, a material supply unit 112, a tool storage area 12, a modeling device storage area 13, a manufacturing area 14, a tool shutter 15, and a modeling device shutter 16. are doing.

When the tool 2 shown in FIG. 4 is mounted, the tool shutter 15 in the tool storage area 12 opens, the spindle 11 moves the clamp mechanism 111 to the clamp position of the tool 2, and the clamp mechanism 111 clamps the tool 2. The clamped tool 2 processes a workpiece (not shown) in the manufacturing area 14.

On the other hand, when the modeling device 3 shown in FIG. 5 is mounted, the modeling device shutter 16 in the modeling device storage area 13 opens, the spindle 11 moves the clamp mechanism 111 to the clamp position of the modeling device 3, and the clamping mechanism 111 models. Clamp the device 3. The clamped modeling device 3 continuously receives the supply of materials from the material supply unit 112 facing the receiving unit 32, and models a work (not shown) in the production area 14.

Next, with reference to FIG. 6, an example in which the spindle on which the modeling apparatus is clamped is supported by the robot arm will be described. FIG. 6 is a diagram showing an example of supporting a spindle on which a modeling device is clamped by a robot arm in the machine tool device of the embodiment.

In FIG. 6, the modeling device 3 is clamped by the clamp mechanism 111 and attached to the spindle 11. The spindle 11 is supported on the robot arm 40 via the power unit 115.

The power unit 115 drives the spindle 11 under the control of the control unit 10. The power unit 115 includes, for example, a motor and drives a mechanical portion (not shown) of the spindle 11.

The robot arm 40 has a plurality of drive shafts, and carries and moves the main shaft 11. The robot arm 40 is, for example, a vertical articulated robot having four to eight drive axes. Each axis of the robot arm 40 is controlled by a control command stored in the control unit 10. That is, the control unit 10 controls the spindle 11 and the robot arm 40 by the control command.

By moving the modeling device 3 with the robot arm 40, the discharge direction of the discharge nozzle 31 of the modeling device 3 can be freely moved, so that the shape of the work that can be modeled is free as compared with the case where the modeling device 3 is discharged only in the vertical direction. You can increase the degree. For example, by setting the discharge direction to the horizontal direction, it is possible to stack the materials in the horizontal direction.

The robot arm 40 is fixed to the fixing portion 41. The fixing portion 41 is fixed to, for example, a part of the machine tool device 1 whose bottom surface is not shown in FIG. The fixing portion 41 may be fixed to, for example, a moving table movably installed on the rail laid in the manufacturing area 14 so that the fixing portion 41 can move on the rail together with the moving table.

Next, an example in which the spindle on which the tool is clamped is supported by the robot arm will be described with reference to FIG. 7. FIG. 7 is a diagram showing an example in which a robot arm supports a spindle on which a tool is clamped in a machine tool device according to an embodiment. Note that the description overlapping with FIG. 6 in FIG. 7 may be omitted.

In FIG. 7, the tool 2 is clamped by the clamp mechanism 111 and attached to the spindle 11. The spindle 11 is supported on the robot arm 40 via the power unit 115.

By moving the tool 2 with the robot arm 40, the direction of the tool 2 can be freely moved, so that the degree of freedom in the shape of the workpiece that can be modeled can be increased as compared with the case where the tool is used only in the vertical direction. it can. For example, by setting the tool in the horizontal direction, it is possible to process the material in the horizontal direction.

The robot arm 40 is fixed to the fixing portion 41. The fixing portion 41 is fixed to, for example, a part of the machine tool device 1 whose bottom surface is not shown in FIG. The fixing portion 41 may be fixed to, for example, a moving table movably installed on the rail laid in the manufacturing area 14 so that the fixing portion 41 can move on the rail together with the moving table.

Next, another example of the structure of the machine tool device will be described with reference to FIG. FIG. 8 is a plan view showing another example of the structure of the machine tool device according to the embodiment. Note that the description overlapping with FIG. 2 in FIG. 8 may be omitted.

In FIG. 8, the machine tool device 1 includes a control unit 10, a spindle 11, a clamp mechanism 111, a tool storage area 12, a modeling device storage area 13, a manufacturing area 14, a tool shutter 15, a modeling device shutter 16, and a robot arm storage area 17. Has.

The control unit 10 controls the operation of the machine tool device 1. The control unit 10 controls the clamping operation by the clamping mechanism 111, the modeling of the work using the modeling device, and the machining using the tool. Further, the control unit 10 controls a robot arm 40 (not shown in FIG. 8) stored in the robot arm storage area 17.

The robot arm storage area 17 is an area for storing the robot arm 40 (which may include a power unit 115, a spindle 11, a clamp mechanism 111, a modeling device 3, and the like). The robot arm 40 stored in the robot arm storage area 17 is the robot arm described with reference to FIGS. 6 to 7, and the tool stored in the tool storage area 12 or the modeling device storage area 13 by the clamp mechanism 111. The modeling device stored in may be installed. For example, in the robot arm storage area 17, the robot arm 40 to which the power unit 115, the spindle 11, and the clamp mechanism 111 described with reference to FIG. 6 is attached is stored. The robot arm 40 may clamp the tool or the modeling device by moving the clamping mechanism 111 to the tool storage area 12 or the modeling device storage area 13.

The robot arm storage area 17 may be provided with a shutter for preventing contamination by cutting powder or the like generated in the production area 14. ..

Next, another example of manufacturing the work in the machine tool device 1 will be described with reference to FIG. FIG. 9 is a diagram showing an example of manufacturing a work using the robot arm of the machine tool device according to the embodiment. Note that the description overlapping with FIG. 4 or 5 in FIG. 9 may be omitted.

In FIG. 9, the machine tool device 1 includes a spindle 11, a spindle 11a, a clamp mechanism 111, a clamp mechanism 111a, a material supply unit 112, a tool storage area 12, a modeling device storage area 13, a manufacturing area 14, a tool shutter 15, and a modeling device. It has a shutter 16 and a robot arm storage area 17.

In the robot arm storage area 17, a spindle 11a is supported on the robot arm 40 via a power unit 115. The clamp mechanism 111a of the spindle 11a shows a case where the modeling device 3 is clamped. In FIG. 9, a case where the spindle 11a is attached to the robot arm 40 separately from the spindle 11 is illustrated. The control unit 10 controls the spindle 11 and the spindle 11a so that they do not interfere with each other in the manufacturing area 14. For example, the control unit 10 prevents the main shaft 11 and the main shaft 11a from interfering with each other by storing the robot arm 40 in the robot arm storage area 17 when the work is being shaped or processed by the main shaft 11 in the manufacturing area 14. .. On the other hand, even if the control unit 10 prevents the spindle 11 from interfering with the spindle 11a by retracting the spindle 11 from the manufacturing area 14 when the workpiece is being shaped or machined by the spindle 11a in the manufacturing area 14. Good. Further, the control unit 10 may control the spindle 11 and the spindle 11a so that the spindle 11 and the spindle 11a cooperate to form or process the work in the manufacturing area 14.

Although FIG. 9 has described the case where the machine tool device 1 has one robot arm 40, the machine tool device 1 may have a plurality of robot arms.

Although the embodiments of the present invention have been described above with reference to the drawings, the specific configuration is not limited to this embodiment and includes various modifications within a range not deviating from the gist of the present invention. Is done.

1 Machine tool equipment 2 Tools 3 Modeling equipment 31 Discharge nozzle 32 Receiving part 33 Heat insulating part 34 Melting part 40 Robot arm 41 Fixing part 10 Control part 11 Main shaft 111 Clamp mechanism 112 Material supply part 113 Power supply mechanism 113A Power supply part 113B Power receiving part 114 Heating Part 115 Power unit 12 Tool storage area 13 Modeling device storage area 14 Manufacturing area 15 Tool shutter 16 Modeling device shutter 17 Robot arm storage area

Claims (11)

Clamp mechanism for automatic tool replacement and
A tool storage area for storing tools that can be clamped in the clamp mechanism, and
A modeling device storage area for storing a modeling device that ejects a molten material and can be clamped by the clamping mechanism, and a modeling device storage area.
A spindle for rotating the tool clamped by the clamp mechanism and
It is equipped with a control unit that controls the rotation of the spindle using control commands.
The control unit is a machine tool device that controls the modeling device clamped by the clamp mechanism by using the control command. The control unit
A control command instructing the start or stop of rotation of the tool is used to control the start or stop of injection of material from the modeling apparatus.
The machine tool device according to claim 1, wherein the amount of material discharged from the modeling device is controlled by using a control command for designating the rotation speed of the tool. Further provided with a material supply unit for supplying materials to the modeling apparatus,
The control unit
The machine tool device according to claim 1 or 2, wherein the modeling device is moved to the material supply unit, and the operation of supplying the material from the material supply unit to the modeling device is controlled. The machine tool apparatus according to claim 3, wherein the material supply unit heats the material and supplies the heated material to the modeling apparatus. The control unit
The first aspect of the present invention is to control the operation of modeling a work by a material ejected from the modeling device clamped by the clamp mechanism and further processing the modeled work by using the tool clamped by the clamp mechanism. The machine tool device according to any one of 4 to 4. The machine tool device according to any one of claims 1 to 5, wherein the modeling device includes a heat retaining unit that keeps the molten material warm. The modeling device
A melting part for melting the material and
The machine tool apparatus according to any one of claims 1 to 6, further comprising a power supply mechanism that is automatically connected when clamped by the clamp mechanism to supply power to the molten portion. The modeling device
A melting part for melting the material and
The machine tool apparatus according to any one of claims 1 to 6, further comprising a connector mechanism that is automatically connected when clamped by the clamp mechanism to supply power to the molten portion. A robot arm having a plurality of drive shafts and further supporting and moving the main shaft is provided.
The machine tool apparatus according to any one of claims 1 to 8, wherein the control unit controls the drive shaft by using a control command. The machine tool device according to claim 9, further comprising a robot arm storage area for storing the robot arm. In the modeling device storage area for storing the modeling device that ejects the molten material, the modeling device clamp step that clamps the modeling device with a clamp mechanism for automatically changing tools, and
Using a control command to rotate a tool clamped by the clamp mechanism, a molding step of injecting molten material from the clamped modeling device to form a workpiece, and a modeling step.
In the tool storage area for storing the tool, the tool clamp step for clamping the tool with the clamp mechanism and
A method for controlling a machine tool device, which comprises a machining step of using the control command to rotate a tool clamped by the clamping mechanism to machine the shaped workpiece.

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