JP2022149418A - Machine tool - Google Patents

Abstract

To provide a machine tool capable of properly positioning a transport mechanism.SOLUTION: A machine tool uses a transport mechanism having a camera 131, for performing work for transporting workpiece between a processing area 200 and an exterior space 260 of the processing area. The machine tool comprises: a door part 31 which can be operated between a first state for isolating the processing area 200 and the exterior space 260, and a second state for opening the processing area 200 toward the exterior space 260; an inside-of-machine cover 51 provided on the processing area 200; and an identifier 71 which is supported by the inside-of-machine cover 51 in the processing area 200, and is imaged by the camera 131 for positioning the transport mechanism to the machine tool. When the door part 31 is in the first state, the identifier 71 is positioned to face the door part 31, and when the door part 31 is in the second state, the identifier is positioned in a separated manner from the door part 31 relative to the first state.SELECTED DRAWING: Figure 6

Description

The present invention relates to machine tools.

For example, Japanese Patent No. 6785931 (Patent Document 1) discloses a machine tool having an identification figure for posture correction arranged in a machining area and a camera for capturing an image of the identification figure. A production system is disclosed that includes a robot that performs work with a robot.

Patent No. 6785931

As disclosed in the above-mentioned Patent Document 1, a transfer mechanism such as a robot is positioned with respect to the machine tool by placing an identification figure on the machine tool and taking an image of the identification figure with a camera. there is In such a machine tool, if the identification figure is soiled by foreign matter such as chips, coolant, or mist generated in the machining area, it becomes difficult to properly position the transfer mechanism with respect to the machine tool.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to solve the above-mentioned problems and to provide a machine tool in which positioning of a transfer mechanism is properly performed.

A machine tool according to the present invention is a machine tool in which a transfer mechanism having a camera is used to transfer an object to be transferred between an internal space and an external space outside the internal space. The machine tool includes a movable cover operable between a first state separating the inner space and the outer space and a second state opening the inner space toward the outer space, and a fixed cover provided in the inner space. A cover and an identifier supported by a first cover, which is either one of a movable cover and a fixed cover, in the interior space and imaged by a camera for positioning the transport mechanism with respect to the machine tool. When the movable cover is in the first state, the identifier is positioned to face the second cover, which is the other of the movable cover and the fixed cover, and when the movable cover is in the second state. is positioned further away from the second cover than in the first state.

According to the machine tool configured in this way, when the movable cover is in the first state and the inner space and the outer space are separated by the movable cover, the identifier is positioned facing the second cover. As a result, it is possible to suppress contamination of the identifier by foreign matter such as coolant, chips, or mist in the internal space. On the other hand, when the movable cover is in the second state and the interior space is open to the exterior space, the identifier is positioned farther from the second cover than in the first state, thereby keeping it clean. The identifier can be imaged by a camera. As a result, the transfer mechanism can be properly positioned with respect to the machine tool.

Also preferably, the internal space is a machining area in which workpieces are machined, or an area in a magazine in which a plurality of tools are stored. The movable cover is a door portion provided on a cover body that partitions and forms a processing area or an area inside the magazine.

According to the machine tool configured in this manner, it is possible to prevent the identifier from being contaminated by coolant, chips, mist, or the like in the machining area or the magazine area. In this case, since the movable cover is a door portion provided on the cover body that partitions and forms the processing area or the magazine area, the first state and the second state can be obtained as the door portion is opened and closed. can.

Preferably, the machine tool is provided so as to separate the space around the identifier from the internal space when the movable cover is in the first state, and prevents foreign objects from entering the identifier from the internal space. An intrusion prevention mechanism is further provided.

According to the machine tool configured in this way, it is possible to more effectively suppress the staining of the identifier by foreign matter.

Also preferably, the machine tool further comprises an air supply mechanism for supplying air to the space around the identifier.

According to the machine tool configured in this way, by increasing the pressure in the space around the identifier, it is possible to more effectively prevent foreign matter from entering the identifier from the internal space.

Also preferably, the identifier is a graphic. The first cover has a planar shape and includes a planar portion to which a graphic is attached.

According to the machine tool configured in this manner, the figure can be kept planar by attaching the figure to the planar portion having a planar shape. Thereby, the positioning of the transfer mechanism with respect to the machine tool can be performed more appropriately.

As described above, according to the present invention, it is possible to provide a machine tool in which the transfer mechanism is properly positioned.

1 is a top view schematically showing a production system equipped with a machine tool according to Embodiment 1 of the present invention; FIG. FIG. 2 is a perspective view showing a transport mechanism used in the production system in FIG. 1; FIG. 2 is a front view showing the machine tool in FIG. 1; It is a front view showing an identifier. FIG. 10 is a diagram showing an example of an identifier image captured by a camera when a work is conveyed; FIG. 4 is a top view showing the machine tool during work transfer; FIG. 4 is a front view showing the machine tool during work transfer; FIG. 4 is a top view showing the machine tool during work machining; FIG. 4 is a front view showing the machine tool during work machining; FIG. 4 is a perspective view showing an identifier attachment structure within a processing area; It is a side view in the processing area which shows the modification of a foreign material invasion prevention mechanism. FIG. 10 is a top view showing a machine tool (during work transfer) according to Embodiment 2 of the present invention; FIG. 10 is a front view showing a machine tool (at the time of conveying a work) according to Embodiment 2 of the present invention; FIG. 10 is a top view showing a machine tool (during workpiece machining) according to Embodiment 2 of the present invention; FIG. 8 is a front view showing a machine tool (during work machining) according to Embodiment 2 of the present invention; FIG. 11 is a top view schematically showing a production system equipped with a machine tool according to Embodiment 3 of the present invention;

An embodiment of the invention will be described with reference to the drawings. In the drawings referred to below, the same or corresponding members are given the same numbers.

(Embodiment 1)
FIG. 1 is a top view schematically showing a production system equipped with machine tools according to Embodiment 1 of the present invention. 2 is a perspective view showing a transport mechanism used in the production system in FIG. 1. FIG.

1 and 2, the production system has machine tool 10, material stocker 122 and product stocker 121, transport mechanism 120, and controller 140 for controlling transport mechanism 120. As shown in FIG.

The material stocker 122 is arranged on the left side of the machine tool 10 in FIG. The product stocker 121 is arranged on the right side of the machine tool 10 in FIG. 1 and is a device that stocks a plurality of products machined by the machine tool 10 or semi-finished products (machined works).

The transport mechanism 120 transports a workpiece as a transport object to the machine tool 10 . The transport mechanism 120 has an automatic guided vehicle 135 and a robot 125 .

The robot 125 is mounted on an automatic guided vehicle 135 . The robot 125 is mounted on a mounting surface 136 that is the upper surface of the automatic guided vehicle 135 . The automatic guided vehicle 135 is provided with an operation panel 137 that can be carried by an operator. The operation panel 137 has an input/output unit for inputting/outputting data, an operation unit for manually operating the automatic guided vehicle 135 and the robot 125, and a screen display.

The automatic guided vehicle 135 has a sensor (for example, a distance measurement sensor using laser light) capable of recognizing its own position in the factory. The unmanned guided vehicle 135 is configured to run without a track in the factory including the area where the machine tool 10, the material stocker 122 and the product stocker 121 are arranged based on the control by the control device 140.

The robot 125 is an articulated robot having a first arm 126 , a second arm 127 and a third arm 128 . The robot 125 further has a hand 129 as an end effector. A hand 129 is attached to the tip of the third arm 128 . The transport mechanism 120 (robot 125 ) further has a camera 131 . Camera 131 is a stereo camera. A camera 131 is attached to the third arm 128 via an attachment bar 130 .

3 is a front view showing the machine tool in FIG. 1. FIG. Referring to FIG. 3, machine tool 10 is a lathe that performs work machining by bringing the tool into contact with a rotating work. The machine tool 10 is an NC (Numerically Controlled) machine tool in which various operations for machining a workpiece are automated by numerical control by a computer.

In this specification, an axis parallel to the left-right direction (width direction) of the machine tool 10 and extending in the horizontal direction is referred to as a "Z-axis", and parallel to the front-rear direction (depth direction) of the machine tool 10 and extending in the horizontal direction. The extending axis is called the "Y-axis", and the vertical axis is called the "X-axis". The right direction in FIG. 3 is called "+Z-axis direction" and the left direction is called "-Z-axis direction". In FIG. 3, the front direction of the paper surface is called "+Y-axis direction", and the back direction is called "-Y-axis direction". The upward direction in FIG. 3 is called "+X-axis direction" and the downward direction is called "-X-axis direction".

Although the X-, Y-, and Z-axes are set as described above for the convenience of explaining the structure of the machine tool 10, they do not necessarily match the X-, Y-, and Z-axes defined in the lathe. do not have.

The machine tool 10 has a cover body 21 . The cover body 21 defines the machining area 200 and forms the appearance of the machine tool 10 . The machining area 200 is a space in which the work is machined, and foreign matter such as chips, coolant, or mist accompanying the machining of the work does not leak into an external space 260 (see FIG. 6, etc., which will be described later) outside the machining area 200. It is hermetically sealed.

In the machining area 200, there is a workpiece spindle 41 for rotating the workpiece around a rotation center axis 210 parallel to the Z-axis, and a plurality of tools which are held and rotated around a rotation center axis 230 parallel to the Z-axis direction. A possible turret type tool post 12 is arranged. The machining area 200 may further include a tailstock for supporting the center of rotation of the work, or an opposing work spindle arranged to face the work spindle 41 in the Z-axis direction.

An opening 26 is provided in the cover body 21 . The opening 26 opens the processing area 200 to the external space 260 .

Opening 26 has a front opening 27 and an upper opening 28 . The front opening 27 opens the processing area 200 in the +Y-axis direction. When accessing the processing area 200 , the operator stands at a position facing the opening surface of the front opening 27 . The upper opening 28 is arranged above the processing area 200 . The upper opening 28 continues from the front opening 27 . The upper end of the front opening 27 (the end in the +X-axis direction) continues to the front end of the upper opening 28 (the end in the +Y-axis direction). The upper opening 28 opens the processing area 200 toward the +X-axis direction.

The cover body 21 has a first front cover 16 and a second front cover 14 , a ceiling cover 19 and an in-machine cover 51 . The first front cover 16 , the second front cover 14 and the ceiling cover 19 form the appearance of the machine tool 10 . The in-machine cover 51 is provided in the processing area 200 . The in-machine cover 51 defines a processing area 200 .

The first front cover 16 and the second front cover 14 are provided on both sides of the opening 26 in the Z-axis direction. A work spindle 41 and the like are arranged inside the first front cover 16 . An operation panel 15 is provided on the second front cover 14 . The operation panel 15 includes various buttons and switches used by the operator to operate the machine tool 10, a display section for indicating the machining state of the work in the machine tool 10, and the like.

A ceiling cover 19 is arranged on the ceiling of the machine tool 10 . An opening 26 is defined by the first front cover 16 , the second front cover 14 and the ceiling cover 19 .

The in-machine cover 51 has a first in-machine side cover 51s and a second in-machine side cover 51t.

The first in-machine side cover 51s and the second in-machine side cover 51t have a flat plate shape orthogonal to the Z-axis direction. The first in-machine side cover 51s and the second in-machine side cover 51t face each other while being separated from each other in the Z-axis direction. The first in-machine side cover 51s is provided at the end of the processing area 200 in the -Z-axis direction. The work spindle 41 is provided so as to protrude in the +Z-axis direction from the first in-machine side cover 51s. The second in-machine side cover 51t is provided at the end of the processing area 200 in the +Z-axis direction.

The cover body 21 further has a door portion 31 . The door portion 31 is provided in the opening portion 26 .

The door portion 31 has a first state (closed state) in which the opening portion 26 is closed to separate the processing area 200 and the external space 260, and a second state (open state) in which the processing area 200 is opened toward the external space 260. ). The door portion 31 slides between the first state and the second state. The door portion 31 slides horizontally between the first state and the second state. The door portion 31 slides in the Z-axis direction between the first state and the second state. FIG. 3 shows the door portion 31 in the second state.

The door portion 31 forms the appearance of the machine tool 10 . The door portion 31 defines a processing area 200 together with the in-machine cover 51 in the first state. The door portion 31 is arranged so as to overlap with the first front cover 16 in the second state.

The door portion 31 has a front door portion 33 and an upper door portion 32 . When the door portion 31 is in the first state, the front door portion 33 closes the front opening portion 27 and the upper door portion 32 closes the upper opening portion 28 . The front door portion 33 as a whole has a plate shape parallel to the X-axis-Z-axis plane. A transparent window 34 is provided in the front door portion 33 . The upper door portion 32 as a whole has a plate shape parallel to the Y-axis-Z-axis plane. The upper end of the front door portion 33 (the end in the +X-axis direction) and the front end of the upper door portion 32 (the end in the +Y-axis direction) are connected to form a corner.

Typically, the door portion 31 is an automatic door that is slid by an actuator such as a piston or motor.

FIG. 4 is a front view showing the identifier. FIG. 5 is a diagram showing an example of an image of the identifier captured by the camera when the work is conveyed. 3 to 5, machine tool 10 further has an identifier 71. As shown in FIG. Identifier 71 is imaged by camera 131 in order to position transport mechanism 120 with respect to machine tool 10 .

The identifier 71 is a graphic. The identifier 71 is a plane figure. The identifier 71 is drawn on a planar sheet. The identifier 71 has a matrix structure in which a plurality of rectangular pixels are arranged two-dimensionally, and each pixel is displayed in white or black.

The identifier 71 is provided within the processing area 200 . The identifier 71 is provided facing the +Y-axis direction. The identifier 71 is provided facing the opening surface formed by the opening 26 (front opening 27). The identifier 71 is arranged parallel to the sliding direction (Z-axis direction) of the door portion 31 . The mounting structure of the identifier 71 on the machine tool 10 will be described later in detail.

FIG. 6 is a top view showing the machine tool during work transfer. FIG. 7 is a front view showing the machine tool during work transfer. FIG. 8 is a top view showing the machine tool during work machining. FIG. 9 is a front view showing the machine tool during work machining.

1 to 3 and FIGS. 6 to 9, transport mechanism 120 grips a workpiece with hand 129 and moves at least one of first arm 126, second arm 127 and third arm 128. By operating one arm, a workpiece is carried from the external space 260 into the machining area 200 and mounted on the workpiece spindle 41, or the workpiece mounted on the workpiece spindle 41 is transferred from the machining area 200 to the external space 260. Carry it out.

When the work is transferred to the machine tool 10 by the transfer mechanism 120 , the door portion 31 is in the second state in which the processing area 200 is opened toward the external space 260 . A work is conveyed between the processing area 200 and the outer space 260 through the opening 26 . On the other hand, when the tool held on the tool post 12 is used to machine the work held on the work spindle 41, the door portion 31 is in the first state separating the machining area 200 and the external space 260. , the processing area 200 is closed.

The control device 140 captures the identifier 71 with the camera 131 when the automated guided vehicle 135 is arranged at a predetermined position with respect to the machine tool 10 and the robot 125 is in the imaging posture by a teaching operation in advance. The image is stored as a reference image.

The camera 131 captures the identifier 71 when the unmanned guided vehicle 135 is placed at a predetermined position with respect to the machine tool 10 and the robot 125 is in the imaging posture when the workpiece is transported to the machine tool 10 by the transport mechanism 120 . Camera 131 is placed in external space 260 when photographing identifier 71 . Depending on the placement of identifier 71 in processing area 200 , camera 131 may be placed in processing area 200 when capturing identifier 71 .

Based on the image of the identifier 71 obtained during work transfer (an example is shown in FIG. 5) and the reference image of the identifier 71 obtained by the teaching operation, the control device 140 determines the imaging posture during the teaching operation. , and the imaging posture during workpiece transfer, and the correction amount of the posture of the robot 125 is calculated based on the estimated error amount. The control device 140 controls the motion of the robot 125 based on the calculated correction amount.

In FIG. 6, an imaging range 310 by the camera 131 is indicated by a chain double-dashed line. The imaging range 310 preferably includes the work spindle 41 in addition to the identifier 71 . In this case, the control device 140 may calculate the coordinates of the workpiece spindle 41 (chuck) with the identifier 71 as a reference, based on the captured identifier 71 and the image of the workpiece spindle 41 . This makes it possible to operate the robot 125 with respect to the workpiece spindle 41 with higher accuracy.

Next, the mounting structure of the identifier 71 will be described in detail. FIG. 10 is a perspective view showing an identifier mounting structure within the processing area.

6 to 10, identifier 71 is supported by one of door portion 31 and in-machine cover 51 in processing area 200 . In this embodiment, the identifier 71 is supported by the inboard cover 51 .

Machine tool 10 further includes support bar 68 and plate 63 . The support bar 68 is connected to the first in-machine side cover 51 s of the in-machine cover 51 . The support bar 68 extends in the +Z-axis direction from the first inboard side cover 51s, bends 90°, and extends in the +Y-axis direction.

Plate 63 is connected to the tip of support bar 68 . The plate 63 has a flat portion 63a. The flat portion 63a has a flat plate shape. The planar portion 63a extends in a planar direction intersecting the Y-axis direction. The planar portion 63a extends in a planar direction orthogonal to the Y-axis direction. An identifier 71 is attached to the planar portion 63a. The identifier 71 is supported by the in-machine cover 51 (first in-machine side cover 51 s) via the support bar 68 and the plate 63 .

By attaching the identifier 71 to the planar portion 63a, the identifier 71, which is a planar figure, can be kept planar. As a result, the transport mechanism 120 can be properly positioned with respect to the machine tool 10 .

The identifier 71 is arranged below the rotation center axis 210 of the work spindle 41 in the X-axis direction (vertical direction). The identifier 71 may be arranged at a height overlapping the rotation center axis 210 in the X-axis direction (vertical direction), or may be arranged above the rotation center axis 210 . The identifier 71 is arranged between the door portion 31 (front door portion 33) and the work spindle 41 in the Y-axis direction. The identifier 71 is provided at a position closer to the first in-machine side cover 51s than the second in-machine side cover 51t in the Z-axis direction.

As shown in FIGS. 8 and 9, the identifier 71 is positioned to face the door portion 31 when the door portion 31 is in the first state separating the processing area 200 and the external space 260. . The identifier 71 faces the door portion 31 with a gap therebetween in the Y-axis direction.

As shown in FIGS. 6 and 7, when the door portion 31 is in the second state in which the processing area 200 is opened toward the external space 260, the identifier 71 is further away from the door portion 31 than in the first state. are positioned The identifier 71 does not face the door portion 31 in the Y-axis direction, but faces the opening surface formed by the opening portion 26 (the front opening portion 27). When the door portion 31 is in the second state, the door portion 31 slides to a position shifted from the identifier 71 in the −Z-axis direction.

According to such a configuration, as shown in FIGS. 8 and 9, when the door portion 31 is placed in the first state for work processing in the processing area 200, the identifier 71 faces the door portion 31. By positioning the identifier 71 with the contamination of the identifier 71, foreign matter such as coolant, chips, or mist generated in the machining area 200 during machining of the workpiece can be suppressed. At this time, the door portion 31 is an existing facility provided in the machine tool 10 . Therefore, there is no need to provide a special device such as a cover or an actuator to prevent the identifier 71 from being soiled, and the machine tool 10 can be simplified in configuration.

As shown in FIGS. 6 and 7, when the door portion 31 is in the second state in order to transport the workpiece to the machine tool 10 by the transport mechanism 120, the identifier 71 is further away from the door portion 31 than in the first state. The identifier 71 kept clean can be imaged by the camera 131 by being positioned by the camera 131 . As a result, the transport mechanism 120 can be properly positioned with respect to the machine tool 10 .

The machine tool 10 further has an eaves portion 62 and a seal portion 66 as a foreign matter entry prevention mechanism. The eaves portion 62 and the seal portion 66 are provided so as to separate the space around the identifier 71 from the processing area 200 when the door portion 31 is in the first state. prevent entry.

The canopy portion 62 is provided along the peripheral portion of the plate 63 so as to surround the identifier 71 . The eaves portion 62 extends from the plate 63 toward the door portion 31 in the first state. The eaves portion 62 extends from the plate 63 in the +Y-axis direction.

Note that the eaves portion 62 may have a shape that surrounds the identifier 71 from above and from the sides. That is, the eaves portion 62 may be configured without the bottom portion 62m shown in FIG.

The seal portion 66 is made of an elastically deformable material such as rubber. The seal portion 66 is provided at the tip portion of the eaves portion 62 extending from the plate 63 toward the door portion 31 . The seal portion 66 is in contact with the door portion 31 in the first state.

According to such a configuration, the eaves portion 62 and the seal portion 66 prevent foreign matter from entering the identifier 71, thereby keeping the identifier 71 clean.

FIG. 11 is a side view of the inside of the processing area showing a modification of the foreign matter entry prevention mechanism. Referring to FIG. 11, in this modification, machine tool 10 has labyrinth members 76 and 77 instead of seal portion 66 in FIG.

The labyrinth member 76 and the labyrinth member 77 are provided on the eaves portion 62 and the door portion 31, respectively. The labyrinth member 76 and the labyrinth member 77 are formed of angles with L-shaped cross sections and extend in the Z-axis direction. The labyrinth member 76 and the labyrinth member 77 are arranged to face each other with a gap in the Y-axis direction, thereby forming a labyrinth structure.

According to such a configuration, even if a minute gap is generated between the eaves portion 62 and the door portion 31 , the labyrinth structure formed by the labyrinth members 76 and 77 allows the identifier 71 to be seen from above the eaves portion 62 . It is possible to prevent foreign matter from entering toward the

Referring to FIG. 8 , machine tool 10 may have an air supply mechanism 81 for supplying air to the space around identifier 71 . The air supply mechanism 81 has a compressor 82 and an air pipe 83 . An air pipe 83 extends from the compressor 82 , passes through the support bar 68 , and communicates with the space around the identifier 71 surrounded by the eaves 62 . When the door portion 31 is in the first state for work processing in the processing area 200 , air from the compressor 82 is supplied to the space around the identifier 71 through the air pipe 83 .

According to such a configuration, by increasing the pressure in the space around the identifier 71 , it is possible to more effectively prevent foreign matter from entering the identifier 71 from the processing area 200 .

Summarizing the structure of machine tool 10 according to Embodiment 1 of the present invention described above, machine tool 10 according to the present embodiment uses conveying mechanism 120 having camera 131 to operate processing area 200 as an internal space. , and an external space 260 on the outside thereof to transport a work as a transport object.

The machine tool 10 has a door portion as a movable cover capable of operating between a first state separating the machining area 200 and the external space 260 and a second state opening the machining area 200 toward the external space 260. 31, a machine inner cover 51 as a fixed cover provided in the machining area 200, and a machine inner cover 51 as a first cover which is either the door portion 31 or the machine inner cover 51 in the machining area 200. and an identifier 71 imaged by a camera 131 for positioning the transport mechanism 120 with respect to 10 .

When the door portion 31 is in the first state, the identifier 71 is positioned to face the door portion 31 as a second cover, which is the other of the door portion 31 and the in-machine cover 51, and the door portion 31 is placed in the first state. In the second state, it is positioned farther from the door portion 31 than in the first state.

According to machine tool 10 according to the first embodiment of the present invention configured as described above, conveying mechanism 120 can be properly positioned with respect to machine tool 10 by keeping identifier 71 clean. As a result, the operation of transporting the work to the work spindle 41 by the transport mechanism 120 can be performed stably and smoothly.

In the present embodiment, the case where the object to be conveyed by the conveying mechanism is a work has been described. good. The transport mechanism is not limited to those using the automatic guided vehicle 135 and the robot 125, and may be an automated fork mechanism, for example.

The machine tool in the present invention is not limited to a lathe, and may be, for example, a vertical machining center or a horizontal machining center, or a multitasking machine having a turning function using a stationary tool and a milling function using a rotary tool. Alternatively, it may be an AM/SM hybrid machine capable of both additive manufacturing (AM) and subtractive manufacturing (SM) of the work.

(Embodiment 2)
FIG. 12 is a top view showing a machine tool (during work transfer) according to Embodiment 2 of the present invention. FIG. 13 is a front view showing a machine tool (during work transfer) according to Embodiment 2 of the present invention. FIG. 14 is a top view showing a machine tool (during workpiece machining) according to Embodiment 2 of the present invention. FIG. 15 is a front view showing a machine tool (during workpiece machining) according to Embodiment 2 of the present invention.

A machine tool according to the present embodiment has basically the same structure as machine tool 10 according to the first embodiment. Hereinafter, descriptions of overlapping structures will not be repeated.

12 to 15, the machine tool according to the present embodiment further has an opposing work spindle 42 for rotating the work about a rotation center axis 220 parallel to the Z-axis. The opposing work main shaft 42 is provided facing the work main shaft 41 in the Z-axis direction. Rotation center axis 210 and rotation center axis 220 extend on a straight line. The opposing work main shaft 42 is provided so as to protrude in the -Z-axis direction from the second in-machine side cover 51t.

The second front cover 14 has a first protrusion 14b. The first projecting portion 14b is a part of the second front cover 14 and has a plate shape parallel to the X-axis-Z-axis plane. The first protrusion 14b is provided to protrude in the −Z-axis direction from the second in-machine side cover 51t. The end of the first protrusion 14b in the −Z-axis direction defines the opening 26. As shown in FIG. The first projecting portion 14 b is provided in the processing area 200 . When the door portion 31 is in the second state, the first protruding portion 14b defines a processing area 200 together with the in-machine cover 51 and the door portion 31 .

The door portion 31 has a second projecting portion 31b. The second projecting portion 31b is part of the front door portion 33 . A part of the upper door part 32 may be sufficient as the 2nd protrusion part 31b. The second protrusion 31b is provided to protrude in the +Z-axis direction more than the first in-machine side cover 51s when the door 31 is in the second state.

The machine tool has an identifier 71J and an identifier 71K as identifiers 71 . The camera 131 captures the identifier 71J when the transport mechanism 120 transports the work with respect to the work spindle 41 . The camera 131 captures an image of the identifier 71K when the transport mechanism 120 transports the work with respect to the opposing work spindle 42 .

The identifier 71J is supported by the door portion 31 in the processing area 200. As shown in FIG. The identifier 71J is supported by the door portion 31 via the support bar 68 and the plate 63. As shown in FIG. The support bar 68 is connected to the second projecting portion 31b of the door portion 31 . Identifier 71J is provided in processing area 200 at a position corresponding to identifier 71 in the first embodiment. The identifier 71J is provided so as to be slidable in the Z-axis direction together with the door portion 31 .

The identifier 71K is supported by the first projecting portion 14b of the second front cover 14 in the processing area 200. As shown in FIG. The identifier 71K is supported by the first protrusion 14b of the second front cover 14 via the support bar 68 and the plate 63. As shown in FIG. The support bar 68 is connected to the first projecting portion 14b of the second front cover 14. As shown in FIG.

The identifier 71K is provided at a position shifted from the identifier 71J in the X-axis direction (vertical direction). The identifier 71K is provided above the identifier 71J. The identifier 71K is provided at a position closer to the second in-machine side cover 51t than the first in-machine side cover 51s in the Z-axis direction.

As shown in FIGS. 14 and 15, when the door portion 31 is in the first state separating the processing area 200 and the external space 260, the identifier 71J is positioned on the first projecting portion 14b of the second front cover 14. is positioned opposite the The identifier 71J faces the first projecting portion 14b of the second front cover 14 with a gap therebetween in the Y-axis direction.

The identifier 71K is positioned to face the door portion 31 when the door portion 31 is in the first state in which the processing area 200 and the external space 260 are separated from each other. The identifier 71K faces the door portion 31 with a gap therebetween in the Y-axis direction.

As shown in FIGS. 12 and 13, when the door portion 31 is in the second state in which the processing area 200 is opened toward the external space 260, the identifier 71J is located on the second front cover 14 rather than in the first state. is positioned away from the first protrusion 14b. The identifier 71J does not face the first protrusion 14b of the second front cover 14 in the Y-axis direction, but faces the opening surface formed by the opening 26 (front opening 27).

When the door portion 31 is in the second state in which the processing area 200 is opened toward the external space 260, the identifier 71K is positioned farther from the door portion 31 than in the first state. The identifier 71K does not face the door portion 31 in the Y-axis direction, but faces the opening surface formed by the opening portion 26 (the front opening portion 27). When the door portion 31 is in the second state, the door portion 31 slides to a position shifted in the −Z-axis direction from the identifier 71K.

Summarizing the structure of the machine tool according to the second embodiment of the present invention described above, the machine tool according to the present embodiment has a first state separating machining area 200 and external space 260, and machining area 200. Door portion 31 as a movable cover operable between a second state in which it opens toward the external space 260, and the first protruding portion 14b of the second front cover 14 as a fixed cover provided in the processing area 200. , and is supported by the first protrusion 14b as a first cover, which is either one of the door 31 and the first protrusion 14b in the processing area 200, and a camera for positioning the transport mechanism 120 with respect to the machine tool. and an identifier 71K imaged by 131;

When the door portion 31 is in the first state, the identifier 71K is positioned to face the door portion 31 as a second cover, which is the other of the door portion 31 and the first projecting portion 14b. is set to the second state, it is positioned farther from the door portion 31 than in the first state.

Further, the machine tool in the present embodiment is supported by the door portion 31 as the first cover, which is either the door portion 31 or the first projecting portion 14b, in the processing area 200. and an identifier 71J imaged by the camera 131 for positioning.

When the door portion 31 is in the first state, the identifier 71J is positioned to face the first projecting portion 14b as a second cover, which is the other of the door portion 31 and the first projecting portion 14b, and the door When the portion 31 is in the second state, it is positioned farther from the first projecting portion 14b than in the first state.

According to the machine tool according to the second embodiment of the present invention configured as described above, the same effects as those of the first embodiment can be obtained by keeping the identifier 71J and the identifier 71K clean during machining of the workpiece.

(Embodiment 3)
FIG. 16 is a top view schematically showing a production system equipped with machine tools according to Embodiment 3 of the present invention. A machine tool according to the present embodiment has basically the same structure as machine tool 10 according to the first embodiment. Hereinafter, descriptions of overlapping structures will not be repeated.

Referring to FIG. 16 , in the present embodiment, the production system has machine tool 410 , tool stocker 460 , transport mechanism 120 , and controller 140 for controlling transport mechanism 120 .

Tool stocker 460 is arranged adjacent to machine tool 410 . Tool stocker 460 is a device that stocks a plurality of tools. Machine tool 410 is a machining center. Machine tool 410 may be a vertical machining center or a horizontal machining center. Machine tool 410 may be a multi-task machine.

Machine tool 410 has a tool magazine 415 . The tool magazine 415 is a device that stores a plurality of tools in order to sequentially supply the tools to the machining area according to the purpose of machining. The tool magazine 415 stores tools such as drills, end mills, and milling cutters.

The machine tool has a cover body 21 . The cover body 21 defines the magazine internal area 250 and forms the appearance of the machine tool. A plurality of tools are stored in the magazine area 250 . An opening 426 is provided in the cover body 21 . The opening 426 opens the internal magazine area 250 to the external space 260 outside thereof.

The cover body 21 has a body cover 421 (fixed cover) and a door portion 431 (movable cover). The main body cover 421 defines a magazine internal area 250 .

Door portion 431 is provided in opening portion 426 . The door portion 431 operates between a first state (closed state) that separates the magazine internal area 250 and the external space 260 and a second state (open state) that opens the magazine internal area 250 toward the external space 260 . It is operable. The door portion 431 pivots about the hinge portion 432 between the first state and the second state. Note that FIG. 16 shows the door portion 431 in the first state.

Machine tool 410 further has an identifier 71 . The identifier 71 is provided in the in-magazine area 250 . The identifier 71 is supported by the main body cover 421 as a first cover, which is either one of the door portion 431 and the main body cover 421 in the processing area 200 .

When door portion 431 is in the first state, identifier 71 is positioned to face door portion 431 as a second cover, which is the other of door portion 431 and body cover 421 . Identifier 71 is positioned further away from door portion 431 than in the first state when door portion 431 is in the second state.

According to machine tool 410 according to Embodiment 3 of the present invention, which is configured in this way, the effects described in Embodiment 1 can be produced in the same manner.

It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the meaning and range of equivalents of the scope of the claims.

INDUSTRIAL APPLICABILITY The present invention is applied, for example, to a production system equipped with an automatic transport mechanism for transporting workpieces, tools, or the like.

Reference Signs List 10,410 machine tool, 12 tool post, 14 second front cover, 14b first projection, 15 operation panel, 16 first front cover, 19 ceiling cover, 21 cover body, 26,426 opening, 27 front opening , 28 Upper opening 31, 431 Door 31b Second projection 32 Upper door 33 Front door 34 Transparent window 41 Work main shaft 42 Opposing work main shaft 51 Inside cover 51s First inside side Cover, 51t Second in-plane side cover, 62 Eaves portion, 62m Bottom portion, 63 Plate, 63a Plane portion, 66 Seal portion, 68 Support bar, 71, 71J, 71K Identifier, 76, 77 Labyrinth member, 81 Air supply mechanism, 82 Compressor, 83 Air piping, 120 Transfer mechanism, 121 Product stocker, 122 Material stocker, 125 Robot, 126 First arm, 127 Second arm, 128 Third arm, 129 Hand, 130 Mounting bar, 131 Camera, 135 Automatic guided vehicle , 136 placement surface, 137 operation panel, 140 control device, 200 processing area, 210, 220 rotation central axis, 230 turning central axis, 250 magazine inner area, 260 outer space, 310 imaging range, 415 tool magazine, 421 body cover , 432 hinge portion, 460 tool stocker.

Claims (5)

A machine tool that uses a transport mechanism having a camera to transport an object to be transported between an internal space and an external space outside the internal space,
a movable cover operable between a first state separating the interior space and the exterior space and a second state opening the interior space toward the exterior space;
a fixed cover provided in the internal space;
an identifier supported by a first cover that is either one of the movable cover and the fixed cover in the internal space and imaged by the camera for positioning the transport mechanism with respect to the machine tool; prepared,
When the movable cover is in the first state, the identifier is positioned to face a second cover, which is the other of the movable cover and the fixed cover, and the movable cover is in the first state. A machine tool positioned farther from the second cover than in the first state when placed in the second state. The internal space is a machining area in which workpiece machining is performed, or a magazine area in which a plurality of tools are stored,
2. The machine tool according to claim 1, wherein said movable cover is a door portion provided on a cover body that partitions and forms said machining area or said magazine area. A foreign object entry prevention device provided to separate a space around the identifier from the internal space when the movable cover is in the first state, and prevents foreign objects from entering the identifier from the internal space. 3. The machine tool of claim 1 or 2, further comprising a mechanism. 4. The machine tool according to claim 3, further comprising an air supply mechanism for supplying air to the space around said identifier. the identifier is a graphic,
The machine tool according to any one of claims 1 to 4, wherein the first cover has a planar shape and includes a planar portion to which the figure is attached.

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