JP6090841B2 - Machine Tools - Google Patents

Description

  The present invention relates to a machine tool.

  For example, in the case where machining such as cutting is performed on a long workpiece (for example, several tens of meters) such as a framework of an aircraft, conventionally, the longitudinal direction of a long bed corresponding to the length of the workpiece Using a machine tool provided with a spindle head or the like with respect to a column that can be moved along, and by disposing the workpiece along the bed and moving the column along the bed, A tool provided on the spindle of the spindle head is used to sequentially perform machining from one end side to the other end side of the workpiece.

Japanese Unexamined Patent Publication No. 4-171161

  In the conventional machine tool as described above, in order to be able to machine the entire length of a long workpiece such as an aircraft framework, a bed having a length longer than the length of the workpiece is provided. Therefore, although it occupies a very large space, it is unusable and practically unusable for machining other than long workpieces, resulting in poor operating efficiency.

  In view of the above, the present invention provides a machine tool that can perform machining on a long workpiece and easily perform machining on a short workpiece. With the goal.

  A machine tool according to a first invention for solving the above-described problems includes an automatic guided vehicle, a bed that is placed on the automatic guided vehicle and can be grounded on a floor surface, and is disposed in the automatic guided vehicle. A bed lifting and lowering means for lifting and lowering the bed relative to the automatic guided vehicle so that the bed is grounded or separated from the floor surface, a spindle capable of detachably holding a workpiece processing tool, and the spindle Spindle driving means for rotationally driving, the Y axis direction perpendicular to the bed, the X axis direction in the horizontal direction perpendicular to the Y axis direction, and the X axis direction provided on the bed. And a horizontal A axis around the vertical B axis parallel to the Y axis direction and a horizontal A axis perpendicular to the Y axis direction. Each turn around Main shaft support means for supporting the main shaft, and the main shaft is moved with respect to the bed in the X-axis direction, the Y-axis direction, and the Z-axis direction and swiveled around the A-axis and the B-axis. As described above, the apparatus includes a main shaft moving / turning means for operating the main shaft support means.

  The machine tool according to a second aspect of the present invention is the machine tool according to the first aspect, wherein the workpiece has a long plate shape, and the main shaft support means can move the main shaft in the X-axis direction. Also, insertion holes are formed at short intervals, and the engagement shafts projecting in the Z-axis direction from a plurality of workpiece support means standing on the floor surface at the intervals of the insertion holes. By inserting the insertion hole, the processing surface is supported along the vertical direction while the longitudinal direction is directed in the X-axis direction.

  Further, in the machine tool according to the third invention, in the second invention, the work support means has a position reference portion that serves as a reference of the position in the longitudinal direction of the work between the adjacent work support means. It is characterized by that.

  A machine tool according to a fourth invention is the machine tool according to the third invention, wherein the spindle and the touch sensor can be detachably held so that the spindle can exchange the tool and the touch sensor. The unmanned vehicle is controlled so that the bed lifting means is lifted so that the bed is separated from the floor surface, and the automatic guided vehicle is positioned between the workpiece support means adjacent to each other on the processing surface of the workpiece. After controlling the movement of the transport vehicle and controlling the lowering of the bed elevating means so that the bed is grounded with respect to the floor surface, the engagement of the work supporting means adjacent to each other is performed by the touch sensor held by the main shaft. The position of the front end surface of the shaft, the axial center position of the engagement shaft, and the positions of the upper side and the lower side of the work surface of the work between the adjacent work support means are measured. X-axis direction which is the XY axis plane and the longitudinal direction of the work surface of the workpiece between the adjacent workpiece support means based on the information from the touch sensor by controlling the spindle movement / turning means And the Y axis direction which is the short direction of the workpiece between the adjacent workpiece support means and the workpiece based on the X-Y axis plane and the X axis direction of the workpiece. A Z-axis direction that is a thickness direction with respect to the processing surface is determined, and further, based on a pre-input position of the position confirmation unit located between the adjacent work support means, the adjacent work support means One axial center position of the engagement shaft is set to the origin position of the coordinate system of the workpiece, based on the determined axial direction, the set origin position and machining data input in advance, Control means for controlling the operation of the spindle moving / turning means and the spindle driving means so as to machine the machining surface of the workpiece between the workpiece support means by the tool held on the spindle. Features.

  A machine tool according to a fifth aspect of the present invention is the machine tool according to the fourth aspect, wherein the control means processes the work surface of the workpiece between the adjacent support means with the tool, and then The bed lifting and lowering means is lifted and controlled so as to separate the bed, so that the workpiece working surface between the workpiece supporting means is different from the workpiece working surface of the workpiece between the adjacent workpiece supporting means. After moving and controlling the automatic guided vehicle so as to position the automatic guided vehicle and controlling the lowering of the bed lifting means so as to ground the bed with respect to the floor surface, the touch sensor held by the main shaft, The axis direction of the new machining surface of the workpiece is determined, the operation of the spindle moving / turning means is controlled and calculated so as to set the origin position, and the determined axis direction The spindle moving / turning means and the spindle drive so as to machine a new machining surface of the workpiece with the tool held on the spindle based on the set origin position and machining data inputted in advance. It is characterized by controlling the operation of the means.

  According to the machine tool of the present invention, machining can be performed on a long workpiece and machining can be easily performed on a short workpiece. Can be increased.

1 is a schematic configuration diagram of a main embodiment of a machine tool according to the present invention. It is the figure seen from the arrow line II direction of FIG. It is the figure seen from the arrow line III direction of FIG. It is the IV-IV arrow line view of FIG. It is a control block diagram of the principal part of the machine tool of FIGS. 1-3.

  Although the embodiment of the machine tool concerning the present invention is described based on a drawing, the present invention is not limited only to the following embodiments described based on a drawing.

<Main embodiment>
A main embodiment of a machine tool according to the present invention will be described with reference to FIGS.

  As shown in FIGS. 1 to 3, on the bed 121 of the machine main body 120, a guide rail 121 a oriented in the longitudinal direction along the longitudinal direction (X-axis direction) of the bed 121, which is a horizontal direction orthogonal to the vertical direction. Are arranged so as to form a pair on one side and the other side in the short direction (Z-axis direction) which is a horizontal direction orthogonal to the longitudinal direction of the bed 121. A movable table 122 is provided on the guide rail 121a via a slide block 122a, and the movable table 122 can slide along the guide rail 121a via the slide block 122a. It has become.

  A column 123 is erected on the moving table 122. On the front surface of the column 123 (on the right side in FIGS. 1 and 2), a guide rail 123 a oriented in the longitudinal direction along the height direction (Y-axis direction) of the column 123 which is the vertical direction is the width of the column 123. Direction (Z-axis direction) One side and the other side are arranged to make a pair. The guide rail 123a is provided with a cross beam 124 having a longitudinal direction along the width direction (Z-axis direction) of the column 123 via a slide block 124a. It can slide along the longitudinal direction of 123a.

  A swivel base 125 is attached to the lower surface of the cross beam 124 so that the table 125a faces downward. The swivel base 125 moves the table 125a in the height direction of the column 123 (Y-axis direction). It can be swung around the axis (around the B axis). A swivel base 126 is attached to the table 125 a of the swivel base 125 via a connecting member 126 b so that the table 126 a faces sideways. The swivel base 126 attaches the table 126 a to the column 123. It can be swung around an axis (around the A axis) in a direction (horizontal direction) orthogonal to the height direction (Y axis direction).

  A guide stand 127 is attached on the surface of the table 126 a of the swivel stand 126. The guide surface of the guide stand 127 (right side in FIGS. 1 and 2, right side in FIG. 3, front of the paper surface) is longitudinal with respect to the surface (vertical surface) along the height direction (Y-axis direction) of the column 123. A pair of guide rails 127a arranged so as to face is attached. A spindle head 128 is attached to the guide rail 127a through a slide block 128a so that the spindle head 128 is oriented along the longitudinal direction of the guide rail 127 through the slide block 128a. The guide rail 127a can be slid along the longitudinal direction.

  A touch sensor 130 serving as a position detecting unit is detachably held on the main shaft 129, and the main shaft 129 can exchange the touch sensor 130 and a tool for cutting or the like. Yes.

  A tool magazine, a tool selection device, a tool changer, and the like (not shown) that store the touch sensor 130, the tool, and the like are disposed on the moving table 122. The tool changer includes the tool magazine. The touch sensor 130 and the tool selected by the tool selection device from the inside can be mounted on the spindle 129, and the touch sensor 130 and the cutting tool mounted on the spindle 129 are removed to remove the tool. By passing it to the selection device, it can be stored in the tool magazine.

  A notch groove 121 b is formed in the central portion below the bed 121 over the longitudinal direction (X-axis direction) of the bed 121. A base 112 of an automatic guided vehicle (AGV) 110 having a self-propelled wheel 111 is located in the notch groove 121b of the bed 121, and the AGV 110 is not shown embedded in the floor F. It can automatically move along a guide such as a magnetic bar and can automatically stop at a specified position.

  In the four corners on the base portion 112 of the AGV 110, hydraulic cylinders 113 with the tips of the rods 113a facing upward are embedded, and the hydraulic cylinders 113 extend the rods 113a so that the bed 121 is It can be lifted and supported so as to be separated from the floor surface F, and the bed 113 is lowered so as to contact the floor surface F by being contracted by the rod 113a and placed on the floor surface F. Can be done.

  A plurality (two in this embodiment) of guide rods 114 having a length longer than that of the rod 113a of the hydraulic cylinder 113 are provided on the lower surface of the bed 121 above the platform 112 of the AGV 110. The guide rod 114 is inserted into a guide hole 112a formed corresponding to the base 112 of the AGV 110 so as to be slidable along the axial direction.

  As shown in FIGS. 2 to 4, the floor F has one end in the longitudinal direction of a long (for example, several tens of meters) plate-shaped workpiece 1 such as an aircraft framework (left side in FIG. 2). In FIG. 4, a starting column 11 that supports the right side) is erected. A base end side of a screw shaft 18 having a screw portion screwed with a nut 19 on the front end side is attached to the front surface (upper side in FIG. 2) of the starting pillar 11 so that the screw shaft 18 protrudes. Yes. A measuring pin 18 a having a smaller diameter than the screw shaft 18 is projected from the tip of the screw shaft 18 (upper side in FIG. 2, right side in FIG. 3) so as to be coaxial with the screw shaft 18. Yes.

  And, on the floor surface F, the support columns 21 that support the workpiece 1 oriented so that the longitudinal direction thereof is oriented in the horizontal direction (X-axis direction) are spaced from the start column 11 at a predetermined interval L2, that is, The distance L2 is shorter than the range L1 so as to be positioned between the one end side and the other end side of the range L1 movable in the X-axis direction of the main shaft 129 on the bed 121 (L1>). L2) A plurality of erections are provided.

  A mounting plate 22 is mounted above the front surface of the support column 21 (upper side in FIG. 2, right side in FIG. 3) via a bracket 21a. Guide rails 22a whose longitudinal direction is in the horizontal direction (X-axis direction) are provided on the front surface (upper side in FIG. 2, right side in FIG. 3) of the mounting plate 22 so as to form a pair in the vertical direction. It has been. A moving plate 23 is provided on the guide rail 22a via a slide block 23a, and the moving plate 23 can slide along the guide rail 22a via the slide block 23a. It has become.

  A pair of support brackets 24 are provided on the front surface of the moving plate 23 (upper side in FIG. 2, right side in FIG. 3) so as to face each other in the X-axis direction. A V-shaped support groove 24 a is formed in the upper part of the support bracket 24. A mounting block 25 is detachably interposed between the pair of support brackets 24, and the mounting block 25 is connected to the support groove of the support bracket 24 via a support shaft 25a protruding in the X-axis direction. 24a is supported so as to be swingable.

  A holding frame 26 can be detachably attached to the upper portion of the support bracket 24 via bolts 26a. Fixing bolts 27 that press and fix the support shaft 25a against the support groove 24a of the support bracket 24 are screwed into the press frame 26, respectively.

  A front surface of the mounting block 25 (upper side in FIG. 2, right side in FIG. 3) is provided with a contact surface that contacts the workpiece 1, and the contact surface is between the opposing support brackets 24. It comes to protrude from. On the contact surface of the mounting block 25, the base end side of the screw shaft 28 having a screw portion screwed to the nut 29 on the tip side is attached so that the screw shaft 28 protrudes. A pin 28a having a smaller diameter than the screw shaft 28 is provided at the tip of the screw shaft 28 (upper side in FIG. 2, right side in FIG. 3) so as to be coaxial with the screw shaft 28. .

  That is, the contact surface of the mounting block 25 and the screw shaft 18 move in the X-axis direction with respect to the support column 21 via the support bracket 24, the moving plate 23, the mounting plate 22, and the like. Thus, it is possible to cope with the displacement in the longitudinal direction of the work 1 due to the difference in thermal expansion with the floor surface F or the like, and the mounting block 25 is about the X axis with respect to the support bracket 24 via the support shaft 25a. By being able to adjust, it is possible to cope with distortion of the workpiece 1 and the like.

  The base end side of the arm 31 is fixed to one side surface of the support column 21 (in FIG. 2, right side, in FIG. 3, in front of the page, in FIG. 4, left side). A reference plate 32 in which a reference hole 32a as a position reference portion is formed is attached to the distal end side of the arm 31, and the arm 31 attaches the reference hole 32a of the reference plate 32 to the screw shaft 28. The length, direction, and the like are set so as to be slightly positioned on the side of the support column 21 in the front-rear direction (Z-axis direction) from the base end.

  On the other hand, on the one end side in the longitudinal direction of the workpiece 1 (in FIG. 2, left side, right side in FIG. 4), the insertion hole 1a is detachably fitted to the proximal end side of the screw shaft 18 of the starting column 11. Is formed. The work 1 is provided with insertion holes 1b detachably fitted to the base end side of the screw shaft 28 of the support column 21 at predetermined intervals, that is, the measuring pins 18a of the columns 11 and 21. , 28a, a plurality are formed at intervals L2. In the vicinity of the insertion hole 1 b of the work 1, the insertion holes 1 a and 1 b of the work 1 are fitted to the base end sides of the screw shafts 18 and 28 of the columns 11 and 21, and the work 1 Are exposed holes 1c that expose the reference holes 32a of the reference plate 32 when the are supported by the pillars 11 and 21, respectively.

  As shown in FIG. 5, the touch sensor 130 is electrically connected to an input unit of a control device 131 that is a control unit mounted on the AGV 110 when the touch sensor 130 is attached to the main shaft 129. It has become.

  The output unit of the control device 131 reciprocates the movable table 122 along the guide rail 121a so as to move the column 123 along the longitudinal direction of the guide rail 121a. The X-axis moving motor 141 that moves in the axial direction and the cross beam 124 are moved up and down so as to move the cross beam 124 along the longitudinal direction of the guide rail 123a, that is, the main shaft 129 is moved in the Y-axis direction. The Y-axis moving motor 142 is moved to and the spindle head 128 is moved forward and backward so as to move the spindle head 128 along the longitudinal direction of the guide rail 127a, that is, the spindle 129 is moved in the Z-axis direction. The Z-axis moving motor 143 to be moved, and the table 126a of the swivel 126 A-axis turning motor 144 for turning the spindle 129 about the A-axis and a B-axis turning for turning the table 125a of the turntable 125, ie, turning the spindle 129 about the B-axis. Motor 145, spindle rotation motor 146 for rotating the spindle 129, tool selection / change drive source 147 such as a motor or hydraulic cylinder for operating the tool selection device and the tool changer, and the AGV 110 The wheel motor 148 for driving the wheel 111 and a hydraulic power source 149 for expanding and contracting the rod 113a of the hydraulic cylinder 113 are electrically connected to each other.

  An input device 132 for inputting various information to the control device 131 is electrically connected to the input unit of the control device 131, and the control device 131 is connected to the touch sensor 130 and the input device 132. Based on the information, the motors 141 to 146, 148, the drive source 147, the hydraulic power source 149 and the like can be controlled (details will be described later).

  In this embodiment, the hydraulic cylinder 113, the guide rod 114, the hydraulic power source 149, and the like constitute a bed elevating means, and the bed 121, the moving table 122, the column 123, the cross beam 124, Spindles 125 and 126, the guide stand 127, the spindle head 128, and the like constitute a spindle support means, and the spindle head 128, the moving motors 141 to 143, the turning motors 144 and 145, and the like move the spindle. A spindle driving means is constituted by the spindle head 128, the spindle rotating motor 146 and the like, and an attachment is made by the tool magazine, the tool selection device, the tool changer, the tool selection change drive source 149 and the like. The screw shaft constituting the selective exchange means and having the measuring pins 18a, 28a 8 and 28 constitute an engagement shaft, and the starting column 11, the screw shaft 18, the nut 19 and the like constitute one work support means, the support column 21, the mounting plate 22, the moving plate 23, The work bracket 24, the mounting block 25, the holding frame 26, the fixing bolt 27, the screw shaft 28, the nut 29, the arm 31, the reference plate 32, and the like constitute other work support means.

  Next, the operation when machining the long workpiece 1 using the machine tool 100 according to the present embodiment will be described.

  First, the screw shaft 28 of the mounting block 25 is inserted and fitted into each insertion hole 1b of the work 1, and the nut 29 is screwed into the screw shaft 28, whereby the attachment to the work 1 is performed. Install the block 25.

  Next, the insertion hole 1 a of the workpiece 1 is inserted into and fitted into the screw shaft 18 of the starting column 11, and the support shaft 25 a of the mounting block 25 is connected to the support bracket 24 of the support column 21. After the work 1 is supported by the columns 11 and 21 so as to be supported by the support groove 24a, the nut 19 is screwed onto the screw shaft 18 of the starting column 11 and tightened, and the support column 21 The presser frame 26 is fixed to the support bracket 24 via the bolts 26a, and the support shaft 25a is fastened and fixed by the fixing bolts 27, so that the work surface 1 is oriented in the X-axis direction while being machined. The workpiece 1 is fixedly supported on the pillars 11 and 21 so as to be along the vertical direction.

  At this time, the mounting block 25 can move in the X-axis direction with respect to the support column 21 via the support bracket 24, the moving plate 23, the mounting plate 22, and the like. Therefore, the workpiece 1 can be adjusted around the X-axis with respect to the support bracket 24 via the support shaft 25a.

  Subsequently, the length (distance) in the X-axis direction between the measurement pin 18a of the starting column 11 and the center of the reference hole 32a of the reference plate 32 of each support column 21 and the columns 11 and 21 Measuring the length (distance) in the Z-axis direction between the front end surfaces of the measuring pins 18a and 28a and the processing surface (front surface) of the work 1, and the input device together with various processing data such as processing positions. Input from 132 to the control device 131.

  Accordingly, the control device 131 controls the operation of the hydraulic power source 149 so as to extend the rod 113a of the hydraulic cylinder 113 to raise the bed 121 of the machine main body 110 and separate from the floor surface F. Then, based on the input information or the like, the machine body 110 is placed on the intended machining surface of the workpiece 1 (for example, the machining surface between the start column 11 and the support column 21 adjacent to the workpiece column 11). The wheel motor 148 is actuated and controlled to drive and rotate the wheel 111 of the AGV 110 so as to be moved to an opposing machining position.

  When the machine main body 110 moves to the processing position, the control device 131 controls the hydraulic power source 149 so as to contract the rod 113a of the hydraulic cylinder 113 to control the bed 121 of the machine main body 110. After being lowered and grounded on the floor F, the tool selection / change tool drive source 147 is controlled to operate so that the touch sensor 130 is attached to the spindle 129 to operate the tool selection device, the tool change device, and the like. Let

  Subsequently, the control device 131 detects the positions of the front end surfaces of the measurement pins 18a and 28a of the pillars 11 and 21 adjacent to the machining position, the axial positions of the measurement pins 18a and 28a, and the position at the machining position. The movement motors 141 to 143 so that the touch sensor 131 measures arbitrary positions M1 and M2 above and below the line connecting the measurement pins 18a and 28a on the processed surface of the work 1. And the operation of the turning motors 144 and 145 is controlled.

  And the said control apparatus 131 is the length (distance) of the Z-axis direction between the front end surface of the said measurement pins 18a and 28a of the said pillars 11 and 21, and the process surface (front surface) of the said workpiece | work 1, and the said measurement pin. Based on the tip surface positions of 18a and 28, the positions M1 and M2 (four-point positions), etc., the exact XY axis plane (the position of the machining surface (front surface) of the coordinate system of the workpiece 1 at the machining position ( Direction)) and the accurate X-axis direction of the coordinate system of the workpiece 1 at the machining position based on the length (distance) in the Z-axis direction and the axial position of the measuring pins 18a and 28a. (Linear direction connecting the axis centers (longitudinal direction)) is determined.

  Subsequently, based on the determined XY axis plane and the X axis direction, the control device 131 determines the accurate Y axis direction (short direction) of the coordinate system of the workpiece 1 at the processing position and the Z direction. Determine the axial direction (thickness direction with respect to the machined surface).

  Further, the control device 131 is measured and input in advance in the X-axis direction between the measurement pin 18a of the starting column 11 and the center of the reference hole 32a of the reference plate 32 of the support column 21. Based on the length (distance) and the axial positions of the measuring pins 18a and 28a of the pillars 11 and 21, the one axial position of the measuring pins 18a and 28a of the pillars 11 and 21 is determined as the machining position. Is set to a reference position (origin position) of the coordinate system of the work 1 at.

  Thus, when the accurate axial direction of the coordinate system of the workpiece 1 at the machining position is determined and the reference position is set, the control device 131 is operated in the coordinate system of the workpiece 1 at the machining position. In this way, coordinate conversion is performed to match the coordinate system of the machine tool 100 with the coordinate system of the workpiece 1, and the touch sensor 130 of the spindle 129 is used as a tool for machining such as cutting in the tool magazine. The tool selection / change drive source 147 is controlled to be changed so that the tool selection device, the tool change device and the like are operated.

  Then, the control device 131 determines a predetermined location on the machining surface of the workpiece 1 (indicated by an X in FIG. 4) based on the coordinate system and the information such as the machining data such as the inputted machining position. The motor 141 to 146 is operated and controlled so as to perform machining such as cutting on the portion), and the main shaft 129 is moved in the X, Y, and Z axis directions while rotating the main shaft 129 and operating the tool. And swivel around the A and B axes.

  In this way, when machining has been performed on a predetermined portion of the machining surface of the workpiece 1 at the machining position, the control device 131 causes the hydraulic power source 149 to extend the rod 113a of the hydraulic cylinder 113. After the operation control is performed to raise the bed 121 of the machine main body 110 so as to be separated from the floor surface F, the machine main body 110 is newly set as a next object of the workpiece 1 based on input information or the like. The wheel motor so as to move to a next machining position that faces a rough machining surface (for example, a new machining surface of the workpiece 1 between the other support pillars 21 located next to the machining position). 149 is controlled to drive and rotate the wheels 111 of the AGV 110.

  When the machine body 110 moves to a new machining position different from the previous machining position, the control device 131 controls the hydraulic power source 149 to contract the rod 113a of the hydraulic cylinder 113. After the bed 121 of the machine body 110 is lowered and brought into contact with the floor surface F, the tool selection / exchange drive source 147 is exchanged so that the tool of the spindle 129 is replaced with the touch sensor 130 in the tool magazine. To control the tool selection device and the tool changer.

  Thereafter, when the control device 131 repeats the above-described operation control, the workpiece 1 is subjected to machining such as cutting at predetermined positions at all machining positions over the entire length of the machining surface.

  On the other hand, when machining a short workpiece other than the long workpiece 1, by inputting necessary information to the input device 132, the control device 131 causes the rod 113a of the hydraulic cylinder 113 to move. The hydraulic power source 149 is controlled to extend so that the bed 121 of the machine main body 110 is raised and separated from the floor surface F, and then a short workpiece is machined based on input information and the like. After the operation of the wheel motor 148 is controlled so as to move the machine body 110 to a processing place to be performed, the hydraulic source 149 is operated and controlled so that the rod 113a of the hydraulic cylinder 113 is contracted. The bed 121 of 110 is lowered and grounded to the floor.

  Thereby, it is possible to easily use the machine tool 100 for machining a short workpiece.

  Therefore, according to the machine tool 100 according to the present embodiment, it is possible to accurately perform machining on a long workpiece 1 as well as easy machining on a short workpiece. Therefore, the operating efficiency can be greatly increased and the equipment cost can be greatly reduced.

  In addition, since it is possible to eliminate the need to provide protrusions such as rails on the floor surface F for processing the long workpiece 1, when the workpiece 1 is attached to and removed from the pillars 11, 21, The workpiece 1 can be easily carried in and out, and workability can be improved.

  The machine tool according to the present invention can perform machining on a long workpiece, and can easily perform machining on a short workpiece, thereby greatly improving operating efficiency. Therefore, it can be used extremely beneficially in the metal processing industry and the like.

DESCRIPTION OF SYMBOLS 1 Work 1a, 1b Insertion hole 1c Exposed hole 11 Starting column 18 Screw shaft 18a Measuring pin 19 Nut 21 Support column 21a Bracket 22 Mounting plate 22a Guide rail 23 Moving plate 23a Slide block 24 Support bracket 24a Support groove 25 Mounting block 25a Support Shaft 26 Holding frame 26a Bolt 27 Fixing bolt 28 Screw shaft 28a Measuring pin 29 Nut 31 Arm 32 Reference plate 32a Reference hole 100 Machine tool 110 Automated guided vehicle (AGV)
111 Wheel 112 Stand 112a Guide hole 113 Hydraulic cylinder 113a Rod 114 Guide rod 120 Machine body 121 Bed 121a Guide rail 121b Notch groove 122 Moving table 122a Slide block 123 Column 123a Guide rail 124 Cross beam 124a Slide block 125 Swivel table 125a Table 126 rotating table 126a table 126b connecting member 127 guide table 127a guide rail 128 spindle head 128a slide block 129 spindle 130 touch sensor 131 controller 132 input device 141 X-axis moving motor 142 Y-axis moving motor 143 Z-axis moving motor 144 A-axis turning motor 145 B-axis turning motor 146 Spindle rotation motor 147 Tool selection replacement drive source 48 wheel motor 149 hydraulic source

Claims (5)

An automated guided vehicle,
A bed that is placed on the automatic guided vehicle and can be grounded to the floor surface;
A bed raising / lowering means for raising and lowering the bed with respect to the automatic guided vehicle so as to be grounded or separated from the floor surface disposed on the automatic guided vehicle;
A spindle capable of detachably holding a tool for machining a workpiece;
Spindle driving means for rotating the spindle;
Provided on the bed, the main axis is perpendicular to the bed in the vertical Y-axis direction, the horizontal X-axis direction orthogonal to the Y-axis direction, the X-axis direction, and the Y-axis direction. It is supported so that it can move in the horizontal Z-axis direction, and it can also be turned around the B-axis in the vertical direction parallel to the Y-axis direction and the A-axis in the horizontal direction perpendicular to the Y-axis direction. A spindle support means for
A main shaft that moves the main shaft in the X-axis direction, the Y-axis direction, and the Z-axis direction with respect to the bed, and that operates the main shaft support means to rotate about the A-axis and the B-axis. A machine tool comprising a moving / swivel means. The machine tool according to claim 1,
The workpiece has a long plate shape, and insertion holes are formed at intervals shorter than the movable range of the main shaft in the X-axis direction by the main shaft support means.
By inserting the insertion hole into an engagement shaft projecting in the Z-axis direction from a plurality of workpiece support means standing on the floor surface at every interval of the insertion hole, the longitudinal direction is changed to the X-axis direction. A machine tool characterized in that the machine tool is supported so that the machining surface is along the vertical direction. The machine tool according to claim 2,
The machine tool characterized in that the workpiece support means has a position reference portion that serves as a reference of the position in the longitudinal direction of the workpiece between the adjacent workpiece support means. The machine tool according to claim 3,
The spindle and the touch sensor can be detachably held so that the tool and the touch sensor can be exchanged,
The bed elevating means is controlled to be lifted so that the bed is separated from the floor surface,
The automatic guided vehicle is moved and controlled so that the automatic guided vehicle is positioned between the workpiece support means adjacent to each other on the processing surface of the workpiece,
After lowering the bed lifting and lowering means to ground the bed against the floor surface,
By the touch sensor held on the main shaft, the position of the tip surface of the engaging shaft of the adjacent work supporting means and the axial center position of the engaging shaft, the processing surface of the work between the adjacent work supporting means The spindle movement / turning means is controlled to measure the positions of the upper side and the lower side, respectively,
Based on the information from the touch sensor, the XY axis plane of the work surface of the work and the X-axis direction which is the longitudinal direction between the adjacent work support means are determined, and the determined work of the work is determined Based on the XY-axis plane and the X-axis direction, a Y-axis direction that is a short direction of the workpiece between adjacent workpiece support means and a Z-axis direction that is a thickness direction with respect to the processing surface of the workpiece are determined. Confirm,
Furthermore, based on the position input in advance of the position confirmation unit located between the adjacent workpiece support means, the position of one axial center of the engagement shaft of the adjacent workpiece support means is set to the coordinate system of the workpiece. Set to the origin position of
Based on the determined axial direction, the set origin position, and machining data input in advance, the machining surface of the workpiece between the workpiece support means is machined by the tool held on the spindle. And a control means for controlling the operation of the spindle moving / turning means and the spindle driving means. The machine tool according to claim 4,
The control means is
After machining the work surface of the workpiece between the adjacent support means with the tool,
The bed elevating means is controlled to be lifted so that the bed is separated from the floor surface,
The unmanned transport vehicle is moved and controlled so that the unmanned transport vehicle is positioned between other adjacent work support means which are different from the work surface of the work between the work support means,
After lowering the bed lifting and lowering means to ground the bed against the floor surface,
The touch sensor held on the spindle performs operation control and calculation of the spindle moving / turning means so as to determine the axial direction of the new machining surface of the workpiece and set the origin position, and
Based on the determined axial direction, the set origin position, and machining data input in advance, the spindle movement and machining so that a new machining surface of the workpiece is machined by the tool held on the spindle. A machine tool for controlling the operation of the turning means and the spindle driving means.

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