JP6423209B2 - 工作機械 - Google Patents
工作機械 Download PDFInfo
- Publication number
- JP6423209B2 JP6423209B2 JP2014182269A JP2014182269A JP6423209B2 JP 6423209 B2 JP6423209 B2 JP 6423209B2 JP 2014182269 A JP2014182269 A JP 2014182269A JP 2014182269 A JP2014182269 A JP 2014182269A JP 6423209 B2 JP6423209 B2 JP 6423209B2
- Authority
- JP
- Japan
- Prior art keywords
- tool
- arm
- robot arm
- movable
- automatic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/15513—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
- B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155404—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper
- B23Q2003/155407—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper linearly movable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155404—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper
- B23Q2003/155411—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper pivotable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155418—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers the grippers moving together
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
- B23Q2003/155428—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable about a common axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
- B23Q2003/155435—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable and linearly movable
- B23Q2003/155446—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable and linearly movable with translation of the pivoting axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1556—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of non-rotary tools
- B23Q3/15573—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of non-rotary tools the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S483/00—Tool changing
- Y10S483/901—Robot end effectors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S483/00—Tool changing
- Y10S483/902—Tool grippers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T483/00—Tool changing
- Y10T483/17—Tool changing including machine tool or component
- Y10T483/1702—Rotating work machine tool [e.g., screw machine, lathe, etc.]
- Y10T483/1714—Tool changer between tool support and matrix
- Y10T483/1724—Linearly moveable tool changer
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T483/00—Tool changing
- Y10T483/17—Tool changing including machine tool or component
- Y10T483/1733—Rotary spindle machine tool [e.g., milling machine, boring, machine, grinding machine, etc.]
- Y10T483/1748—Tool changer between spindle and matrix
- Y10T483/1752—Tool changer between spindle and matrix including tool holder pivotable about axis
- Y10T483/1755—Plural tool holders pivotable about common axis
- Y10T483/1767—Linearly movable tool holders
- Y10T483/1771—Translatable axis
Description
この発明に従った自動工具交換装置は、工作機械の刃物台に装着された工具を自動交換するための自動工具交換装置である。自動工具交換装置は、ロボットアームと、ロボットアームを加工エリアの内外の間で移動させる移動機構部とを備える。ロボットアームは、移動機構部に連結される基部と、基部に回動可能に連結されるアーム部と、アーム部に設けられ、工具を着脱可能に把持する把持部とを有する。アーム部は、基部から把持部に向けてアーム状に延出する形状を有し、基部との回動軸を支点にして揺動する。
図1は、この発明の実施の形態1における工作機械を示す正面図である。図1中には、工作機械の外観をなすカバー体を透視することにより、工作機械の内部が示されている。
図9は、この発明の実施の形態2における自動工具交換装置において、ロボットアームの先端部を示す側面図である。本実施の形態における自動工具交換装置は、実施の形態1における自動工具交換装置10と比較して、基本的には同様の構造を有する。以下、重複する構造については、その説明を繰り返さない。
Claims (5)
- 工具を自動交換するための自動工具交換装置と、
加工エリア内に設けられ、前記自動工具交換装置により自動交換される工具を装着する刃物台とを備え、
前記自動工具交換装置は、
ロボットアームと、
前記ロボットアームを加工エリアの内外の間で所定方向に沿って直線往復移動させる移動機構部とを備え、
前記ロボットアームは、
前記移動機構部に連結される基部と、
前記基部に回動可能に連結されるアーム部と、
前記アーム部に設けられ、工具を着脱可能に把持する把持部とを有し、
前記アーム部は、前記基部から前記把持部に向けてアーム状に延出する形状を有し、前記基部との回動軸を支点にして揺動し、
前記刃物台への工具の装着時、工具は前記刃物台に対して一方向から挿入され、
前記移動機構部は、前記刃物台に対する工具の挿入方向に平行な前記所定方向に前記ロボットアームを移動させる、工作機械。 - 前記基部は、前記アーム部の回動軸に直交する第1回転軸を中心に回転可能に設けられる、請求項1に記載の工作機械。
- 前記アーム部は、
前記基部に回動可能に連結される第1可動部と、
前記第1可動部に回動可能に連結される第2可動部と、
前記第2可動部に回動可能に連結され、前記把持部が設けられる第3可動部とを含み、
前記基部および前記第1可動部の間の第1回動軸と、前記第1可動部および前記第2可動部の間の第2回動軸と、前記第2可動部および前記第3可動部の間の第3回動軸とが、平行に配置される、請求項1または2に記載の工作機械。 - 前記第2可動部は、前記第2回動軸に直交する第2回転軸の軸線方向に沿ってアーム状に延出し、前記第2回転軸を中心に回転可能に設けられ、
前記第3可動部は、前記第3回動軸に直交する第3回転軸の軸線方向に沿ってアーム状に延出し、前記第3回転軸を中心に回転可能に設けられる、請求項3に記載の工作機械。 - 加工エリア内に設けられ、ワークを回転させる主軸台をさらに備え、
前記アーム部の回動軸は、前記主軸台におけるワークの回転軸に直交する、請求項1から4のいずれか1項に記載の工作機械。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014182269A JP6423209B2 (ja) | 2014-09-08 | 2014-09-08 | 工作機械 |
US14/823,444 US9902034B2 (en) | 2014-09-08 | 2015-08-11 | Automatic tool changer and machine tool |
EP15183222.7A EP2992995B1 (en) | 2014-09-08 | 2015-09-01 | Machine tool with automatic tool changer |
CN201510570279.1A CN105397544B (zh) | 2014-09-08 | 2015-09-08 | 机床 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014182269A JP6423209B2 (ja) | 2014-09-08 | 2014-09-08 | 工作機械 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016055370A JP2016055370A (ja) | 2016-04-21 |
JP6423209B2 true JP6423209B2 (ja) | 2018-11-14 |
Family
ID=54014679
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014182269A Active JP6423209B2 (ja) | 2014-09-08 | 2014-09-08 | 工作機械 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9902034B2 (ja) |
EP (1) | EP2992995B1 (ja) |
JP (1) | JP6423209B2 (ja) |
CN (1) | CN105397544B (ja) |
Families Citing this family (39)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6371034B2 (ja) * | 2012-10-19 | 2018-08-08 | 株式会社アマダホールディングス | 板材折曲げ加工システム |
JP6067805B1 (ja) * | 2015-09-07 | 2017-01-25 | Ntn株式会社 | リンク作動装置を用いた複合作業装置 |
CN105781563B (zh) * | 2016-03-22 | 2017-12-01 | 东北大学 | 一种泥水平衡盾构机辅助换刀装置及其使用方法 |
JP6735148B2 (ja) * | 2016-05-11 | 2020-08-05 | オークマ株式会社 | 工作機械 |
CN106064320A (zh) * | 2016-07-12 | 2016-11-02 | 浙江日发航空数字装备有限责任公司 | 集中刀库系统 |
KR102618517B1 (ko) * | 2016-08-17 | 2023-12-28 | 주식회사 탑 엔지니어링 | 스크라이빙 휠의 자동 교체가 가능한 스크라이빙 장치 |
JP6560714B2 (ja) * | 2017-06-26 | 2019-08-14 | Towa株式会社 | ブレード交換機構、切断装置およびブレード交換方法 |
DE102017118761A1 (de) * | 2017-08-17 | 2019-02-21 | Claas Selbstfahrende Erntemaschinen Gmbh | Fertigungszelle und Verfahren zum Rüsten einer Fertigungszelle |
WO2019069426A1 (ja) * | 2017-10-05 | 2019-04-11 | 株式会社Fuji | 工作機械 |
CN107696016A (zh) * | 2017-10-27 | 2018-02-16 | 东莞市希锐自动化科技股份有限公司 | 一种智能表面处理生产系统的智能机械手 |
GB201718482D0 (en) * | 2017-11-08 | 2017-12-20 | Oiltech Automation Ltd | Method and apparatus for handling drill tubes |
EP3710619A1 (de) * | 2017-11-17 | 2020-09-23 | Oerlikon Textile GmbH & Co. KG | Schmelzspinnvorrichtung |
JP7188880B2 (ja) * | 2017-12-05 | 2022-12-13 | オークマ株式会社 | 工作機械 |
JP2019126901A (ja) | 2018-01-26 | 2019-08-01 | オークマ株式会社 | 工作機械 |
JP6612372B2 (ja) * | 2018-01-30 | 2019-11-27 | Towa株式会社 | フランジ交換機構、切断装置、フランジ交換方法および切断品の製造方法 |
CN108213500A (zh) * | 2018-02-08 | 2018-06-29 | 江西景旺精密电路有限公司 | 一种钻孔自动作业设备及作业方法 |
JP6994411B2 (ja) * | 2018-02-28 | 2022-01-14 | オークマ株式会社 | 工作機械システム |
CN108353672B (zh) * | 2018-03-08 | 2023-10-20 | 南京太司德智能科技有限公司 | 一种可转动刀具平面的树障清理空中机器人 |
CN108638024A (zh) * | 2018-03-30 | 2018-10-12 | 北京轩宇智能科技有限公司 | 一种用于手套箱中的手臂机器人及手套箱 |
CN108284341A (zh) * | 2018-04-04 | 2018-07-17 | 安徽华菱汽车有限公司 | 一种装刀设备 |
CN110732906A (zh) * | 2018-07-18 | 2020-01-31 | 友嘉实业股份有限公司 | 模组化智慧刀具交换方法与管理系统 |
JP2020093353A (ja) | 2018-12-13 | 2020-06-18 | オークマ株式会社 | 工作機械 |
JP7240188B2 (ja) | 2019-01-28 | 2023-03-15 | オークマ株式会社 | 工作機械 |
CN109986547A (zh) * | 2019-03-08 | 2019-07-09 | 浙江大学 | 一种有限空间内的四自由度操作装置 |
CN109968467B (zh) * | 2019-03-11 | 2021-01-05 | 广州数控设备有限公司 | 一种木器加工系统 |
CN110173617A (zh) * | 2019-06-25 | 2019-08-27 | 苏州默威亚电子工程有限公司 | 一种万向旋转机械保护软性屏隔离装置 |
JP7315407B2 (ja) * | 2019-08-06 | 2023-07-26 | オークマ株式会社 | 工作機械 |
DE102019006347A1 (de) * | 2019-09-10 | 2021-03-11 | Sauter Feinmechanik Gmbh | Wechselvorrichtung |
JP2021053707A (ja) * | 2019-09-26 | 2021-04-08 | 株式会社スギノマシン | 多軸ロボット |
CN110614523A (zh) * | 2019-10-15 | 2019-12-27 | 沈阳中捷航空航天机床有限公司 | 一种机床用的机器人刀库换刀装置 |
CN111442774A (zh) * | 2020-03-24 | 2020-07-24 | 上海交大智邦科技有限公司 | 利用agv的智能移换平台实现自动交换的方法及系统 |
CN111413922B (zh) * | 2020-03-24 | 2020-11-06 | 上海交大智邦科技有限公司 | 利用agv作为运载工具的智能移换平台装置 |
JP7294215B2 (ja) * | 2020-03-31 | 2023-06-20 | ブラザー工業株式会社 | 搬送装置及び工作機械 |
CN112157775B (zh) * | 2020-09-27 | 2023-09-29 | 深圳市界面科技有限公司 | 一种木器加工装置的定位系统及加工定位方法 |
CN112140250B (zh) * | 2020-09-27 | 2023-09-29 | 深圳市界面科技有限公司 | 一种木器加工装置及加工方法 |
EP3978188A1 (en) | 2020-10-02 | 2022-04-06 | GF Machining Solutions AG | Gripping device for automatic tool changer |
US20230405659A1 (en) | 2020-10-28 | 2023-12-21 | Concept & Forme Developpements Sa | Fully automated sheet metal bending cell |
US20220143812A1 (en) * | 2020-11-11 | 2022-05-12 | Faro Technologies, Inc. | Articulated arm coordinate measuring machine |
CN115041992A (zh) * | 2022-05-26 | 2022-09-13 | 南京理工大学 | 一种可快速更换刀具的机械臂末端执行器 |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5669056A (en) | 1979-11-08 | 1981-06-10 | Fanuc Ltd | Robot-equipped machining center |
JPS60117001U (ja) | 1984-01-13 | 1985-08-07 | 日立精機株式会社 | 自動工具交換装置付数値制御旋盤 |
JPS61103746A (ja) * | 1984-10-25 | 1986-05-22 | Okuma Mach Works Ltd | 単一ロボツトによる各部交換システム |
JPS60123243A (ja) | 1984-11-01 | 1985-07-01 | Hitachi Seiki Co Ltd | 工具交換装置付工作機械 |
US5737500A (en) * | 1992-03-11 | 1998-04-07 | California Institute Of Technology | Mobile dexterous siren degree of freedom robot arm with real-time control system |
JPH05285766A (ja) * | 1992-04-14 | 1993-11-02 | Fanuc Ltd | 工作機械の自動工具交換装置 |
JPH06238539A (ja) * | 1993-02-16 | 1994-08-30 | Tsugami Corp | 工具交換装置 |
DE19510498C2 (de) | 1995-03-23 | 1998-07-23 | Heckert Chemn Werkzeugmasch | Werkzeugwechseleinrichtung mit einem aus mehreren Teilspeichern bestehenden Werkzeuspeicher |
DE29821047U1 (de) | 1998-11-25 | 1999-04-01 | Laempe Hans Joachim Dipl Ing | Werkzeugmaschinen-Anordnung mit einer Vorrichtung für einen automatischen Werkzeugwechsel |
DE29902127U1 (de) | 1999-02-09 | 2000-06-29 | Ludwig Demmeler Gmbh & Co | System zum Wechseln und Einlegen bzw. Vorlegen von Werkzeugen an Werkzeugmaschinen |
SE0302092L (sv) * | 2003-07-11 | 2005-01-12 | Abb Ab | Robotsystem |
US9110456B2 (en) * | 2004-09-08 | 2015-08-18 | Abb Research Ltd. | Robotic machining with a flexible manipulator |
JP3114567U (ja) * | 2005-06-25 | 2005-10-27 | 定義 松倉 | ロボットによる自動工具交換装置 |
EP2067570A1 (en) | 2007-12-04 | 2009-06-10 | Francisco Casal Tubet | Robotic cell for loading and unloading cutting tools |
WO2009102767A2 (en) * | 2008-02-11 | 2009-08-20 | Fanuc Robotics America, Inc. | Method of controlling a robot for small shape generation |
JP5047037B2 (ja) * | 2008-04-08 | 2012-10-10 | 株式会社神戸製鋼所 | ツール取替装置 |
DE102009031202A1 (de) * | 2009-06-29 | 2010-12-30 | Grob-Werke Gmbh & Co. Kg | Werkzeugmaschine mit einer Werkzeugwechselvorrichtung |
DE102010024238A1 (de) * | 2010-06-18 | 2011-12-22 | Kuka Laboratories Gmbh | Verfahren und Vorrichtung zur Überwachung einer bewegungsgesteuerten Maschine mit einem elektronisch kommutierten Antriebsmotor |
JP5149416B2 (ja) * | 2011-04-06 | 2013-02-20 | ファナック株式会社 | ロボットの異常検出機能を有するロボットシステム及びその制御方法 |
DE202011052431U1 (de) * | 2011-12-22 | 2013-03-25 | Kuka Systems Gmbh | Bearbeitungswerkzeug |
CN102601657B (zh) * | 2011-12-26 | 2014-04-16 | 上海三一精机有限公司 | 一种刀库的换刀机械手结构 |
CN102689219B (zh) * | 2012-06-14 | 2014-02-05 | 佛山市普拉迪数控科技有限公司 | 一种数控机床的转塔式自动换刀装置 |
-
2014
- 2014-09-08 JP JP2014182269A patent/JP6423209B2/ja active Active
-
2015
- 2015-08-11 US US14/823,444 patent/US9902034B2/en active Active
- 2015-09-01 EP EP15183222.7A patent/EP2992995B1/en active Active
- 2015-09-08 CN CN201510570279.1A patent/CN105397544B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN105397544A (zh) | 2016-03-16 |
US9902034B2 (en) | 2018-02-27 |
JP2016055370A (ja) | 2016-04-21 |
EP2992995B1 (en) | 2019-07-31 |
CN105397544B (zh) | 2019-02-15 |
EP2992995A1 (en) | 2016-03-09 |
US20160067840A1 (en) | 2016-03-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6423209B2 (ja) | 工作機械 | |
JP6314066B2 (ja) | 工作機械 | |
JP5026599B2 (ja) | 複合加工旋盤 | |
JP4892127B2 (ja) | 万能工作機械 | |
JP4219342B2 (ja) | 工作機械の工具交換装置 | |
EP2065110B1 (en) | Automatic chuck jaw change system in combined machining lathe | |
JP6480744B2 (ja) | 工作機械 | |
JP2011101916A (ja) | 工作機械および工具ホルダ | |
JP2010260146A (ja) | 旋削加工用工作機械 | |
JP5722534B2 (ja) | 複数のワークピーススピンドルを備えた多軸旋盤 | |
JP2010064243A6 (ja) | 複数のワークピーススピンドルを備えた多軸旋盤 | |
JP3877560B2 (ja) | 自動工具交換装置 | |
JP2010253591A (ja) | 複合加工機及び複合加工ライン | |
JP2018001364A (ja) | 工作機械ユニット | |
JP2004160599A (ja) | 立形マシニングセンタ | |
US9039587B2 (en) | Multitasking machine tool | |
JP6778351B1 (ja) | 工作機械 | |
JP3002938B2 (ja) | 自動工具交換装置及び工具交換方法 | |
JP4722636B2 (ja) | 複合旋盤の工具交換装置 | |
WO2012056837A1 (ja) | 工作機械システム | |
JPH029502A (ja) | 複合加工用旋盤 | |
JP6429968B1 (ja) | 工具交換装置 | |
JP2000126971A (ja) | 旋盤の自動工具交換装置 | |
JP7324006B2 (ja) | 工作機械及び工具の交換方法 | |
JP5769146B2 (ja) | 旋盤 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20170418 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20180208 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20180220 |
|
A521 | Written amendment |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20180419 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20181002 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20181018 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6423209 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |