JP6656262B2 - Machining system - Google Patents

Description

The present invention relates to the arrangement machinability system alongside a plurality of processing modules.

  As a machining system in which a plurality of machining modules are arranged side by side and machining is sequentially performed on the workpiece by the plurality of machining modules, there is a technique described in Patent Literature 1 below. On the other hand, as a multi-joint robot for transferring a workpiece in a machining machine (machine tool), there is a technique described in Patent Literature 2 below.

International Publication No. WO2015 / 037147 pamphlet JP 2010-64158 A

Problems to be solved by the invention

In the above-described machining system, it is possible to use an articulated robot to transfer the work and to attach and detach the work to and from the processing module. However, such a robot, that is, a work transfer / removal robot has much room for improvement, and it is necessary to improve the practicality of such a machining system by making certain improvements. Is possible. The present invention has been made in view of such circumstances, and has as its object to provide a highly practical machining system .

Means for solving the problem

In order to solve the above problems, the machining system of the present invention includes:
A plurality of processing modules arranged side by side in the left-right direction, and a work transfer / detachment robot for transferring the work in the left-right direction and mounting / detaching the work to / from each of the plurality of processing modules, A machining system in which machining by the plurality of machining modules is sequentially performed,
Wherein at at least one of the plurality of processing modules, is the Vertical lathe module, as another one of said plurality of processing modules, the Vertical lathe module in the conveying direction of the workpiece upstream of the work A centering module for centering is arranged on the upper end face,
The position where the work to be processed by the vertical lathe module is mounted is a position deviated to one side in the left-right direction from the center in the horizontal direction of the vertical lathe module, and the position where the work is mounted in the centering processing module. Is the center position of the centering module in the left-right direction,
The work transfer / detachment robot,
A base,
A support member that is supported by the base and has a pair of columns that extend in the vertical direction and stand up at an interval from each other;
A first arm having a base end supported at an upper end of the pair of columns so as to be sandwiched between the pair of columns, and a first arm rotatable around a first rotation axis perpendicular to the vertical direction;
A second arm whose base end is supported by the distal end of the first arm and is rotatable around a second rotation axis parallel to the first rotation axis;
A wrist member supported at the tip of the second arm and rotatable around a third rotation axis parallel to the first rotation axis and the second rotation axis;
The work is supported by the wrist member so as to be swingable about a swing axis extending parallel to a plane perpendicular to the first rotation axis, the second rotation axis, and the third rotation axis. A work holder for holding the workpiece in a posture in which a longitudinal direction of the workpiece extends parallel to a plane perpendicular to the first rotation axis, the second rotation axis, and the third rotation axis.
In a state where the first arm and the second arm are folded, the first arm, the second arm, the wrist member, the work holder, and the work held by the work holder are mounted on the pair of columns. While being configured to fit in,
By swinging the work holder about the swing axis, the work transfer / detachment robot can attach / detach a work to / from each of the vertical lathe module and the centering processing module in a state where the robot is positioned in front of each of the vertical lathe module and the centering processing module. It is characterized by that.

The invention's effect

Upper verge over click conveyance and detachable robot, it is possible to convey to hold the workpiece in a compact position, machining system of the present invention employing the robot becomes compact. Further, in the machining system of the present invention, the work holder of the work transfer / removal robot is swung about the swing axis with respect to each of the vertical lathe module and the centering processing module in which the work mounting positions are different from each other in the left-right direction. By moving the workpiece, it is possible to attach and detach the work with extremely high degree of freedom.

Aspects of the invention

  In the following, some aspects of the invention (hereinafter, sometimes referred to as “claimable invention”) recognized as being claimable in the present application will be exemplified and described. As in the case of the claims, each aspect is divided into sections, each section is numbered, and if necessary, the other sections are cited in a format in which the numbers are cited. This is for the purpose of facilitating the understanding of the claimable inventions, and is not intended to limit the combinations of the constituent elements constituting the inventions to those described in the following items. In other words, the claimable invention should be interpreted in consideration of the description attached to each of the following items, the description of the embodiment, and the like, and other components are added to the aspects of each item as long as the interpretation is followed. The embodiments described above and the embodiments in which some constituent elements are deleted from the embodiments of the respective sections can also be one embodiment of the claimable invention.

It should be noted that , in general, the term (43) citing the terms (1), (41) , and (42) corresponds to the claim 1, and the claims (44) to (46) correspond to the claims 2 to 4 , respectively. corresponds to.

と Prerequisite configuration ≫
(1) Machining that includes a base and a plurality of processing modules that are arranged on the base so as to be detachable and arranged in the left-right direction, and the workpiece is sequentially machined by the plurality of processing modules. system.

  This embodiment is a basic embodiment. Various processing modules can be adopted. Specifically, for example, a vertical lathe module to be described later, a centering processing module for performing centering processing on an end face in a longitudinal direction, a horizontal lathe module mainly including a horizontal lathe, a milling machine module for performing milling, and the like are employed. It is possible. The system according to the present aspect can perform machining on various workpieces by arranging various machining modules, and is also versatile by replacing a machining module with another machining module. Becomes

(2) The machining system according to (1), wherein each of the plurality of processing modules can be independently pulled out forward.

  According to this aspect, it is possible to easily perform a tool change or the like in each module from the front side. This is particularly effective in a mode described later, that is, a mode in which the processing modules are arranged adjacent to each other. In addition, you may make it drawable not only in front but also in back. Further, the processing module may be replaced by being pulled out.

(3) The machining system according to the above mode (1) or (2), wherein each of the plurality of processing modules is arranged adjacent to each other.

  According to this aspect, it is possible to construct a system in which the width in the left-right direction, in other words, the width in the direction in which the work is transported (which can also be considered as “line length”) is short.

基本 Basic configuration of vertical lathe module≫
(11) The machining system according to any one of (1) to (3), wherein at least one of the plurality of machining modules is a vertical lathe module.

  In short, this aspect is an aspect in which the vertical lathe is modularized in the above-mentioned machining system. Conventionally, there is no system in which a vertical lathe is modularized, and in this regard, this embodiment is a unique and novel system.

(12) As one of the plurality of processing modules, a centering processing module that performs centering processing on an upper end surface of the work is disposed upstream of the vertical turning module in a work transfer direction. The described machining system.

  According to this aspect, the centering of the workpiece can be performed in another module prior to the processing by the vertical lathe module. This is particularly effective when tailstock is required in machining with the vertical lathe module. In addition, the centering processing module may perform not only centering processing but also processing such as cutting the end face by milling. Incidentally, the centering processing module in this embodiment can be configured to perform processing on both end faces by turning the work upside down.

(13) The vertical lathe module includes:
A spindle that supports the lower end of the work and rotates the work about an axis extending in the vertical direction;
A column standing behind the spindle,
In a posture extending in the front-back direction, and a beam supported by the column movably in the up-down direction and the front-back direction,
A turret supported at a front end of the beam and capable of intermittently rotating around an axis parallel to the axis of the spindle while holding a plurality of blades;
The machining system according to (11) or (12), further comprising: a beam moving device configured to move the beam in a vertical direction and a front-rear direction in order to move the turret when processing a workpiece.

  This embodiment relates to the basic structure of a vertical lathe module. According to this aspect, since the column, the spindle, and the turret can be arranged before and after each other, it is possible to realize a module having a narrow width in the left-right direction. Further, for example, by disposing the turret on the front side of the spindle, it is possible to easily replace the blade held by the turret.

(14) The machining system according to the mode (13), wherein the beam is biased to one side in the left-right direction and the spindle is biased to the other side from the center in the left-right direction of the vertical lathe module.

  According to this aspect, when the beam and the spindle are decentered in the left-right direction, when a relatively long work is machined, the beam can be easily machined without interfering with the work. Further, when the diameter of the work is relatively small with respect to the diameter of the turret, the width of the module in the left-right direction can be set to a width corresponding to the diameter of the turret, and the module can be made compact in the left-right direction. Become.

(15) The vertical lathe module is
A spindle cooling device including a duct having one end opened in a space provided around the spindle, and a fan provided at the other end of the duct and sucking air in the duct is provided (13). ) Or the machining system according to (14).

  At the time of processing, the spindle becomes a large heating element. Therefore, according to this aspect, the spindle can be effectively cooled by the cooling device.

≪Tailstock device≫
(21) The vertical lathe module includes:
The machining system according to any one of (13) to (15), further including a tailstock that presses a rotation center of an upper end of the work supported by the spindle downward.

  According to the present aspect, the provision of the tailstock device enables highly accurate machining of a relatively long work.

(22) The tailstock is:
A rotation center whose tip is pressed against the work,
A tailstock supported by the column to hold the rotation center and to be movable up and down along the column;
The machining system according to item (21), further comprising: a tailstock moving device configured to move the tailstock in a vertical direction.

  This embodiment relates to a basic structure of a tailstock. For example, by combining the embodiment described above, that is, the embodiment in which the beam supporting the turret and the spindle are eccentric in the left-right direction, and this embodiment, interference between the movement of the tailstock and the movement of the beam is avoided. It is possible to construct a compact module in the left-right direction.

(23) The tailstock is
A casing,
A holder that is held in the casing so as to be movable up and down and holds the rotation center;
A liquid chamber that is partitioned by the casing and the holder and is filled with the working fluid therein, and has a volume that fluctuates due to movement of the holder with respect to the casing;
Pressure generation for applying a pressure corresponding to a change in the volume of the liquid chamber to the hydraulic fluid in the liquid chamber in order to generate a force for suppressing the movement of the holder with respect to the casing with a magnitude corresponding to the amount of the movement. With a mechanism and
(22) The machining system according to (22), wherein the tailstock is configured to generate a force for pressing the workpiece by the rotation center depending on the pressure applying mechanism.

  This aspect is an aspect relating to the structure of the tailstock. According to this aspect, the tailstock is moved until the rotation center comes into contact with the work, and further moved from the position where the tailstock is brought into contact with the work, so that the work is pressed with a pressing force of a magnitude corresponding to the further movement amount. It is possible. That is, by using a servomotor or the like as a drive source of the tailstock moving device, the pressing force can be managed with high accuracy. Since the pressing force is generated via the hydraulic fluid, a relatively smooth pressing can be performed, unlike the case where the pressing force is directly generated by the spring.

(24) The pressure applying mechanism includes:
An auxiliary liquid chamber communicating with the liquid chamber;
A plunger disposed so as to enter the auxiliary liquid chamber and capable of moving back and forth with respect to the auxiliary liquid chamber with a change in the volume of the liquid chamber;
(23) The machining system according to the above (23), comprising: a spring for urging the plunger so that the urging force is changed as the plunger advances and retreats.

  This aspect is an aspect relating to a specific structure of the pressure applying mechanism of the tailstock. This aspect does not exclude an aspect in which a plurality of plungers enter one auxiliary liquid chamber and a plurality of plungers are respectively urged by a plurality of springs. By providing a plurality of plungers, the diameter of each plunger can be reduced, so that a relatively compact pressure applying mechanism can be constructed. By making the spring replaceable with a spring having a different spring constant, the magnitude of the pressing force can be changed within a relatively large range without largely changing the amount of movement of the tailstock.

≫Housing for vertical lathe module≫
(31) The vertical lathe module comprises:
The machining according to any one of (13) to (24), further comprising a housing surrounding the work supported by the spindle and the turret for defining a machining space on the front side of the column. system.

  According to this aspect, for example, it is possible to effectively prevent the coolant from scattering outside the module due to the processing.

(32) The housing is
A work transfer opening provided on the front side for loading and unloading the work into and out of the processing space;
The machining system according to item (31), further comprising: a shutter for opening and closing the work transfer opening.

  According to this aspect, it is possible to easily carry in and carry out the work while preventing the coolant from scattering.

(33) The shutter is
A plurality of shutter plates which are arranged so as to be vertically arranged with respect to each other in a state where the shutters are closed and each partially cover the work transfer opening,
A telescopic type in which the plurality of shutter plates are moved up and down in an interlocking manner so as to selectively realize a state in which the plurality of shutter plates overlap each other and a state in which the plurality of shutter plates are vertically arranged to open and close the work transfer opening. The machining system according to item (32), further comprising: a shutter plate moving mechanism.

  According to this aspect, by employing the telescopic shutter, the work transfer opening can be made relatively large, and loading and unloading of a relatively long work becomes easy.

(34) from the center in the left-right direction of the vertical lathe module, the beam is arranged on one side in the left-right direction, and the spindle is arranged on the other side.
The vertical lathe module includes a tailstock that pushes downward the rotation center of the upper end of the work supported by the spindle,
The tailstock device comprises: (a) a rotation center whose tip is pressed against the work; and (b) a tailstock supported by the column which holds the rotation center and is vertically movable along the column. (C) having a tailstock moving device for moving the tailstock in the vertical direction,
Said housing,
Each is provided on the rear side, a beam opening that allows the beam to pass through the housing, and a tailstock opening that allows the tailstock to enter the housing,
While maintaining the section of the processing space by the housing, while maintaining the section of the processing space by the housing, the beam opening movement allowing mechanism that allows the beam opening to move up and down with the up and down movement of the beam. And a tailstock opening movement permissible mechanism that allows the tailstock opening to move up and down with the up and down movement of the tailstock. Machining system.

  This aspect relates to a rear cover in a configuration including the beam for supporting the turret and the tailstock. According to this aspect, it is possible to effectively cover the rear side of the housing without obstructing the vertical movement of the beam and the tailstock.

(35) Each of the beam opening movement permitting mechanism and the tailstock opening moving permitting mechanism,
A frame that partitions the opening and can move up and down,
A plurality of cover plates arranged above and below the frame,
(34) a telescopic-type cover plate movement permitting mechanism that permits the movement of the plurality of cover plates along with the movement of the frame between a state in which the plurality of cover plates overlap each other and a state in which the plurality of cover plates overlap with each other. 3. The machining system according to claim 1.

  According to this aspect, since the telescopic cover is employed, it is easy to move the beam and the tailstock up and down a relatively large distance while covering the rear side of the housing.

(36) The beam opening movement permission mechanism and the tailstock opening movement permission mechanism are each unitized and arranged side by side with each other, and the frame of the beam opening movement permission mechanism is provided with the frame. The tailstock opening moving mechanism has a shape that opens toward the tailstock opening moving mechanism, and the frame of the tailstock opening moving mechanism is formed so as to open toward the beam opening moving mechanism. The machining system according to item (35), wherein the machining system is detachable so as to be separated into pieces.

  According to this aspect, since the cover can be separated to the left and right, cleaning, maintenance, and the like of the cover can be easily performed.

≪Work transfer / removal robot≫
(41) The machining system is
Item (1) to item (36), comprising a work transfer / detachment robot that is arranged in front of the base and transfers a work in the left-right direction and performs attachment / detachment of the work to / from each of the plurality of processing modules. A machining system according to any one of the preceding claims.

  According to this aspect, since a so-called robot-type transfer / removal device is employed, the work can be transported / removed with a high degree of freedom.

(41) ′ In a system in which a plurality of work modules are arranged side by side in a left-right direction, a work transfer / detachment robot used to transfer a work in the left-right direction and to attach / detach a work to / from each of the plurality of work modules. .

  This aspect is an aspect for the purpose of changing the category of the claimable invention, and more specifically, is an aspect relating to a work transfer / detachment robot that can be used in the system described above. According to this aspect, in the above-mentioned machining system, it is possible to transport and detach a work with a high degree of freedom.

(42) The work transfer / detachment robot includes:
A base,
A support member that is supported by the base and has a pair of columns that extend in the vertical direction and stand up at an interval from each other;
A first arm having a base end supported at an upper end of the pair of columns so as to be sandwiched between the pair of columns, and a first arm rotatable around a first rotation axis perpendicular to the vertical direction;
A second arm whose base end is supported by the distal end of the first arm and is rotatable around a second rotation axis parallel to the first rotation axis;
A wrist member supported at the tip of the second arm and rotatable around a third rotation axis parallel to the first rotation axis and the second rotation axis;
The work supported by the wrist member and holding the work in a posture in which a longitudinal direction of the work extends parallel to a plane perpendicular to the first rotation axis, the second rotation axis, and the third rotation axis. With a holder and
In a state where the first arm and the second arm are folded, the first arm, the second arm, the wrist member, the work holder, and the work held by the work holder are mounted on the pair of columns. The machining system according to item (41) or the workpiece transfer / detachment robot according to item (41) ′, wherein the robot is configured to fit in the space.

  In the present embodiment, the use of two serially linked arms enables the work with a particularly high degree of freedom to be attached and detached, and also allows the work and the like to be supported by a pair of columns in a posture in which the two arms are folded. It is possible to fit in between. Therefore, it is possible to hold the work in a compact state and transfer the work between the modules, and it is possible to make the machining system itself compact.

(43) The work holder is supported by the wrist member so as to be capable of swinging about a swing axis extending parallel to a plane perpendicular to the first rotation axis, the second rotation axis, and the third rotation axis. The machining system or the workpiece transfer / detachment robot according to (42).

  According to this aspect, since the work holder is swingable, it is possible to attach and detach the work with a higher degree of freedom.

(44) The work transfer / detachment robot includes:
The machining system or the work transfer / removal according to (42) or (43), wherein a plurality of work holders each serving as the work holder are provided, and the plurality of work holders can be simultaneously held by the plurality of work holders. robot.

  According to this aspect, detachment (unloading) of the work from one module and attachment (loading) of the work to the module can be performed continuously, and the time required for attachment and detachment is reduced. It is possible. As a result, a highly productive machining system can be constructed. In addition, by combining with the above-mentioned mode, that is, the mode in which the work holder can be swung, it is possible to easily position one of the plurality of work holders selectively at a position for attachment / detachment. Becomes

(45) The work transfer / detachment robot includes:
The machining system according to any one of (41), (41) ′ to (44), wherein the support member is supported by the base so as to be rotatable around a rotation axis extending in a vertical direction. Or a workpiece transfer / removal robot.

  With the support member being rotatable, according to this aspect, for example, loading of the work from the left and right sides of the machining system and unloading of the work to the left and right sides of the machining system are easily performed. It becomes possible.

(46) The work transfer / detachment robot includes:
The machining system or the workpiece transfer / detachment robot according to any one of (41), (41) ′ to (45), further including a base moving device configured to move the base in the left-right direction.

  According to this aspect, it is possible to transfer a work between modules depending on the function of the base moving device.

It is a perspective view showing the whole machining system of an example. It is a perspective view showing the centering processing module arranged in the machining system in the state where an exterior panel was removed. It is a perspective view which expands and shows the principal part of a centering processing module. It is a perspective view which shows the vertical lathe module arrange | positioned in a machining system in the state which removed some exterior panels. It is a perspective view which shows a vertical lathe module in the state which removed the exterior panel. It is a perspective view which expands and shows the principal part of a vertical lathe module. It is a figure which shows the cross section of the base block of a vertical lathe module. It is sectional drawing which shows the tailstock which comprises the tailstock provided with a vertical lathe module. It is a schematic diagram which shows the positional relationship between the spindle and turret which a vertical lathe module has from a viewpoint from above. It is a perspective view which shows the shutter provided in the housing with which the vertical lathe module is provided in a closed state. It is a perspective view showing a shutter in an opened state. FIG. 4 is a perspective view showing a cover provided on the rear side of the housing. It is a front view showing signs that a cover is separated on right and left. FIG. 4 is a perspective view showing a state in which a workpiece transfer / removal robot is arranged in the machining system. It is a perspective view which shows the main-body part of the workpiece | work conveyance / removal robot in the attitude | position at the time of conveyance. It is a perspective view which shows the main-body part of the workpiece | work conveyance and attachment / detachment robot in the attitude | position at the time of attachment / detachment. It is a perspective view which expands and shows the work holder which a workpiece | work conveyance and attachment / detachment robot has.

  Hereinafter, a typical embodiment of the claimable invention will be described in detail as an example with reference to the drawings. It should be noted that the claimable invention is embodied in various modes in which various modifications and improvements have been made based on the knowledge of those skilled in the art, including the modes described in the above-mentioned section of the invention, in addition to the following examples. can do. Further, it is also possible to configure a modification of the following embodiment by using the technical matters described in the description of each of the aspects of the invention.

[A] Overall Configuration of the Machining System As shown in FIG. 1, the machining system according to the embodiment includes a base 10 and a plurality of processing modules arranged on the base 10. Broadly speaking, a machining system is a type of system in which a plurality of work modules are arranged side by side. Specifically, the plurality of processing modules are a centering processing module 12 and a vertical lathe module 14. As shown in the drawing, if the direction is defined, the centering module 12 and the vertical lathe module 14 are arranged side by side in the left-right direction so as to be adjacent to each other. From the left side to the right side in FIG. 1, one work is sequentially processed by the centering processing module 12 and the vertical lathe module 14. In the drawing, the work is transported to the front side of the base 10 for transporting the work and attaching / detaching the work to / from each of the centering module 12 and the vertical lathe module 14, although hidden behind the exterior panel.・ A detachable robot is arranged.

  A coolant tank is provided inside the base 10, and cutting chips generated during machining by the centering module 12 and the vertical lathe module 14, and coolant applied to a workpiece at the time of machining by the centering module 12 and the vertical lathe module 14 are used as coolant. The collected cuttings collected in the tank are discharged backward by the cutting chips conveyor 16, and the collected coolant is circulated by the coolant pump 18.

  This machining system is a system that performs centering processing and lathe processing on a relatively long work, and the width in the left-right direction, that is, the direction in which the work is conveyed (so-called “line length”). One feature is that it is considerably smaller. In addition, since the centering module 12 and the vertical lathe module 14 can be exchanged for another processing module, various types of machining can be performed according to the workpiece by the exchange, and a highly versatile system can be provided. Has become.

[B] Centering Processing Module The centering processing module 12 is roughly composed of a base 20, a column 22 erected on the base 20, and a column 22, as can be seen from FIG. And a work head 26 for working the work held by the work holding device 24.

  Wheels 28 are provided on the base 20, while rails 30 are laid on the base 10 in a posture extending in the front-rear direction. The centering module 12 is disposed on the base 10 such that the wheel 28 rides on the rail 30. The centering module 12 can move in the front-rear direction when the wheel 28 rolls on the rail 30. It has been. During the operation of the machining system, the centering module 12 is positioned with respect to the base 10, and the centering module 12 can be pulled out forward, for example, when exchanging tools described later. . When the centering module 12 is replaced with another module, the centering module 12 can be pulled out rearward.

  Referring to FIG. 3 showing an enlarged view of a main part of the centering processing module 12, the work holding device 24 is attached to a support shaft 32 rotatably supported by the column 22 and a front end of the support shaft 32. And a chuck 34 provided. The chuck 34 has a structure in which the work W is held between the left and right by claws. By rotating the support shaft 32 to an arbitrary angle, the workpiece W is fixed at an arbitrary angle posture.

  The processing head 26 has a spindle held in a posture extending in the vertical direction, and a tool holder held at the lower end of the spindle. Various tools such as a drill and an end mill are exchanged for the tool holder. It is kept possible. The processing head 26 is moved in the front-rear direction, the left-right direction, and the up-down direction by the head moving device 36, and various types of mechanical processing such as drilling and milling are performed on the workpiece W according to the held tool. .

  A tool magazine is housed inside the column 22, and the tool magazine holds a plurality of exchangeable tools. In the centering module 12, the door 38 provided on the front side of the column 22 is opened, and the tool magazine protrudes forward. In this state, the tool is automatically changed.

  The centering processing module 12 is a so-called machining center, which is a general-purpose one. In the present machining system, the centering processing is mainly performed on both ends of the work W, that is, the processing for opening a center hole and the processing for both ends are performed. And cutting the end face. Incidentally, the processing on both ends is performed by turning the work W upside down by the work holding device 24.

[C] Vertical lathe module
i) Overall Structure The vertical lathe module 14 includes a housing including a part of the exterior panel, as can be seen from FIG. 4 showing a state where a part of the exterior panel is removed and FIG. 50 are formed. The housing 50 is for partitioning a processing space, and is for preventing coolant, cutting chips and the like from being scattered during lathe processing.

  As can be seen from FIG. 5 showing the state without the housing 50, the vertical lathe module 14 is roughly erected on the base 20, a base block 52 fixed to the base 20, and the base block 52. The column 54, the spindle device 56 supported by the base block 52, the beam 58 supported by the column 54, the turret 60 supported at the front end of the beam 58, and the rotation center of the upper end of the work are pressed downward. The tail stock device 62 is included.

  The base 20 is the same as that of the centering processing module 12, and is similarly provided with wheels 28. Like the centering module 12, the vertical lathe module 14 is arranged on the base 10 such that the wheels 28 ride on the rails 30, and the wheels 28 roll on the rails 30, which will be described later. It can be pulled out forward when exchanging blades to be performed. Similarly, when it is exchanged for another processing module, it can be pulled out rearward.

  Referring to FIG. 6 showing an enlarged view of a main part, the base block 52 is arranged to be biased rightward in the left-right direction of the vertical lathe module 14, and the spindle device 56 is mounted on the base block 52. It is supported by. Referring also to FIG. 7 showing a cross section of the base block 52, the spindle device 56 includes a spindle 70 and a spindle case 72 that rotatably holds the spindle 70. The spindle case 72 is fixed to the front end of the base block 52 in such a manner that is extended vertically. A pulley 74 is attached to the lower end of the spindle 70, and the rotation of a motor 76 disposed behind the base block 52 is transmitted via a timing belt 78 wound around the pulley 74. The spindle 70 rotates. A chuck 80 for holding the work W is attached to the upper end of the spindle 70, and the spindle 70 holds the work W via the chuck 80.

  A duct 82 is provided inside the base block 52 so as to extend forward and backward. The front end of the duct 82 opens into an annular space 84 around the spindle case 72 and the duct 82 The rear end is open to the rear end of the base block 52. At the rear end of the duct 82, a fan 86 is provided, and the air in the duct 82 is sucked by the fan 86, and accordingly, warm air around the spindle case 72 is passed through the duct 82. Is sucked. That is, the duct 82 and the fan 86 constitute a spindle cooling device for cooling the spindle 70.

  The column 54 erected on the base block 52 is arranged rightward in the left-right direction of the vertical lathe module 14, and the beam 58 is supported by the column 54 on the left side surface of the column 54. Therefore, the beam 58 is arranged to be deviated leftward in the left-right direction of the vertical lathe module 14. The beam 58 extends in the front-rear direction and is supported so as to be movable in the front-rear direction and the up-down direction.

  The turret 60 holds a plurality of blades 100 (specifically, “bites”) on a horizontal circumference on a holding plate 102, and rotates the holding plate 102 intermittently to work the workpiece. One blade 100 used for W cutting is positioned at a predetermined position. Incidentally, the rotation axis of the turret 60, more specifically, the rotation axis of the holding plate 102 is parallel to the rotation axis of the spindle 70. As will be described later, the turret 60 is supported at the front end of the beam 58 on its left side so as to be located at the center of the vertical lathe module 14 in the left-right direction.

  The turret 60 is moved in the front-rear direction and the up-down direction in the cutting of the workpiece W, which is performed by moving the beam 58 by the beam moving device 104. The beam moving device 104 is configured to move the beam 58 in the front-back direction and the up-down direction.

ii) Tailstock Device The tailstock device 62 is a device for pushing the rotation center of the upper end of the work W supported by the spindle 70 downward, and the rotation center 110 whose tip is pressed against the work W from above. , A tailstock 112 supported on the column 54 so as to be able to move in the vertical direction while holding the rotation center 110, and a tailstock moving device 114 for moving the tailstock 112 in the vertical direction. . The tailstock moving device 114 includes a servomotor 116, and drives the tailstock 112 via a ball screw mechanism 118. By controlling the servomotor 116, the vertical position of the tailstock 112 can be controlled with high accuracy.

  As shown in FIG. 8A, the tailstock 112 includes a casing 130 and a holder 132 held in the casing 130 so as to be vertically movable. The holder 132 includes an inner cylinder 134 and an outer cylinder 136 that can rotate relative to each other, and the rotation center 110 is inserted into the inner cylinder 134 and held. Between the outer periphery of the holder 132, that is, between the outer periphery of the outer cylinder 136 and the inner periphery of the casing 130, there is formed an annular liquid chamber 138 which is partitioned by these and is filled with the working fluid.

8A shows a state in which the holder 132 is located at the forward end with respect to the casing 130. FIG. 8B shows a state in which the rotation center 110 contacts the workpiece W and the holder 132 In a state where the distance l _{1 has} receded. As can be seen from these figures, the retraction of the holder 132 with respect to the casing 130 reduces the volume of the liquid chamber 138. That is, the volume of the liquid chamber 138 is changed by the movement of the holder 132 with respect to the casing 130.

  On the other hand, an auxiliary liquid chamber 140 filled with hydraulic fluid is formed inside the casing 130, specifically, in a portion beside the holder 132. The auxiliary liquid chamber 140 is defined by a hole 142 provided in the casing 130, a holding cylinder 144 inserted into the hole 142, and a plunger 146 held by the holding cylinder 144. The plunger 146 is disposed so as to enter the auxiliary liquid chamber 140, and is capable of moving forward and backward with respect to the auxiliary liquid chamber 140. The plunger 146 is urged downward by a compression coil spring 148 housed in the holding cylinder 144.

  The liquid chamber 138 and the auxiliary liquid chamber 140 are in communication with each other, and when the volume of the liquid chamber 138 fluctuates due to the movement of the holder 132 with respect to the casing 130, the hydraulic liquid is supplied between the liquid chamber 138 and the auxiliary liquid chamber 140. Flows in and out. As the hydraulic fluid flows in and out, the plunger 146 advances and retreats with respect to the auxiliary liquid chamber 140, and the urging force of the compression coil spring 148 on the plunger 146 changes as the plunger 146 advances and retreats. The urging force is transmitted to the holder 132 via the hydraulic fluid, and a force corresponding to the urging force acts on the holder 132.

Specifically, when the rotation center 110 contacts the workpiece W and the holder 132 retreats by a distance l ₁ with respect to the casing 130, the plunger 146 retreats by a distance l ₂ as shown in FIG. and, depending on the urging force of the compression coil spring 148 corresponding to the distance l _2, the holder 132 is urged downward. The force of the urging is the force by which the rotation center 110 presses the work W.

  That is, the mechanism including the auxiliary liquid chamber 140, the plunger 146, the compression coil spring 148, and the like generates a force for suppressing the movement of the holder 132 with respect to the casing 130 with a magnitude corresponding to the amount of the movement. A pressure applying mechanism 150 that applies a pressure corresponding to a change in the volume of the chamber 138 to the working fluid in the liquid chamber 138. It is configured to generate a force for pressing W.

  Therefore, in the tailstock device 62, the force of the rotation center 110 pressing the work W changes according to the amount of movement of the holder 132 with respect to the casing 130, and thus the tailstock 112 of the tailstock 112 after the rotation center 110 contacts the work W. By controlling the amount of downward movement, the pressing force, that is, the pressing force of the work W, can be accurately controlled. According to the tailstock device 62, since the pressing force is generated via the hydraulic fluid, a relatively smooth pressing can be performed unlike the case where the pressing force is directly generated by the spring.

  In the figure, only one auxiliary liquid chamber 140, plunger 146, compression coil spring 148, and the like are provided, but in actuality, three auxiliary liquid chambers 140, plungers 146, compression A coil spring 148 and the like are provided. By providing the plurality of auxiliary liquid chambers 140, the plungers 146, the compression coil springs 148, and the like, the tailstock 112 is relatively compact. Note that the pressing force can be changed by disposing another compression coil spring having a different spring constant in place of the compression coil spring 148.

iii) Positional Relationship Between Spindle and Turret The positional relationship between the spindle 70 and the turret 60 in the vertical lathe module 14, that is, the positional relationship between the work and the turret 60 at the machining position will be described with reference to FIG. In the vertical lathe module 14, the spindle 70 and the turret 60 are displaced in the front-rear direction. Specifically, the rotation center O of the spindle 70 is located behind the rotation center O ′ of the turret 60. This contributes to reducing the width L of the vertical lathe module 14 in the left-right direction.

  Since the turret 60 is located on the front side, when the vertical lathe module 14 is pulled out from the base 10 and the blade 100 is replaced, the amount of pulling out is small.

  On the other hand, the rotation center O ′ of the turret 60 is located near the center line CL of the vertical lathe module 14 in the horizontal direction, whereas the rotation center O of the spindle 70 is relatively largely eccentric to the right. I have. Therefore, the beam 58 that supports the turret 60 is decentered to the left to some extent, so that even when processing a relatively long work, the work can be easily performed without the beam 58 interfering with the work. is there. Also, arranging the beam 58 eccentrically to the left facilitates the placement of the tailstock 62. In other words, since the tailstock 112 must be disposed above the spindle 70, arranging the beam 58 eccentrically to the left, in other words, arranging the spindle 70 eccentrically to the right depends on the operation of the beam 58. This also contributes to avoiding interference between the movement of the tailstock 112 and the tailstock 112.

  Since the vertical lathe module 14 has the above-described positional relationship of the respective components, it is possible to configure itself compactly in the left-right direction and also compact the entire machining system.

iv) Housing Structure The housing 50 shown in FIG. 4 is configured to include a part of the exterior panel, and divides a processing space for the purpose of preventing scattering of coolant, cutting chips, and the like during lathe processing. . The housing 50 surrounds the work supported by the spindle 70 and the turret 60, and therefore has a pair of left and right side walls and a pair of front and rear side walls.

  Since the work is carried in and out of the processing space from the front side, the front side wall has a work transfer opening 158 (see FIG. 11), and a shutter 160 for opening and closing the work transfer opening 158 is provided. Have. The shutter 160 includes an upper shutter plate 162 and a lower shutter plate 164, which are a plurality of shutter plates arranged vertically one above the other, as can be seen from FIG. 10 showing a closed state. Generally, the upper shutter plate 162 covers the upper half of the work transfer opening 158, and the lower shutter plate 164 covers the lower half of the work transfer opening 158.

  In the main body of the housing 50 (a fixed portion different from the two shutter plates), a direction slightly inclined with respect to the vertical direction (hereinafter referred to as a shutter 160) is on the left side of the upper shutter plate 162 and the lower shutter plate 164. , Which may be simply referred to as “vertical direction”), a first guide 166 and a second guide 168 extending in parallel with each other are provided. The upper shutter plate 162 and the lower shutter plate 164 are respectively provided with the first guide 166. Along the second guide 168, that is, in a predetermined moving direction. The main body of the housing 50 is provided with an upper shutter plate moving mechanism 170 including a motor, a ball screw mechanism and the like as a mechanism for moving the upper shutter plate 162 in the shutter plate moving direction.

  An upper rack bar 172 is fixed to the main body of the housing 50 on the right side of the upper shutter plate 162 so as to extend vertically. A pinion 174 meshing with the upper rack bar 172 is rotatably supported on the right side surface of the upper shutter plate 162, and a lower rack bar 176 meshing with the pinion 174 is rotatably supported on the right side surface of the lower shutter plate 164. It is fixed in a posture extending vertically.

  In the state shown in FIG. 10, when the upper shutter plate 162 is moved upward by the upper shutter plate moving mechanism 170, the pinion 174 rolls accordingly, and further, the lower shutter plate 164 also moves down the lower rack bar. It moves upward together with 176. That is, the upper shutter plate 162 and the lower shutter plate 164 move in conjunction with each other, and as a result, the state shown in FIG. 11 is obtained. In this state, the work transfer opening 158 is opened such that the upper shutter plate 162 and the lower shutter plate 164 overlap each other. By the way, from this state, the upper shutter plate 162 is moved downward by the upper shutter plate moving mechanism 170, whereby the upper shutter plate 162 and the lower shutter plate 164 are linked to return to the state of FIG.

  With the structure described above, the shutter 160 is a mechanism including the first guide 166, the second guide 168, the upper shutter plate moving mechanism 170, the upper rack bar 172, the pinion 174, the lower rack bar 176, and the like. In order to selectively open and close the work transfer opening 158, the plurality of shutter plates 162 and 164 are interlocked so as to selectively realize a state in which the shutter plates 162 and 164 overlap each other and a state in which the shutter plates 162 and 164 are arranged vertically. It has a telescopic shutter plate moving mechanism that moves up and down. By having the shutter 160 having such a mechanism, that is, the telescopic shutter, the vertical lathe module 14 allows the work transfer opening 158 to be relatively large in the up-down direction, and is relatively long. Easy loading and unloading of workpieces.

  On the other hand, the rear portion of the housing 50 is a cover 190 that extends in the front, rear, left, and right directions along the column 54, as shown in FIG. The cover 190 is provided with a beam opening 192 that allows the beam 58 to pass through the housing 50 and a tailstock opening 194 that allows the tailstock 112 to enter the housing 50. . Since the beam 58 is moved up and down by the beam moving device 104 and the tailstock 112 by the tailstock moving device 114, the housing 50 is provided with the beam 58 while maintaining the division of the processing space. Beam opening movement permitting mechanism that allows the beam opening 192 to move up and down due to vertical movement, and tailstock opening 194 that accompanies vertical movement of the tailstock 112 while maintaining a section of the processing space. There is provided a tailstock opening movement permitting mechanism that allows vertical movement of the tailstock. That is, a mechanism is provided that allows the beam opening 192 and tailstock opening 194 to move in the vertical direction while preventing the coolant and the like from scattering from the processing space backward.

  Specifically, the beam opening 192 and the tailstock opening 194 are defined by frames 196 and 198 through which the base end of the beam 58 and the tailstock 112 can pass, respectively. Above and below each of the 198, a plurality of cover plates 200 and 202 are provided, respectively. More specifically, four cover plates 200 are arranged above and below a frame 196 that defines the beam opening 192, and three cover plates 200 are arranged above and below the frame 198 that defines the tailstock opening 194. A plate 202 is arranged.

  The state shown in the figure is a state where the beam 58 and the tailstock 112 are located at the uppermost position in the movable range. In this state, the four cover plates 200 arranged on the frame 196 that divides the beam opening 192 are in a state in which the four cover plates 200 entirely overlap each other, and the four cover plates 200 arranged below the frame 196 are arranged. Although the cover plates 200 are partially overlapped with each other, they are generally arranged vertically. Similarly, the three cover plates 202 arranged on the frame 198 that defines the tailstock opening 194 are in a state in which the three cover plates 202 are entirely overlapped in the front-back direction, and the three cover plates 202 are arranged below the frame 198. Although the cover plates 202 partially overlap each other, they are generally in a state of being vertically arranged.

  As the beam 58 and the tailstock 112 move in the vertical direction, the frames 196 and 198 also move in the vertical direction. When the beam 58 moves downward from the state shown in FIG. 12, the cover plate 200 disposed on the frame 196 expands in the vertical direction and is disposed below the frame 196. The cover plate 200 overlaps in the vertical direction. When the beam 58 is located at the lowest position in the movable range, the cover plates 200 arranged on the frame 196 are in a state where they partially overlap each other but partially overlap with each other, and partially under the frame 196. Is entirely in a state of being overlapped back and forth. Similarly, when the tailstock 112 moves downward, the cover plate 202 disposed above the frame 198 expands in the up-down direction, and the cover plate 202 disposed below the frame 198 also extends. 202 overlaps vertically. When the tailstock 112 is located at the lowermost position in the movable range, the cover plates 202 arranged on the frame 198 are in a state where they partially overlap each other, although they partially overlap with each other. The cover plate 202 disposed underneath is entirely overlapped with the front and rear.

  By performing the above-described operation, the cover 190 includes the frames 196 and 198 and the plurality of cover plates 200 and 202, and the cover 190 includes the movement of the plurality of cover plates 200 and 202 due to the movement of the frames 196 and 198. A permissible telescopic-type cover plate movement permitting mechanism is configured, each including the telescopic-type cover plate moveable permitting mechanism, the above-described beam opening moveable permitting mechanism, and the tailstock opening moving permitting mechanism. Is configured. By employing such a mechanism, the housing 50 ensures that the beam 58 and the tailstock 112 move relatively large distances in the vertical direction while preventing the coolant and the like from being scattered backward from the processing space. It can be prevented.

  13A, the cover 190 is attached as shown in FIG. 13A, but the frame 196 that defines the beam opening 192 has a U-shape, (Toward the tailstock opening movement permitting mechanism), and a frame 198 that defines the tailstock opening 194 has a U-shape, specifically, to the left (beams). As shown in FIG. 13B, the cover 190 is separable to the left and right by having a shape that opens (towards the opening movement permitting mechanism). More specifically, the beam opening movement permitting mechanism and tailstock opening moving permitting mechanism arranged side by side with each other are unitized, and can be detached as two units 204 and 206 so as to be separated to the left and right. It is.

  As described above, since the cover 190 is detachable from the housing 50, the cover 190 can be removed without being obstructed by the beam 58 and the tailstock 112 existing in the processing space. I have. As a result, the cover 190 can be easily cleaned and maintained.

[D] Work Transfer / Attachment / Removal Robot As described above, a work transfer is provided on the front side of the base 10 to transfer the work and to mount / detach the work to / from each of the centering module 12 and the vertical lathe module 14.・ A detachable robot is arranged. Referring to FIG. 14, the work transfer / detachment robot 210 is arranged in front of the base 10, specifically, supported by the front side surface of the base 10.

  The workpiece transfer / detachment robot 210 is roughly divided into a main body 214 having a base 212 and a base moving device 216 for moving the base 212 in the left-right direction in order to move the main body 214 in the left-right direction. be able to. By supporting the base moving device 216 on the front side of the base 10, the work transfer / detachment robot 210 is supported on the front side of the base 10. The base moving device 216 uses a servo motor as a drive source, and the moving operation of the base 212 is controlled by a robot controller (not shown).

  The main body 214 of the work transfer / detachment robot 210 shows a transfer posture, which is a posture when the work is transferred to the left and right, and detaches the work from / to the centering processing module 12 and the vertical lathe module 14, respectively. Referring to FIG. 16 showing the posture at the time of attachment / detachment, which is the posture at the time, roughly, the base 212, the support member 218, the first arm 220, the second arm 222, the wrist member 224, and the work holder 226 It is comprised including. The main body 214 is a so-called articulated robot.

  The support member 218 has a base plate 228 and a pair of columns 230 erected on the base plate 228. The pair of columns 230 each extend in the up-down direction, and are erected at intervals. The support member 218 has a rotation axis L extending in the up-down direction on the base plate 228. ₀It is supported on a base 212 so as to be rotatable around it. A support member rotating device is built in the base 212, and the support member 218 moves the rotation axis L by the support member rotating device.₀Rotated around.

The first arm 220 is supported at its base end at the upper end of the pair of columns 230 so as to be sandwiched between the pair of columns 230 of the support member 218. The first arm 220 includes a pair of arm plates 232 fixedly connected to each other at intervals. The first arm 220, with respect to the support member 218, and is rotatable in the vertical direction to the first rotation axis line L around ₁ perpendicular. The second arm 222 is supported at its base end by the distal end of the first arm 220 so as to be sandwiched between the pair of arm plates 232. The second arm 222 relative to the arm 220, and is rotatable on the second rotation axis L ₂ about parallel to the first rotation axis L _1. Wrist member 224, the distal end of the second arm 222, first rotation axis L _1, is rotatably supported by the third rotation axis L ₃ about parallel to the second rotation axis line L _2.

17, the work holder 226 mainly includes a clamp 236 including a pair of holding claws 234 for holding the work W. Since two pairs of gripping claws 234, that is, two clamps 236 are provided, a plurality of work holders 226, more specifically, two work holders 226 are provided. Since the two work holders 226 respectively hold the work W, the work transfer / detachment robot 210 can simultaneously hold a plurality of works W, specifically, two works W. Workholder 226, the wrist member 224, first rotation axis L _1, swinging the swinging axis L ₄ around extending parallel to a plane perpendicular to the second rotation axis line L ₂ and the third rotation axis L ₃ It is kept possible.

  The turning operation of each of the first arm 220, the second arm 222, and the wrist member 224 and the swinging operation of the work holder 226 are respectively performed by an actuator using a servo motor as a drive source. Is controlled by the robot control device described above.

  The work transfer / removal robot 210 employs the first arm 220 and the second arm 222 connected to each other, that is, the two arms that are serially linked, so that the degree of freedom of the posture of the main body 214 is high. Therefore, a work with a high degree of freedom can be attached and detached.

  15, the first arm 220 and the second arm 222 are in a folded state. In this state, the first arm 220, the second arm 222, the wrist member 224, the work holder 226, and the The work W held by the work holder 226 is configured to fit between a pair of columns 230 constituting the support member 218. Therefore, the work transfer / detachment robot 210 can hold the work W in a compact posture and transfer the work W between the centering processing module 12 and the vertical lathe module 14, thereby reducing the size of the machining system itself. Has contributed to

As described above, the position where the work to be processed by the vertical lathe module 14 is mounted is a position deviated rightward from the center of the module 14 in the left-right direction. On the other hand, in the centering processing module 12, the position where the work is mounted is the center position of the module 12 in the left-right direction. That is, the mounting positions of the workpieces in the modules 12 and 14 are different in the left-right direction. The difference of such mounting position, in the workpiece transfer-detachable robot 210, in a state in which to position the main body 214 to the front of each module 12, 14, swinging the work holder 226 about the oscillation axis L ₄ It is dealt with by letting. That is, since the work holder 226 is swingable, the work with extremely high degree of freedom can be attached and detached.

  Further, as described above, the work transfer / detach robot 210 has a plurality of work holders 226, and each of the work holders 226 can simultaneously hold a work. Therefore, detachment (unloading) of the work from one module and attachment (loading) of the work to that module can be performed continuously, and the time required for attachment and detachment can be shortened. is there.

  Further, since the main body 214, that is, the base 212 is rotatable around the rotation axis, the work transfer / removal robot 210 loads the work before processing into the machining system, It is possible to carry out the work after processing from the machine. More specifically, in a state where the main body 214 is located in front of the centering module 12, the work is carried in from the left side of the centering module 12 by causing the main body 214 to assume a leftward posture. In a state where the part 214 is located in front of the vertical lathe module 14, the main body part 214 has a rightward posture, so that the work can be carried out to the right side of the vertical lathe module 14. .

[E] Modification In the machining system of the above embodiment, two modules 12 and 14 are arranged on one base 10. For example, the base is enlarged or two or more bases 10 are mounted. By arranging one base side by side, three or more modules can be arranged. In that case, for example, it is also possible to arrange one or more vertical lathe modules 14.

  In the above embodiment, the centering processing module 12 and the vertical lathe module 14 are arranged. However, other processing modules such as a horizontal lathe module can be arranged. Furthermore, it is also possible to arrange not only a module for performing machining but also a module for processing performed before or after machining.

10: base 12: centering processing module [processing module] 14: vertical lathe module [processing module] 50: housing 54: column 56: spindle device 58: beam 60: turret 62: tailstock device 70: spindle 72: spindle case 100: knife 104: beam moving device
110: rotation center 112: tailstock 114: tailstock moving device 130: casing 132: holder 138: liquid chamber 140: auxiliary liquid chamber 146: plunger 148: compression coil spring 150: pressure applying mechanism 158: work transfer opening 160: Shutter 162: Upper shutter plate 164: Lower shutter plate
170: Upper shutter plate moving mechanism 190: Cover 192: Beam opening 194: Tailstock opening 196, 198: Frame 200, 202: Cover plate 210: Work transfer / removal robot 212: Base 216: Base moving device 218: support member 220: first arm 222: second arm 224: wrist member 226: work holder 230: support

Claims (4)

A plurality of processing modules arranged side by side in the left-right direction, and a work transfer / detachment robot for transferring the work in the left-right direction and mounting / detaching the work to / from each of the plurality of processing modules, A machining system in which machining by the plurality of machining modules is sequentially performed,
Wherein at at least one of the plurality of processing modules, is the Vertical lathe module, as another one of said plurality of processing modules, the Vertical lathe module in the conveying direction of the workpiece upstream of the work A centering module for centering is arranged on the upper end face,
The position where the work to be processed by the vertical lathe module is mounted is a position deviated to one side in the left-right direction from the center in the horizontal direction of the vertical lathe module, and the position where the work is mounted in the centering processing module. Is the center position of the centering module in the left-right direction,
The work transfer / detachment robot,
A base,
A support member that is supported by the base and has a pair of columns that extend in the vertical direction and stand up at an interval from each other;
A first arm having a base end supported at an upper end of the pair of columns so as to be sandwiched between the pair of columns, and a first arm rotatable around a first rotation axis perpendicular to the vertical direction;
A second arm whose base end is supported by the distal end of the first arm and is rotatable around a second rotation axis parallel to the first rotation axis;
A wrist member supported at the tip of the second arm and rotatable around a third rotation axis parallel to the first rotation axis and the second rotation axis;
The work is supported by the wrist member so as to be swingable about a swing axis extending parallel to a plane perpendicular to the first rotation axis, the second rotation axis, and the third rotation axis. A work holder for holding the workpiece in a posture in which a longitudinal direction of the workpiece extends parallel to a plane perpendicular to the first rotation axis, the second rotation axis, and the third rotation axis.
In a state where the first arm and the second arm are folded, the first arm, the second arm, the wrist member, the work holder, and the work held by the work holder are mounted on the pair of columns. While being configured to fit in,
By swinging the work holder about the swing axis, the work transfer / detachment robot can attach / detach a work to / from each of the vertical lathe module and the centering processing module in a state where the robot is positioned in front of each of the vertical lathe module and the centering processing module. Machining system. 2. The machining system according to claim 1, wherein the work transfer / detachment robot includes a plurality of work holders each serving as the work holder, and the plurality of work holders can simultaneously hold a plurality of works. 3. The work transfer / detachment robot,
3. The machining system according to claim 1 , wherein the support member is supported by the base so as to be rotatable about a rotation axis extending in a vertical direction. 4. 4. The machining system according to claim 1, wherein the workpiece transfer / detachment robot includes a base moving device configured to move the base in a left-right direction. 5.

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