WO2014188600A1 - ワーク加工システム - Google Patents
ワーク加工システム Download PDFInfo
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- WO2014188600A1 WO2014188600A1 PCT/JP2013/064528 JP2013064528W WO2014188600A1 WO 2014188600 A1 WO2014188600 A1 WO 2014188600A1 JP 2013064528 W JP2013064528 W JP 2013064528W WO 2014188600 A1 WO2014188600 A1 WO 2014188600A1
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- workpiece
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- stocker
- workpieces
- machining
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- 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
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/10—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of magazines
-
- 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
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50171—Machine, machining centre, center
Definitions
- the present invention relates to a workpiece machining system that performs predetermined machining on a workpiece.
- Patent Document 1 discloses a laser processing apparatus. As shown in [FIG. 1] of the document, the workpieces are conveyed in the order of carry-in stocker ⁇ laser processing machine ⁇ carry-out stocker.
- Patent Document 2 discloses a sample polishing apparatus. As shown in FIG. 2 of the same document, samples are conveyed in the order of supply side stocker ⁇ two polishing machines ⁇ recovery side stocker. As described above, Patent Documents 1 and 2 disclose an apparatus in which a workpiece (sample) is conveyed in one way during processing.
- the workpiece is transported in one way. That is, the unprocessed workpiece is supplied from the supply stocker to the machining center via the workpiece transfer robot. On the other hand, the processed workpiece is discharged from the machining center to the discharge stocker via the workpiece transfer robot. In this way, the workpiece is transferred by the workpiece transfer robot in the order of supply stocker ⁇ machining center ⁇ discharge stocker.
- JP 2012-232313 A Japanese Patent Laid-Open No. 10-217116
- an object of the present invention is to provide a workpiece machining system capable of increasing the number of sets of unmachined workpieces.
- a workpiece machining system is arranged at least one machine tool for performing predetermined machining on a workpiece and a position sandwiching the machine tool, and before machining the workpiece, And a plurality of work stockers that hold the unprocessed work, and a work transfer device that can transfer the work between the work stocker and the machine tool.
- a plurality of workpiece stockers can be used for supplying unmachined workpieces. For this reason, the number of sets of unprocessed workpieces can be increased as compared with a case where an unprocessed workpiece is fully set in a single workpiece stocker. Therefore, the number of workpieces produced (the number of machining) can be increased as compared with the case where only a single workpiece stocker is used for supplying unmachined workpieces. Therefore, the productivity of the workpiece is unlikely to decrease.
- the plurality of workpiece stockers are preferably configured to hold the processed workpieces after processing the workpieces.
- a plurality of workpiece stockers can be used for discharging processed workpieces.
- the number of processed workpiece sets can be increased. Therefore, it is possible to increase the number of workpieces produced (the number of machining) as compared with the case where only a single workpiece stocker is used for discharging a machined workpiece. Therefore, the productivity of the workpiece is unlikely to decrease.
- the work stocker has a plurality of work placement units, and the work placement unit is capable of placing at least one work, It is better to have a configuration in which the workpiece is not arranged in at least one of the workpiece placement portions before the workpiece is processed.
- work can be transferred from the workpiece
- the mode can be switched between the normal mode and the automatic mode, and a plurality of the workpieces are processed before the workpiece is processed in the normal mode.
- the work stocker on one side with respect to the machine tool holds the unprocessed work
- the work stocker on the other direction side with respect to the machine tool holds the unprocessed work.
- the plurality of workpiece stockers are preferably configured to hold the workpiece that has not been machined.
- normal mode refers to a mode that is executed, for example, during a manned operation in which an unprocessed workpiece can be replenished.
- the normal mode is executed, for example, during a worker's working hours or working hours.
- the “automatic mode” refers to a mode that is executed, for example, during unmanned operation where an unprocessed workpiece cannot be replenished.
- the automatic mode is executed, for example, outside the worker's working hours or during breaks.
- the workpiece in the normal mode, the workpiece can be conveyed in one-way in the order of the upstream work stocker ⁇ the machine tool ⁇ the downstream work stocker.
- the conveyance direction of the workpiece is not limited.
- a plurality of workpiece stockers can be used for supplying unprocessed workpieces. Therefore, the number of sets of unprocessed workpieces can be increased as compared to a case where an unprocessed workpiece is fully set in a single workpiece stocker. That is, the number of workpieces produced (the number of machining) can be increased as compared with the case where only a single workpiece stocker is used for supplying unmachined workpieces in the automatic mode. Therefore, the productivity of the workpiece in the automatic mode is unlikely to decrease.
- FIG. 1 is a perspective view of a workpiece machining system according to an embodiment of the workpiece machining system of the present invention.
- FIG. 2 is a front view of the workpiece machining system.
- FIG. 3 is a top view of the workpiece machining system.
- FIG. 4 is a block diagram of the workpiece machining system.
- FIG. 5 is a front view of the first stage of the normal mode of the workpiece machining system.
- FIG. 6 is a front view of the second stage of the normal mode.
- FIG. 7 is a front view of the third stage of the normal mode.
- FIG. 8 is a front view of the fourth stage of the normal mode.
- FIG. 9 is a front view of the fifth stage of the normal mode.
- FIG. 10 is a front view of the sixth stage of the normal mode.
- FIG. 11 is a front view of the sixth stage of the automatic mode of the workpiece machining system.
- FIG. 12 is a schematic diagram of machining in the automatic mode of the workpiece
- 1 Work processing system. 2: workpiece transfer device, 20: transfer robot, 200: travel axis slide, 201: Y-axis telescopic arm, 202: robot arm, 203: robot chuck, 204: main body, 21: robot platform, 22: support, 24: Robot arm vertical axis motor 25: Robot traveling motor 26: Robot chuck turning motor 3: machining center (machine tool), 30: bed, 31: spindle stock, 310: X-axis lower slide, 311: X-axis slide, 312: main body, 313: spindle chuck, 314: X-axis motor, 315: rotary motor, 32: Tool axis side slide, 320: Z axis lower slide, 321: Z axis slide, 322: Column, 323: Y axis lower slide, 324: Y axis slide, 325: Y axis motor, 326: Z axis motor, 327 : Tool axis, 33: control device, 330: computer,
- FIG. 1 the perspective view of the workpiece processing system of this embodiment is shown.
- FIG. 2 shows a front view of the workpiece machining system.
- FIG. 3 shows a top view of the workpiece machining system.
- FIG. 4 shows a block diagram of the workpiece machining system.
- the workpiece machining system 1 of the present embodiment includes a workpiece transfer device 2, a machining center 3, and two workpiece stockers 4L and 4R.
- the machining center 3 is included in the concept of the “machine tool” of the present invention.
- the machining center 3 includes a bed 30, a head stock 31, a tool shaft side slide 32, and a control device 33.
- the bed 30 is arranged on the floor of the factory.
- the headstock 31 is disposed on the left portion of the upper surface of the bed 30.
- the head stock 31 includes an X-axis (front-rear direction) lower slide 310, an X-axis slide 311, a main body 312, a main shaft chuck 313, an X-axis motor 314, and a rotation motor 315.
- the X-axis lower slide 310 is disposed on the upper surface of the bed 30.
- the X-axis lower slide 310 extends in the front-rear direction.
- the X-axis slide 311 is attached to the X-axis lower slide 310 so as to be movable in the front-rear direction.
- the X-axis motor 314 drives the X-axis slide 311.
- the main body 312 is attached to the X-axis slide 311.
- the spindle chuck 313 is a so-called three-claw chuck.
- the configuration of the three-jaw chuck is disclosed in Japanese Patent Application Laid-Open No. 11-300568 and Japanese Utility Model Publication No. 4-32197.
- the spindle chuck 313 is fixed to a workpiece holding shaft (not shown).
- the work holding shaft extends in the left-right direction (Z-axis direction).
- the rotation motor 315 rotates the workpiece holding shaft around the axis.
- the spindle chuck 313 can grip and release the cylindrical workpiece W by three claw members (not shown).
- the processing angle of the workpiece W for example, 30 °, 45 °, etc.
- the tool shaft side slide 32 is disposed on the right portion of the upper surface of the bed 30.
- the tool axis side slide 32 includes a Z axis lower slide 320, a Z axis slide 321, a column 322, a Y axis (vertical direction) lower slide 323, a Y axis slide 324, a Y axis motor 325, and a Z axis motor. 326 and a tool shaft 327.
- the Z-axis lower slide 320 is disposed on the upper surface of the bed 30.
- the Z-axis lower slide 320 extends in the left-right direction.
- the Z-axis slide 321 is attached to the Z-axis lower slide 320 so as to be movable in the left-right direction.
- the Z axis motor 326 drives the Z axis slide 321.
- the column 322 is attached to the Z-axis slide 321.
- the Y-axis lower slide 323 is disposed on the left surface of the column 322.
- the Y-axis lower slide 323 extends in the up-down direction.
- the Y-axis slide 324 is attached to the Y-axis lower slide 323 so as to be movable in the vertical direction.
- the Y axis motor 325 drives the Y axis slide 324.
- a tool T is attached to the tool shaft 327 so as to be replaceable.
- the control device 33 includes a computer 330 and a plurality of drive circuits.
- the computer 330 includes an input / output interface 330a, a calculation unit 330b, and a storage unit 330c.
- the input / output interface 330a is connected to the X-axis motor 314, the rotation motor 315, the Y-axis motor 325, the Z-axis motor 326 of the tool axis side slide 32, and the robot arm of the work transfer device 2 described later via a drive circuit. It is connected to a vertical axis motor 24, a robot traveling motor 25, a robot chuck turning motor 26, cylinders 460 of two work stockers 4L and 4R described later, and a moving motor 472. Further, the input / output interface 330 a is connected to the input device 34.
- the workpiece transfer device 2 is a so-called gantry loader.
- the workpiece transfer device 2 includes a transfer robot 20, a robot carriage 21, a pair of support posts 22, a robot arm vertical axis motor 24, a robot running motor 25, and a robot chuck turning motor 26. .
- the left column 22 is fixed to the left surface of the bed 30.
- the left column 22 extends in the vertical direction.
- the right column 22 is fixed to the right surface of the bed 30.
- the right column 22 extends in the vertical direction.
- the robot carriage 21 is installed between the upper ends of a pair of left and right columns 22.
- the robot carriage 21 extends in the left-right direction.
- the transfer robot 20 includes a travel axis slide 200, a Y-axis telescopic arm 201, a robot arm 202, a pair of robot chucks 203, and a main body 204.
- the travel axis slide 200 is attached to the robot platform 21 so as to be movable in the left-right direction.
- the robot travel motor 25 drives the travel axis slide 200.
- the main body 204 is fixed to the traveling shaft slide 200.
- the Y-axis telescopic arm 201 can be expanded and contracted downward with respect to the main body 204.
- the robot arm vertical axis motor 24 drives the Y-axis telescopic arm 201.
- the robot arm 202 protrudes backward from the lower end of the Y-axis telescopic arm 201.
- the robot arm 202 can rotate around an axis.
- the robot for turning the chuck chuck 26 drives the robot arm 202.
- the pair of robot chucks 203 are attached to the rear end of the robot arm 202. Both of the pair of robot chucks 203 are so-called three-jaw chucks.
- the work stocker 4L is arranged on the left side of the machining center 3.
- the work stocker 4R is disposed on the right side of the machining center 3.
- the configuration of the work stocker 4L and the configuration of the work stocker 4R are the same.
- the arrangement of the work stocker 4L and the arrangement of the work stocker 4R are symmetrical.
- the work stocker 4L includes a traveling platform 40, a total of ten work placement portions B1 to B10, an elevating device 46, and a moving device 47.
- the moving device 47 includes a pair of front and rear sprockets 470, a chain 471, and a moving motor 472.
- the pair of front and rear sprockets 470 are disposed on the upper surface of the traveling platform 40.
- the chain 471 is stretched between a pair of front and rear sprockets 470.
- the moving motor 472 drives one sprocket 470.
- the lifting device 46 includes a cylinder 460, a guided member 461, a guide rail 462, a connecting member 463, and a fork 464.
- the guide rail 462 is disposed on the front surface of the traveling platform 40.
- the guide rail 462 extends in the vertical direction.
- the guided member 461 is attached to the guide rail 462 so as to be movable in the vertical direction.
- the rod of the cylinder 460 is attached to one end of the guided member 461.
- a fork 464 is attached to the other end of the guided member 461 via a connecting member 463.
- the work placement portions B1 to B10 are attached to the chain 471 of the moving device 47 at a predetermined interval. By driving the moving motor 472, the workpiece placement portions B1 to B10 can be moved along the elliptical track L shown in FIG. In each of the work placement portions B1 to B10, the work W can be stacked up and down in a maximum of three stages.
- the traveling platform 40 is assigned positions A1 to A10.
- the workpiece placement parts B1 to B10 move stepwise by a pitch corresponding to the interval between the adjacent positions A1 to A10.
- the unprocessed workpiece W is carried out to the machining center 3 from the uppermost position at the position A1.
- the processed workpiece W is carried into the workpiece stocker 4L from the uppermost position at the position A1.
- the configuration of the work placement units B1 to B10 is the same.
- the work placement unit B ⁇ b> 1 includes a substrate 41, a lifting plate 42, and three shafts 43.
- the substrate 41 is fixed to the chain 471.
- Three casters (not shown) are arranged on the lower surface of the substrate 41.
- the substrate 41 can travel along the track L on the upper surface of the traveling platform 40.
- the three shafts 43 protrude from the upper surface of the substrate 41.
- the lifting plate 42 is disposed on the upper side of the substrate 41. At the position A1, the elevating plate 42 is movable in the vertical direction by the fork 464 of the elevating device 46.
- the three shafts 43 penetrate the lifting plate 42.
- the workpiece W is stacked on the upper side of the lifting plate 42.
- the three shafts 43 hold the workpiece W from the outside in the radial direction. Depending on the outer diameter of the workpiece W, the radial positions of the three shafts 43 can be adjusted.
- FIG. 5 shows a front view of the first stage of the normal mode of the workpiece machining system of the present embodiment.
- FIG. 6 shows a front view of the second stage of the normal mode.
- FIG. 7 shows a front view of the third stage of the normal mode.
- FIG. 8 shows a front view of the fourth stage of the normal mode.
- FIG. 9 shows a front view of the fifth stage of the normal mode.
- FIG. 10 shows a front view of the sixth stage of the normal mode.
- the processed workpieces W1 to W3 are hatched.
- the workpieces W1 to W3 are transported in the order of the left work stocker 4L ⁇ the machining center 3 ⁇ the right work stocker 4R. That is, before machining the workpieces W1 to W3, the left workpiece stocker 4L is packed with unmachined workpieces W1 to W3. On the other hand, the workpiece stocker 4R on the right side is empty before the workpieces W1 to W3 are processed.
- the worker gives an instruction to execute the normal mode to the control device 33 via the input device 34 shown in FIG.
- the control device 33 appropriately drives the robot traveling motor 25, the robot arm vertical axis motor 24, and the robot chuck turning motor 26 of the workpiece transfer device 2.
- the robot chuck 203 is moved to a position just above the position A1 of the left work stocker 4L (that is, the work placement section B1).
- the control device 33 uses the robot chuck 203 to grip the uppermost unprocessed workpiece W1 of the workpiece placement unit B1.
- control device 33 appropriately drives the robot traveling motor 25, the robot arm vertical axis motor 24, and the robot chuck turning motor 26 of the work transfer device 2. Then, as shown by arrows Y 1 to Y 3 in FIG. 6, the unprocessed workpiece W 1 is transferred from the robot chuck 203 to the spindle chuck 313.
- control device 33 appropriately drives the X-axis motor 314, the rotation motor 315 of the headstock 31, the Y-axis motor 325 of the tool shaft side slide 32, and the Z-axis motor 326. Then, as shown in FIG. 7, the tool T is used to perform a predetermined process on the unprocessed workpiece W1.
- the control device 33 In parallel with the processing of the workpiece W1, the control device 33 appropriately drives the robot traveling motor 25, the robot arm vertical axis motor 24, and the robot chuck turning motor 26 of the workpiece conveying device 2. Then, as indicated by arrows Y4 to Y6 in FIG. 7, the robot chuck 203 is moved to a position just above the position A1 of the left work stocker 4L (that is, the work placement portion B1). The control device 33 drives the cylinder 460 of the lifting device 46 of the left work stocker 4L. Then, as shown by an arrow Y7 in FIG. 7, the unprocessed workpiece W2 of the workpiece placement unit B1 is lifted to a predetermined height. The control device 33 grips the unprocessed workpiece W2 by the robot chuck 203.
- the control device 33 appropriately drives the robot travel motor 25, the robot arm vertical axis motor 24, and the robot chuck turning motor 26 of the work transfer device 2. Then, as shown by arrows Y8 to Y10 in FIG. 8, the processed workpiece W1 is transferred from the spindle chuck 313 to the robot chuck 203 (the robot chuck 203 that does not hold the workpiece W2). Subsequently, the control device 33 appropriately drives the robot for rotating the chuck chuck 26 and the robot traveling motor 25. Then, as shown in FIG. 9, the unprocessed workpiece W ⁇ b> 2 is transferred from the robot chuck 203 to the spindle chuck 313.
- control device 33 appropriately drives the X-axis motor 314, the rotation motor 315 of the headstock 31, the Y-axis motor 325 of the tool shaft side slide 32, and the Z-axis motor 326. Then, as shown in FIG. 10, the tool T is used to perform a predetermined process on the unprocessed workpiece W2.
- the control device 33 In parallel with the processing of the workpiece W2, the control device 33 appropriately drives the robot traveling motor 25, the robot arm vertical axis motor 24, and the robot chuck turning motor 26 of the workpiece conveying device 2. Then, as indicated by arrows Y11 to Y13 in FIG. 10, the robot chuck 203 is moved to a position just above the position A1 (that is, the work placement portion B1) of the right work stocker 4R. The control device 33 drives the cylinder 460 of the lifting device 46 of the right work stocker 4R. Then, as shown by an arrow Y14 in FIG. 10, the lifting plate 42 of the workpiece placement unit B1 is lifted to a predetermined altitude.
- the control device 33 places the processed workpiece W ⁇ b> 1 on the upper surface of the lifting plate 42 by the robot chuck 203. Then, as shown in FIG. 7, the control device 33 uses the workpiece transfer device 2 to pick up the unprocessed workpiece W3 of the workpiece placement unit B1 up to the position A1 of the left workpiece stocker 4L.
- the workpieces W1 to W3 are transported in the order of the left work stocker 4L ⁇ the machining center 3 ⁇ the right work stocker 4R.
- workpiece placement sections B1 to B10 full of workpieces are sequentially arranged at a position A1 (supply position) of the left workpiece stocker 4L.
- empty work placement portions B1 to B10 are sequentially arranged at a position A1 (discharge position) of the right work stocker 4R.
- FIG. 11 shows a front view of the sixth stage of the automatic mode of the workpiece machining system of the present embodiment. That is, FIG. 11 corresponds to FIG. In FIG. 11, the processed workpieces W1 to W3 are hatched.
- the automatic mode is executed, for example, when the worker leaves the workpiece machining system 1.
- the automatic mode first, the workpieces W1 to W3 are conveyed in the order of the left work stocker 4L ⁇ the machining center 3 ⁇ the left work stocker 4L again. Subsequently, the workpieces W1 to W3 are conveyed in the order of the right work stocker 4R ⁇ the machining center 3 ⁇ the right work stocker 4R again.
- unprocessed workpieces W1 to W3 are arranged on the left and right workpiece stockers 4L and 4R. Specifically, as shown in FIGS. 1 to 3, unfinished workpieces W1 to W3 are provided in workpiece placement portions B1 to B9 arranged at positions A1 to A9 in both the left and right workpiece stockers 4L and 4R. Is packed. On the other hand, the work placement unit B10 placed at the position A10 is empty.
- control device 33 carries the unprocessed workpiece W1 from the left workpiece stocker 4L to the machining center 3, as shown in FIGS. Further, the machining center 3 processes the unprocessed workpiece W1. Further, the unprocessed workpiece W2 is carried from the left workpiece stocker 4L to the machining center 3.
- the destination of the processed workpiece W1 is different between the normal mode and the automatic mode. That is, in the normal mode, as shown in FIG. 10, the processed workpiece W1 is carried out from the machining center 3 to the right-side workpiece stocker 4R. On the other hand, in the automatic mode, as shown in FIG. 11, the processed workpiece W1 is carried out from the machining center 3 to the left workpiece stocker 4L.
- the control device 33 appropriately drives the robot traveling motor 25, the robot arm vertical axis motor 24, and the robot chuck turning motor 26 of the workpiece transfer device 2 in parallel with the processing of the workpiece W2. Then, as indicated by arrows Y15 to Y17 in FIG. 11, the robot chuck 203 is moved to a position just above the position A1 of the left work stocker 4L.
- the control device 33 drives the moving motor 472 of the moving device 47 of the left work stocker 4L. Then, the empty work placement portion B10 shown in FIG. 3 is moved by one pitch from the position A10 to the position A1. At this time, the unprocessed workpiece W3 remains in the workpiece placement portion B1. As the work placement unit B10 moves, the work placement unit B1 moves from position A1 to position A2.
- control device 33 drives the cylinder 460 of the lifting device 46 of the left work stocker 4L. And as shown by the arrow 18 in FIG. 11, the raising / lowering board 42 of the workpiece
- the control device 33 places the processed workpiece W ⁇ b> 1 on the upper surface of the lifting plate 42 by the robot chuck 203.
- the control device 33 drives the moving motor 472 of the moving device 47 of the left work stocker 4L again. Then, the workpiece placement section B1 (with the unprocessed workpiece W3 mounted) shown in FIG. 3 is moved back from the position A2 to the position A1. Along with the backward movement of the workpiece placement portion B1, the workpiece placement portion B10 (with the processed workpiece W1 mounted) moves backward from the position A1 to the position A10. Thereafter, as shown in FIG. 7, the control device 33 uses the workpiece transfer device 2 to pick up the unprocessed workpiece W3 in the workpiece placement section B1 up to the position A1 of the left workpiece stocker 4L.
- the workpieces W1 to W3 are transported in the order of the left workpiece stocker 4L ⁇ the machining center 3 ⁇ the left workpiece stocker 4L.
- the workpieces W1 to W3 are transported in the order of the right workpiece stocker 4R ⁇ the machining center 3 ⁇ the right workpiece stocker 4R.
- FIG. 12 shows a schematic diagram of machining in the automatic mode of the workpiece machining system of the present embodiment.
- FIG. 12 shows only the work stocker 4L on the left side.
- the work placement portions B1 to B10 on which the processed work is mounted are hatched. Further, “ ⁇ ” is given to the empty work placement portions B1 to B10.
- the automatic mode proceeds from the upper side to the lower side in FIG.
- the positional relationship between the positions A1 to A10 and the work placement parts B1 to B10 shifts by one pitch. That is, the work placement portions B1 to B10 are sequentially arranged at the position A1 having the supply / discharge positions of the works W1 to W3. On the other hand, empty work placement portions B1 to B10 are sequentially placed at a position A10 adjacent to the position A1.
- the workpieces W1 to W3 of the right workpiece stocker 4R are processed in the same manner as the workpieces W1 to W3 of the left workpiece stocker 4L.
- the two workpiece stockers 4L and 4R can each be used for supplying an unmachined workpiece W.
- work W can be increased. Therefore, compared with the case where only the single workpiece stocker 4L is used for supplying the unmachined workpiece W, the number of workpieces W (the number of machining) in the automatic mode can be increased. Therefore, it is possible to perform unmanned operation for a long time, and as a result, the productivity of the workpiece W can be improved.
- the automatic mode is executed when the worker leaves the workpiece machining system 1. After completion of the automatic mode, when the time until the worker returns and starts the normal mode is long (that is, when the time until the unprocessed workpiece W is replenished is long), the downtime of the workpiece machining system 1 becomes long. End up.
- the number of workpieces W produced in the automatic mode can be increased. For this reason, the downtime accompanying a worker's absence can be shortened.
- the workpieces that have been machined are accommodated in the workpiece placement units B1 to B10 according to a predetermined rule. For this reason, it is easy to confirm from which work placement unit B1 to B10 to which work placement unit B1 to B10 an arbitrary work has moved along with the machining. That is, it is easy to trace the workpiece.
- the two workpiece stockers 4L and 4R can each be used for discharging the machined workpiece W.
- the set number of processed workpieces W can be increased. Accordingly, the number of workpieces W produced (the number of workpieces) can be increased as compared with the case where only the single workpiece stocker 4R is used for discharging the workpieces W that have been processed. Therefore, the productivity of the workpiece W is unlikely to decrease.
- the workpiece W is processed into a workpiece placement portion (for example, the workpiece placement portion B1) where an unprocessed workpiece is placed as the workpiece W is processed. ) To an empty work placement part (for example, work placement part B10).
- a workpiece placement portion for example, the workpiece placement portion B1
- an empty work placement part for example, work placement part B10
- the position A1 having the supply / discharge position of the workpiece W, and the positions where the empty workpiece arrangement portions B1 to B10 are arranged. A10 is set side by side. For this reason, the movement of the workpiece placement portions B1 to B10 accompanying the supply and discharge of the workpiece W is only one pitch. Accordingly, it is possible to shorten the downtime accompanying the movement of the work placement portions B1 to B10.
- the direction and processing order of the workpiece W in the automatic mode are not particularly limited.
- all the workpieces W in the right workpiece stocker 4R are machined after the machining of all the workpieces W in the left workpiece stocker 4L shown in FIG.
- the workpiece W may be processed in the reverse order.
- a part (for example, 12 out of 27) of workpieces W on the left work stocker 4L is processed, and then a part of the right side work stocker 4R (for example, 12 out of 27) is processed. Machining of the workpiece W is performed, then the remaining portion of the left workpiece stocker 4L (for example, 15 out of 27 workpieces) is processed, and finally the remaining portion of the right workpiece stocker 4R (for example, of 27 workpieces) 15 workpieces W may be processed.
- a part of the workpiece W (for example, the inner peripheral surface) of the left work stocker 4L is processed, and then a part of the workpiece W (for example, the inner peripheral surface) of the right workpiece stocker 4R is processed. Subsequently, the remaining portion (for example, the outer peripheral surface) of the workpiece W of the left work stocker 4L may be processed, and finally the remaining portion (for example, the outer peripheral surface) of the workpiece W of the right work stocker 4R may be processed.
- the unprocessed workpiece W of the left work stocker 4L may be moved to the right work stocker 4R after machining. Further, the unprocessed workpiece W of the right workpiece stocker 4R may be moved to the left workpiece stocker 4L after machining. In this case, if empty work placement portions B1 to B10 are provided only in one of the two work stockers 4L and 4R, more unprocessed work pieces are prepared. be able to.
- the position of the empty work placement portion B10 shown in FIG. 3 may be set to positions A1 to A9 other than the position A10. Further, a plurality of empty work placement portions B10 may be set.
- no workpiece is arranged in the empty workpiece arrangement unit B10 at the start of the automatic mode.
- the workpiece placement units B1 to B10 of all the workpiece stockers 4L and 4R have a A full set of raw workpieces may be set. That is, the total number of unprocessed workpieces set in the workpiece stockers 4L and 4R at the start of the automatic mode (before workpiece processing) is not particularly limited.
- the gantry loader is used as the work transfer device 2, but another type of loader may be used.
- the configuration of the transfer robot 20 is not particularly limited. Instead of the Y-axis telescopic arm 201 shown in FIG. 1, a swing arm that swings in the front-rear direction may be arranged.
- the type of machine tool is not particularly limited. Instead of the machining center 3, a lathe, drilling machine, milling machine, turning center or the like may be arranged.
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Abstract
Description
2:ワーク搬送装置、20:搬送ロボット、200:走行軸スライド、201:Y軸伸縮アーム、202:ロボットアーム、203:ロボットチャック、204:本体、21:ロボット走行台、22:支柱、24:ロボットアーム上下軸モータ、25:ロボット走行用モータ、26:ロボットチャック旋回用モータ。
3:マシニングセンタ(工作機械)、30:ベッド、31:主軸台、310:X軸下スライド、311:X軸スライド、312:本体、313:主軸チャック、314:X軸モータ、315:回転モータ、32:工具軸側スライド、320:Z軸下スライド、321:Z軸スライド、322:コラム、323:Y軸下スライド、324:Y軸スライド、325:Y軸モータ、326:Z軸モータ、327:工具軸、33:制御装置、330:コンピュータ、330a:入出力インターフェイス、330b:演算部、330c:記憶部、34:入力装置。
4L:ワークストッカ、4R:ワークストッカ、40:走行台、41:基板、42:昇降板、43:シャフト、46:昇降装置、460:シリンダ、461:被ガイド部材、462:ガイドレール、463:連結部材、464:フォーク、47:移動装置、470:スプロケット、471:チェーン、472:移動用モータ。
A1~A10:位置、B1~B10:ワーク配置部、L:軌道、T:工具、W:ワーク、W1~W3:ワーク。
まず、本実施形態のワーク加工システムの構成について説明する。図1に、本実施形態のワーク加工システムの斜視図を示す。図2に、同ワーク加工システムの前面図を示す。図3に、同ワーク加工システムの上面図を示す。図4に、同ワーク加工システムのブロック図を示す。図1~図4に示すように、本実施形態のワーク加工システム1は、ワーク搬送装置2と、マシニングセンタ3と、2台のワークストッカ4L、4Rと、を備えている。マシニングセンタ3は、本発明の「工作機械」の概念に含まれる。
マシニングセンタ3は、ベッド30と、主軸台31と、工具軸側スライド32と、制御装置33と、を備えている。
ベッド30は、工場の床面に配置されている。主軸台31は、ベッド30の上面の左部分に配置されている。主軸台31は、X軸(前後方向)下スライド310と、X軸スライド311と、本体312と、主軸チャック313と、X軸モータ314と、回転モータ315と、を備えている。
工具軸側スライド32は、ベッド30の上面の右部分に配置されている。工具軸側スライド32は、Z軸下スライド320と、Z軸スライド321と、コラム322と、Y軸(上下方向)下スライド323と、Y軸スライド324と、Y軸モータ325と、Z軸モータ326と、工具軸327と、を備えている。
制御装置33は、コンピュータ330と、複数の駆動回路と、を備えている。コンピュータ330は、入出力インターフェイス330aと、演算部330bと、記憶部330cと、を備えている。入出力インターフェイス330aは、駆動回路を介して、主軸台31のX軸モータ314、回転モータ315、工具軸側スライド32のY軸モータ325、Z軸モータ326、後述するワーク搬送装置2のロボットアーム上下軸モータ24、ロボット走行用モータ25、ロボットチャック旋回用モータ26、後述する2台のワークストッカ4L、4Rのシリンダ460、移動用モータ472に接続されている。また、入出力インターフェイス330aは、入力装置34に接続されている。
ワーク搬送装置2は、いわゆるガントリローダである。ワーク搬送装置2は、搬送ロボット20と、ロボット走行台21と、一対の支柱22と、ロボットアーム上下軸モータ24と、ロボット走行用モータ25と、ロボットチャック旋回用モータ26と、を備えている。
左右一対の支柱22のうち、左側の支柱22はベッド30の左面に固定されている。左側の支柱22は、上下方向に延在している。右側の支柱22はベッド30の右面に固定されている。右側の支柱22は、上下方向に延在している。ロボット走行台21は、左右一対の支柱22上端間に架設されている。ロボット走行台21は、左右方向に延在している。
搬送ロボット20は、走行軸スライド200と、Y軸伸縮アーム201と、ロボットアーム202と、一対のロボットチャック203と、本体204と、を備えている。走行軸スライド200は、ロボット走行台21に、左右方向に移動可能に取り付けられている。ロボット走行用モータ25は、走行軸スライド200を駆動する。本体204は、走行軸スライド200に固定されている。Y軸伸縮アーム201は、本体204に対して、下方に伸縮可能である。ロボットアーム上下軸モータ24は、Y軸伸縮アーム201を駆動する。ロボットアーム202は、Y軸伸縮アーム201の下端から、後方に突出している。ロボットアーム202は、軸周りに回転可能である。ロボットチャック旋回用モータ26は、ロボットアーム202を駆動する。一対のロボットチャック203は、ロボットアーム202の後端に取り付けられている。一対のロボットチャック203は、共に、いわゆる三つ爪チャックである。
次に、ワークストッカ4L、4Rの構成について説明する。ワークストッカ4Lは、マシニングセンタ3の左側に配置されている。ワークストッカ4Rは、マシニングセンタ3の右側に配置されている。
移動装置47は、前後一対のスプロケット470と、チェーン471と、移動用モータ472と、を備えている。前後一対のスプロケット470は、走行台40の上面に配置されている。チェーン471は、前後一対のスプロケット470間に張設されている。移動用モータ472は、片方のスプロケット470を駆動している。
昇降装置46は、シリンダ460と、被ガイド部材461と、ガイドレール462と、連結部材463と、フォーク464と、を備えている。ガイドレール462は、走行台40の前面に配置されている。ガイドレール462は、上下方向に延在している。被ガイド部材461は、ガイドレール462に、上下方向に移動可能に取り付けられている。シリンダ460のロッドは、被ガイド部材461の一端に取り付けられている。一方、被ガイド部材461の他端には、連結部材463を介して、フォーク464が取り付けられている。シリンダ460を駆動することにより、フォーク464を上下方向に移動させることができる。
ワーク配置部B1~B10は、移動装置47のチェーン471に、所定間隔ずつ離間して、取り付けられている。移動用モータ472を駆動することにより、図3に示す長円状の軌道Lに沿って、ワーク配置部B1~B10を移動させることができる。ワーク配置部B1~B10には、各々、最大3段、上下方向にワークWを積み重ねることができる。走行台40には、位置A1~A10が割り当てられている。ワーク配置部B1~B10は、隣り合う位置A1~A10間の間隔に対応するピッチずつ、段階的に移動する。図2、図3にハッチングで示すように、位置A1の最上段(下から数えて3段目)は、ワークWの供給-排出位置である。後述する自動モードにおいて、未加工のワークWは、位置A1の最上段から、マシニングセンタ3に搬出される。一方、加工済みのワークWは、位置A1の最上段から、ワークストッカ4Lに搬入される。
次に、本実施形態のワーク加工システムの通常モードの動きについて説明する。図5に、本実施形態のワーク加工システムの通常モード第一段階の前面図を示す。図6に、同通常モード第二段階の前面図を示す。図7に、同通常モード第三段階の前面図を示す。図8に、同通常モード第四段階の前面図を示す。図9に、同通常モード第五段階の前面図を示す。図10に、同通常モード第六段階の前面図を示す。なお、図5~図10においては、加工済みのワークW1~W3にハッチングを施す。
次に、本実施形態のワーク加工システムの自動モードの動きについて説明する。図11に、本実施形態のワーク加工システムの自動モード第六段階の前面図を示す。すなわち、図11は、図10に対応している。なお、図11においては、加工済みのワークW1~W3にハッチングを施す。
次に、本実施形態のワーク加工システムの作用効果について説明する。本実施形態のワーク加工システム1によると、図3に示すように、自動モードにおいて、2台のワークストッカ4L、4Rを、各々、未加工のワークW供給用として用いることができる。このため、単一のワークストッカ4Lに未加工のワークWをフルセットした場合と比較して、未加工のワークWのセット数を増加させることができる。したがって、単一のワークストッカ4Lだけを未加工ワークW供給用として用いる場合と比較して、自動モードにおけるワークWの生産数(加工数)を増加させることができる。よって、長時間の無人運転が可能になり、延いてはワークWの生産性を向上させることができる。
以上、本発明のワーク加工システムの実施の形態について説明した。しかしながら、実施の形態は上記形態に特に限定されるものではない。当業者が行いうる種々の変形的形態、改良的形態で実施することも可能である。
Claims (4)
- ワークに所定の加工を施す少なくとも一つの工作機械と、
該工作機械を挟む位置に配置され、該ワークの加工前において、各々、未加工の該ワークを保有する複数のワークストッカと、
該ワークストッカと該工作機械との間で該ワークを搬送可能なワーク搬送装置と、
を備えるワーク加工システム。 - 複数の前記ワークストッカは、前記ワークの加工後において、各々、加工済みの該ワークを保有する請求項1に記載のワーク加工システム。
- 前記ワークストッカは、複数のワーク配置部を有し、
該ワーク配置部は、少なくとも一つの前記ワークを配置可能であり、
該ワークの加工前において、少なくとも一つの該ワーク配置部には、該ワークが配置されていない請求項1または請求項2に記載のワーク加工システム。 - 通常モードと、自動モードと、に切り替え可能であり、
該通常モードの前記ワークの加工前において、複数の前記ワークストッカのうち、前記工作機械に対して一方向側の該ワークストッカは、未加工の該ワークを保有し、該工作機械に対して他方向側の該ワークストッカは、未加工の該ワークを保有せず、
該自動モードの該ワークの加工前において、複数の該ワークストッカは、各々、未加工の該ワークを保有する請求項1ないし請求項3のいずれかに記載のワーク加工システム。
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