WO2018037527A1 - Appareil de machine-outil - Google Patents

Appareil de machine-outil Download PDF

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Publication number
WO2018037527A1
WO2018037527A1 PCT/JP2016/074796 JP2016074796W WO2018037527A1 WO 2018037527 A1 WO2018037527 A1 WO 2018037527A1 JP 2016074796 W JP2016074796 W JP 2016074796W WO 2018037527 A1 WO2018037527 A1 WO 2018037527A1
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WO
WIPO (PCT)
Prior art keywords
module
work
machine tool
modules
tool device
Prior art date
Application number
PCT/JP2016/074796
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English (en)
Japanese (ja)
Inventor
宏樹 野田
Original Assignee
富士機械製造株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 富士機械製造株式会社 filed Critical 富士機械製造株式会社
Priority to PCT/JP2016/074796 priority Critical patent/WO2018037527A1/fr
Priority to JP2018536000A priority patent/JP6776356B2/ja
Publication of WO2018037527A1 publication Critical patent/WO2018037527A1/fr

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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
    • B23Q7/04—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
    • 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
    • B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
    • B23Q41/02—Features relating to transfer of work between machines
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4093—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine

Definitions

  • the present invention relates to a machine tool device that performs various operations on a workpiece.
  • an arm is generally used for carrying a workpiece, turning the workpiece, attaching the workpiece to a work position, and the like.
  • the arm is provided with a chuck for fixing the workpiece to the tip, and the workpiece can be positioned in an arbitrary space by rotationally driving one or a plurality of joints. It is possible to move to.
  • the operation of creating a control program related to the operation of the arm has been a very complicated operation.
  • a control program template is stored in advance, and a control program is generated using the template, thereby improving the efficiency of work related to the creation of the control program. Specifically, a control program is generated by selecting a tool or a part used for work on a setting screen displayed on the display and inputting a numerical value indicating the content of the work.
  • a plurality of modules for performing work on workpieces are arranged on one line, and each work implement module is configured to sequentially perform work on one workpiece.
  • a machine tool device has also been proposed.
  • a module for loading a workpiece into the machine tool a module for performing a machining operation on the workpiece, and an inspection for the workpiece
  • modules, modules for discharging workpieces from machine tool devices, and the like By adopting such a configuration, the arrangement space can be reduced as compared with the conventional case, and the convenience for maintenance, replacement, etc. of the machine main body can be further increased.
  • one arm is used for a plurality of different operations, and the arm is also used for transferring a workpiece between work implement modules. Even when the same type of work machine module is used to perform the same work, if the arrangement order of the arranged work machine modules changes, the control program needs to be changed accordingly.
  • the present invention has been made to solve the above-described problems in the prior art.
  • the control program is compared with the conventional one.
  • An object of the present invention is to provide a machine tool device that can improve the efficiency of work related to the generation of the machine tool.
  • a machine tool device includes a base, a plurality of work implement modules arranged in a predetermined arrangement direction on the base and detachable from the base, and the base An arm configured to be movable on the upper side and configured to convey a workpiece between the plurality of work implement modules.
  • Program generating means for generating a control program related to the operation of the arm based on the arrangement of the work implement modules.
  • the control program generation when generating a control program related to the operation of an arm that transports a workpiece among a plurality of work implement modules, the control program generation is more than conventional. Work efficiency can be improved. For example, even when only some of the work implement modules are replaced or the arrangement order is rearranged, the corresponding control program can be easily created.
  • FIG. 1 is an external front view of the machine tool device according to the present embodiment.
  • FIG. 2 is a diagram showing the internal structure of the base unit.
  • FIG. 3 is a diagram illustrating an example of an operation mode of the arm.
  • FIG. 4 is a block diagram showing the machine tool device according to the present embodiment.
  • FIG. 5 is a flowchart of the program generation processing program according to this embodiment.
  • FIG. 6 is an example of a program generation screen before various information is input by the user.
  • FIG. 7 is an example of a program generation screen after the user inputs various information.
  • FIG. 8 is a diagram showing an example of generating a unit control program.
  • FIG. 9 is a diagram illustrating a generation example of a control program related to the operation control of the arm of the machine tool device.
  • FIG. 1 is an external front view of a machine tool device 1 according to the present embodiment.
  • a machine tool device 1 includes a base 3 composed of a plurality (five in FIG. 1) of base units 2A to 2E, and a plurality (FIG. 1) arranged with respect to the base 3. 9) working machine modules 4A to 4I.
  • a work machine module may be arranged independently of the base 3.
  • the base unit 2A arranged on the leftmost side is provided with one work implement module 4A
  • the other base units 2B-2E are provided with two work implement modules 4B-4I.
  • front and rear “left and right”, and “up and down” are described as front and rear, left and right, and top and bottom when viewed from the front side of the machine tool device 1 of FIG. That is, the direction in which the work machine modules 4A to 4I are arranged is the left-right direction, and the depth direction of the machine tool device 1 that intersects the arrangement direction of the work machine modules 4A to 4I is the front-rear direction.
  • the plurality of work implement modules 4A to 4I are arranged in a line in the left-right direction so as to form one line. Furthermore, the work machine modules 4A to 4I are arranged at equal intervals so that the side walls thereof are close to each other.
  • the work implement modules 4A to 4I include a plurality of types of modules having different work contents for the workpiece as will be described later.
  • the appearances of the work equipment modules 4A to 4I are basically the same size and the same appearance regardless of the type. As a result, the machine tool device 1 according to the present embodiment is visually uniform.
  • the working machine modules 4A to 4I have a dimension in the left-right direction that is considerably smaller than the dimension in the front-rear direction.
  • the base units 2A to 2E have dimensions corresponding to the work machine modules 4A to 4I placed above.
  • the base unit 2A has a horizontal dimension that is substantially the same as the horizontal dimension of the work implement module in a state where one work implement module is placed, and the base units 2B to 2E have a horizontal dimension.
  • the size of the work implement module in the state where the two work implement modules are placed is approximately equal to the horizontal dimension. That is, the base 3 has a size that allows the nine work machine modules 4A to 4I to be placed in the left-right direction.
  • the machine tool device 1 according to the present embodiment has a relatively short overall length in the arrangement direction even though nine work machine modules 4A to 4I are arranged. It can be.
  • the base units 2A to 2E constituting the base 3 are fixed to each other to constitute one base. As described above, basically, each of the base units 2B to 2E excluding the base unit 2A can mount the two work machine modules 4A to 4I. Each of the four base units 2B to 2E is standardized and has the same shape, size, and structure. Therefore, the number of base units constituting the base 3 can be appropriately increased or decreased, and the number of work implement modules arranged in accordance with this can be freely changed.
  • the base 3 is composed of a plurality of base units 2A to 2E. However, the base 3 may be composed of a single unit without being divided into base units 2A to 2E.
  • FIG. 2 shows the internal structure of the base unit 2B.
  • the base units 2A to 2E have basically the same configuration except for the number of work machine modules to be mounted, and thus the description of the other base units 2A and 2C to 2E is omitted.
  • each base unit 2 ⁇ / b> B is provided with a number of rails 11 corresponding to the number of work implement modules mounted on the upper part.
  • the base unit 2B since the base unit 2B is mounted with the two work machine modules 4B and 4C, the two pairs of rails 11 are provided side by side in the front-rear direction.
  • the rail 11 defines a track along which the work implement module moves when the work implement module is pulled out.
  • wheels corresponding to the rails 11 are provided on the surfaces in contact with the bases of the work equipment modules 4B and 4C. Then, by moving the wheel on the rail 11, the work implement modules 4B and 4C can be easily moved in the front-rear direction with respect to the base unit 2B.
  • the work machine modules 4B and 4C can be moved to a position where they can be detached from the base unit 2B. As a result, it is possible to easily replace or rearrange a part of the work machine modules 4A to 4I arranged on the base 3.
  • a controller 5 is disposed on the front side wall of the work machine modules 4A to 4I.
  • the controller 5 includes a liquid crystal display as information display means and various operation buttons as operation reception means for receiving user operations.
  • the controller 5 accepts various operations related to the machine tool device 1 or the current state of the machine tool device 1. Displays the operating status and setting status.
  • a touch panel is arranged on the front surface of the liquid crystal display, and an operation using the touch panel is also possible.
  • the controller 5 is also used when generating a machining control program related to operation control of the machine tool device 1 as described later.
  • the controller 5 is arranged only in some of the work implement modules 4B to 4H, but may be arranged in all the work implement modules 4A to 4I. The generation of the machining control program using the controller 5 will be described in detail later.
  • the above-described machine tool device 1 manufactures a final product by performing drilling, lathe, polishing, inspection, and the like with various tools on a workpiece that is a product. Specifically, each of the work machine modules 4A to 4I arranged on the line sequentially performs work on one work.
  • a carry-in module for loading a workpiece into the machine tool device 1 a lathe module for performing a lathe, a drill module for performing drilling or milling with a drill, an inspection module for inspecting the workpiece, There is a temporary placement module that performs temporary placement and a carry-out module that discharges the workpiece from the machine tool apparatus 1.
  • a lathe module or a drill module corresponds to a machining module that performs machining operations on a workpiece.
  • a carry-in module for loading a work is arranged as the leftmost work implement module 4A of the base 3, while a machine tool device is arranged as the rightmost work implement module 4I.
  • An unloading module for discharging the workpiece from within 1 is arranged.
  • a predetermined number of lathe modules, temporary placement modules, drill modules, and inspection modules are arranged in order from the left as the work machine modules 4B to 4H between the carry-in module and the carry-out module. Then, the machine tool apparatus 1 performs work by each work implement module in order from each work implement module on the left side, and finally discharges it from the carry out module. It has come to be.
  • the machine tool device 1 also serves as a workpiece conveying means for transferring the workpiece in the arrangement direction of the work machine modules 4A to 4I, a workpiece reversing means, a workpiece mounting means to the working position, and a workpiece detaching means from the working position.
  • the arm 21 is provided. Note that the number of arms 21 provided in the machine tool device 1 is proportional to the number of base units 2A to 2E, and basically two base units in which two work machine modules are arranged (that is, four work machine modules). 1 arm 21 is arranged. For example, in this embodiment, since the base unit 2A on which the carry-in module is placed is excluded, the base unit 2B to 2E is composed of four arms 21, so that two arms 21 are arranged.
  • the arm 21 is arranged on a table 24 having substantially the same height as the base 3, and along the rails provided on the side surface of the base 3, the arrangement direction of the work implement modules 4A to 4I together with the table 24 It is configured to be movable in the left-right direction. That is, the arm 21 can move in the left-right direction within a work space formed by the base 3 and the outer walls of the work implement modules 4A to 4I.
  • the tip of the arm 21 has a chuck 25 as a holder for holding a workpiece. Then, by moving the arm 21 while the workpiece is held by the chuck 25, the workpiece can be transferred between the plurality of work implement modules 4A to 4I.
  • the arm 21 is a multi-joint type arm as shown in FIG. 2, and has a plurality of joint portions that allow the angle of the arm 21 to be displaced.
  • a third joint portion 30 is provided at a connection portion between the chuck 28 and the chuck 25.
  • Each joint portion has a drive shaft that is a drive source for displacing the angle of the arm 21, for example, by driving a drive shaft of the first joint portion 27 (hereinafter referred to as the first drive shaft 31).
  • the angle of the first arm 26 with respect to the table 24 is displaced.
  • the angle of the second arm 28 relative to the first arm 26 is displaced by driving the drive shaft of the second joint portion 29 (hereinafter referred to as the second drive shaft 32). Further, the angle of the chuck 25 with respect to the second arm 28 is displaced by driving the drive shaft of the third joint portion 30 (hereinafter referred to as the third drive shaft 33).
  • Each of the drive shafts 31 to 33 is composed of, for example, a servo motor.
  • the machine tool device 1 can freely control the posture of the arm 21 by teaching the angle values of the drive shafts 31 to 33.
  • the work 40 held by the chuck 25 can be freely moved in the space by folding or extending the arm 21.
  • the work 40 can be inverted 180 degrees by rotating the third drive shaft 33.
  • the vertical direction is the RY axis and the front-back direction is the RZ axis
  • the RZ value is displaced while the RY value of the work 40 is maintained by teaching the angle values of the drive shafts 31 to 33 (that is, the work 40 Can be moved horizontally).
  • the RY value can be displaced while maintaining the RZ value of the workpiece 40 (that is, the workpiece 40 is moved in the vertical direction).
  • the arm 21 can extend the arm 21 to the work position of the work implement module, and can attach or remove the work from the work position by the chuck 25.
  • an arm rotating device 41 is provided below the table 24.
  • the arm rotating device 41 can also rotate the arm 21 on the table 24 by rotating the table 24 in the horizontal direction, and can displace the direction of the entire arm 21.
  • FIG. 4 is a block diagram showing the machine tool device 1 according to the present embodiment.
  • the machine tool device 1 includes a control circuit unit 51 that is an electronic control unit that performs overall control of the machine tool device 1, and a controller that receives user operations and displays information.
  • a control circuit unit 51 that is an electronic control unit that performs overall control of the machine tool device 1, and a controller that receives user operations and displays information.
  • LAN Local Area Network
  • the controller 5 includes a liquid crystal display 52 that displays the current operation status and setting status of the machine tool device 1, and an operation unit 53 as an operation reception unit that receives a user operation.
  • the operation unit 53 may be a hard button or a touch panel disposed on the front surface of the liquid crystal display 52.
  • the user confirms the display content of the liquid crystal display 52 and operates the operation unit 53 to perform various operations on the machine tool device 1.
  • the controller 5 is also used when generating a machining control program related to operation control of the machine tool device 1 as described later.
  • control circuit unit 51 includes a CPU 61 as an arithmetic device and a control device, a RAM 62 used as a working memory when the CPU 61 performs various arithmetic processes, a ROM 63, a flash memory 64 that stores programs read from the ROM 63, and the like.
  • An internal storage device is provided.
  • the flash memory 64 stores information necessary for processing performed by the CPU 61 and stores a machining control program for the machine tool device 1. Further, as described later, a program generation processing program (see FIG. 5) for generating a machining control program and template data used for the program generation processing program are also stored.
  • the control circuit unit 51 reads the machining control program from the flash memory 64, and controls the machine tool device 1 by outputting signals to the work machine modules 4A to 4I and the arm 21 in accordance with the read machining control program. . Then, the work machine modules 4A to 4I and the arm 21 that have received the signal drive each drive source in accordance with the received signal.
  • the arm 21 includes a first joint motor 65 for rotationally driving the first drive shaft 31 of the first joint portion 27 and a second joint for rotationally driving the second drive shaft 32 of the second joint portion 29.
  • a conveyance drive motor 69 for moving in the left-right direction which is the arrangement direction of 4A to 4I.
  • the machine tool device 1 can control the arm 21 to an arbitrary posture at an arbitrary position by driving the motors 65 to 69 in accordance with a signal output from the control circuit unit 51.
  • the machining control program stored in the flash memory 64 corresponds to the machining process performed by the machine tool device 1. That is, a machining control program according to a series of machining steps executed by the plurality of work machine modules 4A to 4I is stored. In addition, when the machine tool apparatus 1 can perform a plurality of types of machining steps, a machining control program corresponding to each possible series of machining steps is stored. Then, the machine tool device 1 performs processing on the workpiece in each of the work machine modules 4A to 4I in the order according to the processing control program, and performs processing on the workpiece.
  • FIG. 5 is a flowchart of the program generation processing program according to this embodiment.
  • the program generation processing program is a program that is executed when a predetermined operation is received in the controller 5 and generates a machining control program for the machine tool device 1.
  • the program generation processing program is stored in the flash memory 64 included in the control circuit unit 51 and executed by the CPU 61.
  • step (hereinafter abbreviated as S) 1 in the program generation processing program the CPU 61 displays a program generation screen 71 for generating a control program related to the operation control of the arm 21 on the liquid crystal display 52 of the controller 5.
  • the user is made to input various information necessary for generating a control program on the program generation screen 71 using the operation unit 53 (for example, a touch panel arranged on the front surface of the liquid crystal display 52).
  • FIG. 6 shows an example of the program generation screen 71 before the user inputs various information.
  • FIG. 7 is an example of the program generation screen 71 after the user inputs various information.
  • the program generation screen 71 first displays an item 72 for setting the basic configuration of the work machine module of the machine tool device 1.
  • independent work implement modules are installed at both left and right ends, and two work implement modules are provided for one base unit except for two installment implement modules installed independently. It is assumed that the machine module is arranged. And when it comprises from two work implement modules (one table) except for two work implement modules installed independently, it constitutes from four work implement modules (one table) Either of these can be selected. Note that the configuration of five or more work machine modules may be selectable, and the number of work machine modules installed independently may be one or zero.
  • the CPU 61 first sets the configuration of the work implement module based on the information input by the user in the item 72.
  • the configuration of the work implement module is determined, the number of modules to be input displayed on the program generation screen 71 also changes.
  • FIG. 6 and FIG. 7 show a program generation screen 71 displayed when it is selected that two work machine modules are configured except for the work machine modules that are installed independently.
  • Module 4 is displayed as an input target.
  • the module 1 is the module closest to the transport direction (transport start point side), and indicates that the module 2, the module 3, and the module 4 are arranged in this order according to the transport direction.
  • the program generation screen 71 displays an item 73 for setting the type of module for each work machine module constituting the machine tool device 1.
  • the types of work machine modules include, for example, a carry-in module for loading a work into the machine tool device 1, a lathe module for performing a lathe, a drill module for performing drilling and milling with a drill, and an inspection module for inspecting the work.
  • the user can select any type of module for modules 1 to 4 by selecting a tab.
  • the CPU 61 sets the type of the work implement module for each work implement module constituting the machine tool device 1 based on the information input by the user in the item 73.
  • the program generation screen 71 also displays items 74 to 77 for setting details of work contents to be executed in each work machine module constituting the machine tool device 1. Specifically, item 74 selects whether the type of chuck holding the workpiece is LL or LU. Item 75 selects whether to invert the workpiece between the work implement modules. Item 76 selects whether or not to discharge the workpiece when there is an abnormality in the seating of the workpiece. Item 77 selects whether or not to check the quality.
  • the CPU 61 sets the work content for each work machine module constituting the machine tool device 1 based on the information input by the user in each of the items 74 to 77.
  • the CPU 61 determines the arm 21 for each work machine module constituting the machine tool device 1 (for example, for each of the modules 1 to 4 in the example shown in FIG. 7) based on the information set in S2 to S4.
  • a control program related to the operation control is generated. Specifically, first, the CPU 61 reads the template data 81 corresponding to the type of work implement module set in S3 from the flash memory 64.
  • the template data 81 is data serving as a base of the control program, and template data that differs for each type of work implement module is stored in the flash memory 64 in advance.
  • template data for a carry-in module template data for a lathe module
  • template data for a drill module template data for an inspection module
  • template data for a temporary placement module template data for a carry-out module.
  • the template data 81 includes a command coordinate code of the arm 21, an actuator operation code of the arm 21 and the work machine module, a confirmation code of an interlock signal between the control circuit and the device, and the like. Further, as shown in FIG. 8, the template data 81 is a program including a parameter N, and a numerical value is substituted into N, or a part of the template data 81 is selectively adopted so that the program is a complete form. Become.
  • An operation control program (hereinafter referred to as a unit control program 82) relating to each arm is generated.
  • a loading module is set as the module 1
  • a lathe module is set as the module 2
  • a drill module is set as the module 3
  • a loading module is set as the module 4
  • the CPU 61 combines and combines the unit control programs 82 generated for each work machine module (for example, module 1 to module 4 in the example shown in FIG. 7) constituting the machine tool device 1 generated in S5. Then, the control program 83 relating to the operation control of the arm 21 of the machine tool device 1 is generated.
  • the unit control program 82 of the module 1 the unit control program 82 of the module 1, the unit control program 82 of the module 2, the unit control program 82 of the module 3,
  • the unit control program 82 of the module 4 is synthesized and a control program 83 related to the operation control of the arm 21 of the machine tool device 1 is generated.
  • the CPU 61 inputs a more detailed teaching value for designating each operation of the arm 21 to the control program related to the operation control of the arm 21 generated in S6.
  • the angle values of the first drive shaft 31, the second drive shaft 32, and the third drive shaft 33, the coordinate position of the chuck 25 at the tip, and the like are taught for each posture that the arm 21 can take.
  • a control program related to the operation control of the arm 21 of the final machine tool device 1 is generated.
  • a plurality of work machine modules 4A to 4I arranged in a predetermined arrangement direction on the base 3 and detachable from the base 3 are provided.
  • an arm 21 configured to be movable on the base 3 and for transferring a workpiece between the plurality of work implement modules 4A to 4I. Then, based on the arrangement mode of the work implement modules 4A to 4I with respect to the base 3, the control program related to the operation of the arm 21 is generated from the template data (S1 to S7), so that the work implement modules 4A to 4I are among the plurality of work implement modules 4A to 4I.
  • two work machine modules 4A to 4I are basically installed for each base unit, but one or three or more work machine modules may be installed for one base unit. good.
  • a loading module for loading a work into the machine tool device 1 a lathe module for performing a lathe, a drill module for performing drilling or milling with a drill, and inspection of the work
  • the inspection module, the temporary placement module for temporarily placing the workpiece, and the carry-out module for discharging the workpiece from the machine tool device 1 are described as examples. However, other types of work implement modules may be used. Is possible.
  • Machine tool device 2A-2E Base unit 3: Base 4A-4I: Work implement module 5: Controller 21: Arm 25: Chuck 26: First arm 27: First joint 28: Second arm 29: Second Joint part 30: Third joint part 31: First drive axis 32: Second drive axis 33: Third drive axis 40: Work 51: Control circuit part 52: Liquid crystal display 53: Operation part 61: CPU 64: Flash memory 71 : Program generation screen 81: Template data 82: Unit control program 83: Control program

Abstract

La présente invention concerne un appareil de machine-outil avec lequel il est possible, lors de la génération d'un programme de commande relatif à l'action d'un bras (21) pour transporter une pièce de fabrication entre des modules multiples de machine de travail (4A-4I), d'effectuer le travail associé à la génération du programme de commande de façon plus efficace que dans le passé. Spécifiquement, l'appareil de machine-outil est configuré de façon à générer le programme de commande relatif à l'action du bras (21) à partir de données de modèle sur la base du placement du module de machine de travail (4A-4I) par rapport à une base (3).
PCT/JP2016/074796 2016-08-25 2016-08-25 Appareil de machine-outil WO2018037527A1 (fr)

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PCT/JP2016/074796 WO2018037527A1 (fr) 2016-08-25 2016-08-25 Appareil de machine-outil
JP2018536000A JP6776356B2 (ja) 2016-08-25 2016-08-25 工作機械装置

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09167007A (ja) * 1995-12-14 1997-06-24 Nissan Motor Co Ltd 作業プログラム自動生成装置
US6223582B1 (en) * 1998-11-10 2001-05-01 Schuler Pressen Gmbh & Co. Transfer system having a combined drive
JP2006263850A (ja) * 2005-03-23 2006-10-05 Kawasaki Heavy Ind Ltd ロボット制御装置およびロボット制御方法
JP2013012051A (ja) * 2011-06-29 2013-01-17 Jtekt Corp 機械制御プログラム作成装置
WO2016035208A1 (fr) * 2014-09-05 2016-03-10 富士機械製造株式会社 Système de fabrication

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09167007A (ja) * 1995-12-14 1997-06-24 Nissan Motor Co Ltd 作業プログラム自動生成装置
US6223582B1 (en) * 1998-11-10 2001-05-01 Schuler Pressen Gmbh & Co. Transfer system having a combined drive
JP2006263850A (ja) * 2005-03-23 2006-10-05 Kawasaki Heavy Ind Ltd ロボット制御装置およびロボット制御方法
JP2013012051A (ja) * 2011-06-29 2013-01-17 Jtekt Corp 機械制御プログラム作成装置
WO2016035208A1 (fr) * 2014-09-05 2016-03-10 富士機械製造株式会社 Système de fabrication

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JP6776356B2 (ja) 2020-10-28

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