WO2022070350A1

WO2022070350A1 - Processing system

Info

Publication number: WO2022070350A1
Application number: PCT/JP2020/037295
Authority: WO
Inventors: 鉄平根深; 尚一杉山; 和雅高野; デイビッドウェリング; リチャードシャーレス; サイモンレーカーズ
Original assignee: 株式会社牧野フライス製作所
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2022-04-07
Also published as: WO2022071553A1; WO2022071552A1; WO2022071551A1; WO2022071550A1; WO2022071555A1; WO2022071554A1

Abstract

A processing module (10) for performing processing of a workpiece by moving a tool (T) and a workpiece (W) relatively to each other is provided with: a spindle module (100) provided with a spindle (112) that is for mounting a tool on the lead end thereof and extends along a predetermined axis (O_S); a table module (200) provided with a table (210) on which the workpiece is fixed; and connectors (126, 218) for connecting/separating the spindle module and the table module. At least one of the spindle module and the table module has a self-propelled module base (102, 202) that is capable of traveling on the floor surface.

Description

Processing system

The present invention relates to a machining system including a spindle module and a table module, and the layout of the module can be changed.

In a machining system that executes a machining process that includes multiple stages, workpieces are transported and setups are changed between each stage. Conventionally, a robot arm or a gantry loader traveling on a rail has been used to automate such work transfer and setup change. Such a conventional automation system requires a large investment and requires a dedicated design of a production line. Therefore, it takes a long time and a large amount of money to change the production line when changing the model of the product or the design of the parts.

In order to solve these problems, Patent Document 1 and Non-Patent Document 1 describe a modularized manufacturing system in which a production facility or a CNC processing machine is mounted on a hexagonal module base or cell.

U.S. Pat. No. 6,920,973

Patent Document 1 and Non-Patent Document 1 describe the concept of constructing a manufacturing system using a hexagonal module base or cell, but it is not clear what kind of manufacturing system it is.

An object of the present invention is to provide a machining system in which the layout of a spindle module and a table module can be easily changed according to the type and number of workpieces to be machined and the situation of a bottleneck in a production line.

In order to achieve the above object, according to the present invention, in a machining system including at least one machining module for machining the work by relatively moving the tool and the work, the machining module tip the tool. A spindle module having a spindle extending along a predetermined axis mounted on a portion, a table module having a table for fixing the work, and a coupler for connecting and separating the spindle module and the table module are provided. A machining system is provided that has a self-propelled module base in which at least one module of the spindle module and the table module can travel along a floor surface.

According to the present invention, the machining module separates the spindle module to which the tool is mounted and the table module for fixing the work, and at least one of the spindle module and the table module can run on its own. In the event of a product model change, product line bottleneck, etc., the module layout can be easily changed to reconfigure the optimum processing system in a short time and at low cost.

It is a perspective view of the processing module which comprises the spindle module and the table module by embodiment of this invention. It is a top view which looked at the processing module of FIG. 1 in the vertical direction. It is the same perspective view as FIG. 1 which shows the modification of the processing module. It is a schematic sectional drawing of a coupler. It is a perspective view which shows the processing system which includes three processing modules. It is a top view which looked at the processing system of FIG. 5 in the vertical direction. It is a schematic diagram which shows an example of a work gripper. It is a schematic perspective view of the work gripping tool attached to the tip of a spindle. It is a perspective view of the processing system which attached the work gripping tool to the tip of a spindle. It is a perspective view of the processing system of FIG. 9 during work transfer. It is a top view which shows the module layout of another processing system. It is a top view which shows the module layout of the other processing system. It is a top view which shows the module layout of the other processing system. It is a top view which shows the module layout of the other processing system. It is a schematic diagram which shows the large-scale processing system. It is a flowchart which shows the operation of a processing system. It is a perspective view of a tool magazine module.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.
First, referring to FIGS. 1 and 2, a machining system for machining a work includes at least one machining module 10. The machining module 10 includes a spindle module 100 and a table module 200. The spindle module 100 and the table module 200 each include

control devices

122 and 216 capable of wireless communication with a machining system control device 300 which is a higher-level control device, and the machining module 10 is controlled by the machining system control device 300. Operates as one processing system. Wireless communication can typically be a wireless LAN. Wired communication may be adopted instead of wireless communication.

The spindle module 100 includes a spindle module base 102. A plurality of wheels 104 are arranged on the bottom surface of the spindle module base 102. The spindle module 100 includes a wheel drive motor that rotationally drives at least one wheel 104 of a plurality of wheels 104, and a steering motor (not shown) that rotates the at least one wheel 104 around a vertical axis. By driving the wheel drive motor and the steering motor, the spindle module base 102 can run on the floor surface of the factory. Instead of the steering motor, a method of providing a plurality of wheel drive motors and changing the rotation speed between the wheel drive motors to steer may be adopted. Further, the spindle module 100 may be fixed to the floor without having wheels for traveling.

A column base 106 is rotatably supported on the upper surface of the spindle module base 102 in the B _S axis direction, which is a rotary feed shaft around the vertical axis O _VS. The spindle module base 102 includes a bearing (not shown) that rotatably supports the column base 106 in the B _S axis direction, and the column base 106 includes a shaft portion (not shown) that fits the bearing. Can be done. The spindle module base 102 includes a B _S -axis servomotor (not shown) that rotationally feeds the column base 106 in the B _S -axis direction, and a rotary encoder (not shown) that rotates the column base 106 in the B _S -axis direction. A rotary position detector that detects the position can be provided.

The contour of the spindle module 100 projected onto a plane perpendicular to the vertical direction is at least partially hexagonal. This hexagonal contour is formed by the oil pan 124. The oil pan 124 is arranged and fixed below the column base 106 on the outer peripheral surface of the spindle module base 102. The oil pan 124 has dimensions that form the hexagonal outer shape of the spindle module 100 when viewed from above or below along the vertical axis _OVS . That is, when viewed in the direction of the vertical axis O _VS , the oil pan 124 has a hexagonal shape having a size larger than the external dimension of the spindle module base 102.

A column 108 is attached to the upper surface of the column base 106. As an example, the column 108 can be a gantry column having an opening 108a penetrating in the front-rear direction (Z-axis direction). A pair of left and right Y-axis guide rails 140 extending in the vertical direction (Y-axis direction) are fixed to the front surface 108b of the column 108.

A saddle 110 is arranged on the front surface of the column 108 so as to be movable in the vertical direction along the Y-axis guide rail 140. The column 108 includes a Y-axis feed device that drives the saddle 110 in the vertical direction along the Y-axis guide rail 140. The Y-axis feed device includes a ball screw (not shown) extending in the Y-axis direction and a Y-axis servomotor (not shown) connected to one end of the ball screw, and the saddle 110 has a saddle 110. A nut (not shown) that engages the ball screw is attached. The column 108 includes a position detector that detects a coordinate position in the Y-axis direction such as a digital scale, or an angle detector such as a rotary encoder attached to a Y-axis servomotor, and the saddle 110 is provided from the angle of the servomotor. The coordinate position in the Y-axis direction can be detected.

A _spindle head 114 that rotatably supports the spindle 112 about an axis OS extending in the front-rear direction (Z-axis direction) is attached to the saddle 110. The spindle head 114 is attached to the saddle 110 so as to be movable in the front-rear direction. The saddle 110 includes a Z-axis guide rail (not shown) that guides the spindle head 114 in the front-rear direction, and a Z-axis feed device that drives the spindle head 114 in the front-rear direction along the Z-axis guide rail. The Z-axis feed device includes a ball screw (not shown) extending in the Z-axis direction and a Z-axis servomotor (not shown) connected to one end of the ball screw, and the spindle head 114 has a spindle head 114. , A nut (not shown) that engages the ball screw is attached. The saddle 110 includes a position detector such as a digital scale that detects a coordinate position in the Z-axis direction, or an angle detector such as a rotary encoder attached to a Z-axis servomotor, and has a spindle from the angle of the servomotor. The coordinate position of the head 114 in the Z-axis direction can be detected.

In the example shown in FIG. 1, the spindle module 100 has two linear feed _shafts , Y-axis and Z-axis, and one rotary feed shaft BS, but the present invention is not limited thereto. In the spindle module 100'of the machining module 10'in FIG. 3, in addition to the two linear feed axes of the Y axis and the Z axis, the column 108 is placed horizontally along the X axis guide rail 142 along the Y axis and the Z axis. It is equipped with an X-axis feed device that feeds linearly in the direction (horizontal direction). The X-axis feed device includes a ball screw (not shown) extending in the X-axis direction and an X-axis servomotor (not shown) connected to one end of the ball screw. A nut (not shown) that engages the ball screw is attached. The column base 106 includes a position detector such as a digital scale that detects a coordinate position in the X-axis direction, or an angle detector such as a rotary encoder attached to an X-axis servomotor from the angle of the servomotor. The coordinate position of the column 108 in the X-axis direction can be detected. In FIG. 3, the same reference numerals are given to the same components as those in FIG.

The spindle head 114 is a hollow member that houses the spindle 112, and includes a bearing that rotatably supports the spindle ₁₁₂ around the axis OS. The spindle head 114 can include a spindle servomotor (not shown) that rotationally drives the spindle ₁₁₂ around the axis OS. The spindle servo motor may be attached to the rear end of the spindle head 114. The spindle head 114 can also include a rotation detector such as a rotary encoder (not shown) that detects the rotational speed of the spindle 112.

A tapered hole (not shown) for mounting the tool T is formed at the tip of the spindle 112. The tool T can be a rotary tool such as an end mill or a drill. The tool T can be attached to the tip of the spindle 112 via a tool holder (not shown). The tool holder had a two-sided restraint type tool holder compliant with the HSK standard having a taper shank inserted into the taper hole of the spindle 112, and a 7/24 taper shank shape as specified by ISO 7388. It can be a tool holder.

The spindle 112 includes a tool fixing device (not shown) that pulls the tool _T along the axis OS toward the rear end of the spindle 112 and fixes the tool T to the tip of the spindle 112. The tool fixing device is a drawbar (not shown) that can be engaged with and detached from the taper shank (pull stud (not shown) provided on the inner surface of the taper shank or the taper shank) of the tool holder mounted in the tapered hole. A disc spring (not shown) that urges the drawbar toward the rear end of the spindle 112, a fluid pressure cylinder or electric motor that drives the drawbar urged toward the rear end of the spindle 112 by the disc spring toward the tip of the spindle 112. Drawbar drives such as motors can be included.

A tool magazine 116 is arranged at the top of the column 108. The tool magazine 16 holds a plurality of tools T interchangeably with respect to the spindle 112. In the example shown in FIG. 1, the tool magazine 116 has a plurality of tool grip portions (not shown) arranged along an arc centered on a rotation axis _OM parallel to the Z axis, and the tool grip portions. It is equipped with an indexing motor 120 that rotates on the rotation axis _OM . In the illustrated example, the tool magazine 116 holds a plurality of tools T so that the central axis OT of the tools _T to be held is parallel to the Z axis. In the illustrated embodiment, the tool is not used between the spindle 112 and the tool magazine 116 by the indexing operation of the tool magazine 116 by the linear feeding device for the Y-axis and the Z-axis of the spindle 112 and the indexing motor 120. Can be exchanged directly with.

The table module 200 includes a table module base 202. A plurality of wheels 204 are arranged on the bottom surface of the table module base 202. The table module 200 includes a wheel drive motor that rotationally drives at least one wheel 204 of a plurality of wheels 204, and a steering motor (not shown) that rotates the at least one wheel 204 about a vertical axis. By driving the wheel drive motor and the steering motor, the table module base 202 can run on the floor of the factory. Instead of the steering motor, a method of providing a plurality of wheel drive motors and changing the rotation speed between the wheel drive motors to steer may be adopted. Further, the table module 200 may be fixed to the floor without having wheels for traveling. When at least one of the spindle module 100 and the table module 200 is fixed to the floor, the stability of the machining module 10 in which both

modules

100 and 200 are combined becomes high.

On the upper surface of the table module base 202, a rotary table 210 is rotatably supported in the B _T axis direction, which is a rotary feed axis around the vertical axis O _VT . More specifically, a plurality of legs 206 project from the upper surface of the table module base 202, the table base 208 is fixed to the upper end of the legs 206, and the rotary table 210 is placed on the upper surface of the table base 208 in the B _T axis direction. It is rotatably supported.

The table base 208 may include a bearing (not shown) that rotatably supports the rotary table 210 in the _BT axis direction, and the rotary table 210 may include a shaft portion (not shown) that fits into the bearing. can. The table base 208 includes a B _T -axis servomotor (not shown) that rotates and feeds the rotary table 210 in the B _T -axis direction, and a rotary position of the rotary table 210 such as a rotary encoder (not shown) in the B _T -axis direction. It can be equipped with a rotation position detector to detect.

A work fixing device (not shown) is provided on the upper surface of the rotary table 210, and the work W can be attached and detached. The work W may be attached to the rotary table 210 via a pallet, and the pallet may have an engaging portion on the lower surface thereof with which a pallet fixing device (not shown) of the rotary table 210 is engaged.

The contour of the table module 200 projected onto a plane perpendicular to the vertical direction is at least partially hexagonal. This hexagonal contour is formed by the oil pan 214. The oil pan 214 is attached to the leg 206 between the end portion (lower end portion) fixed to the table module base 202 and the end portion (upper end portion) to which the table base 208 is fixed.

The oil pan 214 has dimensions that form the hexagonal outer shape of the table module 200 when the table module 200 is viewed from above or below along the vertical axis _OVT . That is, when viewed in the direction of the vertical axis _OVT , the oil pan 214 has a hexagonal shape having a dimension larger than the external dimension of the table module base 202. In FIG. 1, the oil pan 124 of the spindle module 100 and the oil pan 214 of the table module are arranged at different heights, but they may be arranged at the same height.

By making the contours of the spindle module 100 and the table module 200 hexagonal in this way, an efficient module layout without dead space becomes possible. Further, by forming the hexagonal contours of the spindle module 100 and the table module 200 with the same dimensions, the modules can be easily replaced. By forming the hexagonal contours of the spindle module 100 and the table module 200 with the oil pans 124 and 214, the oil pans can be arranged without gaps in the processing space of the factory or the like, and the floor surface of the factory or the like is cut. Prevents dirt from getting dirty with liquids and chips.

The machining module 10 further includes

couplers

126 and 218 that connect and separate the spindle module 100 and the table module 200. The coupler includes one first coupler 126 provided on the spindle module 100 and one or more second couplers 218 provided on the table module 200. When the first and

second couplers

126 and 218 are connected, the connector (not shown) and the cable (not shown) that connect the control device 122 of the spindle module 100 and the control device 216 of the table module 200 are connected. Can be provided.

Referring to FIG. 4, which is a schematic cross-sectional view of the

coupler

126 and 218 shown as an example, the first coupler 126 includes a first coupler body 128 coupled to the spindle module base 102 and a clamp device 130. have. The first coupler 126 also has a proximity sensor 138 provided on the first coupler body 128.

The first coupler body 128 is composed of a member having a tapered cone 128b protruding forward along the horizontal center axis _OC1 from the plane 128a. The tapered cone 128b typically has a conical shape in which the radius gradually decreases from the plane 128a toward the tip along the central axis _OC1 . Inside the tapered cone 128b, the ball collet 132 is reciprocally inserted into the hollow hole 128a along the central axis O _c1 , and the base end portion of the ball collet 132 forms the piston 132a. A hollow hole 132c is formed on the tip end side of the ball collet 132.

Cylinder chambers

128c and 128d are provided in the first coupler 128 before and after the piston, respectively.

In the ball collet 132, two through holes 132b orthogonal to each other are formed in a direction perpendicular to the central axis O _c1 , and a total of four balls 134 are held. The outer diameter of the ball 134 is larger than the thickness of the tube of the ball collet 132, and the inner diameter of the through hole 132b on the hollow hole 132c side is slightly smaller than the outer diameter of the ball 134 so that the ball 134 does not fall into the hollow hole 132c. It has become. The open end of the hollow hole 128a of the coupler main body 128 has the shape of a tapered hole 128e whose inner diameter decreases toward the inner back, and becomes a straight hole after passing the open end. The

cylinder chambers

128c and 128d are arranged further inside the hollow hole 128a. Two ball collets 132 are arranged in the first coupler main body 128 at predetermined intervals in the horizontal direction.

The second coupler 218 has a second coupler body 220 coupled to the table module base 202 and having tapered holes 218b formed along the horizontal center axis _OC2 from the end face 218a. The taper hole 218b is formed in a complementary shape to the taper cone 128b of the first coupler 126. The second coupler body 220 is attached to the inner part of the tapered hole 218b and has a pull stud 224 extending along the central axis _OC2 toward the end face 218a side. The second coupler main body 220 has two tapered holes 218b and two pull studs 224 in the horizontal direction at the same intervals as the predetermined intervals of the two ball collets 132 in the horizontal direction.

The clamp device 130 includes a ball collet 132 extending along the central axis O _c1 in the hollow hole 128a in the first coupler main body 128, and a plurality of clamp devices 130 provided in front of the ball collet 132 so as to be engageable with the pull stud 224. Including balls 134 and. The clamping device 130 can further include a fluid pressure or electric pressing device that pulls the ball collet 132 inward along the central axis _OC1 and presses it outward. Here, the fluid pressure type will be described.

In order to connect the spindle module 100 and the table module 200, the spindle module 100 and the table module so that the center axis _OC1 of the first coupler 126 and the center axis _OC2 of the second coupler 218 match. 200 and 200 are arranged relative to each other. Next, the spindle module 100 and the table module ₂₀₀ are relatively moved in the approaching direction along the central axis Oc. In this way, after fitting the tapered cone 128b of the first coupler 126 into the tapered hole 218b of the second coupler 218, the ball collet 134 of the clamping device 130 is engaged with the pull stud 224 to add the cylinder chamber 128c. By pressing and retracting the ball collet 132 along the central axis _OC1 , the flat surface 128a of the first coupler body 128 and the end surface 218a of the second coupler body 220 come into contact with each other, and the tapered cone 218b is brought into contact with each other. The first and

second coupler bodies

128 and 220 are fixed to each other in close contact with the tapered hole 218b. As a result, the spindle module 100 and the table module 200 are coupled to each other.

In the present embodiment, the first and second coupler

main bodies

128 and 220 are provided with two tapered cones 128b and two ball collets 132, and two tapered holes 218b and two pull studs 224, respectively. The coupling rigidity can be further increased by providing the pieces one by one and engaging them at four points.

When the coupling between the spindle module 100 and the table module 200 is released, the cylinder chamber 128d is pressurized to push the ball collet 132 forward. Then, the ball 134 moves forward, and the ball 134 can move outward in the radial direction along the tapered hole 128e. In this state, when the spindle module 100 and the table module ₂₀₀ are relatively separated along the central axis Oc, the ball collet 132 and the pull stud 224 are disengaged, and the first and second coupler main bodies are disengaged. 128. 220 are separated from each other. The proximity sensor 138 detects the seating and separation of the first and

second coupler bodies

128 and 220.

When the spindle module 100 and the table module 200 are coupled to each other, the central axes OC1 and _OC2 of the

couplers

126 and 218 match, and as shown in FIG. ₂ , the spindle module 100 and the table module 200 Form a common central axis _OC . The central axis OC is the vertical axis O _VS , which is the center of rotation of the rotary feed axis _B _S of the column base 106 of the spindle module 100, and the table module when the machining module 10 is projected onto a plane perpendicular to the vertical direction. It corresponds to a straight line connecting the vertical axis O _VT which is the rotation center of the rotation feed axis _BT of the rotation table 210 of 200. Further, when the spindle module 100 and the table module 200 are coupled to each other, the oil pans 126 and 214 forming a contour in which each of the spindle module 100 and the table module 200 is projected onto a plane perpendicular to the vertical direction are common. The shape is such that one side of each hexagonal shape coincides with the straight line L. At this time, the straight line _L is perpendicular to the common center axis OC of the spindle module 100 and the table module 200. Also, the common center axis _OC coincides with the Z axis when the column base 106 is in the home position.

The control device 122 of the spindle modules 100 and 100'is a spindle 112 (spindle servomotor) of the spindle modules 100 and 100', a feed device (X-axis servomotor, Y-axis servomotor, Z-axis servomotor), and a column base 106 ( B _S axis servomotor), wheels 104 (drive motor and steering motor), clamp device 130 (pressing device for ball collet 132) of coupler 126, and other peripherals attached to spindle module 100 (shown). To control. The control device 216 of the table module 200 controls the rotary table 210 ( _BT axis servomotor), the wheels 204 (wheel drive motor and steering motor), and other peripheral devices (not shown) attached to the table module 200. do. Alternatively, after the spindle modules 100, 100'and the table module 200 are coupled, either the control device 122 of the spindle modules 100, 100'or the control device 216 of the table module 200 rotates the spindle 112, the feeder, the column base 106, and the rotation. Table 210 and other peripherals may be controlled.

The

control devices

122 and 216 are configured to enable wireless communication with the processing system control device 300, which is a higher-level control device. The control device 122 of the spindle modules 100 and 100'and the control device 216 of the table module 200 process the work W based on the control signal received from the processing system control device 300 through wireless communication. Information related to the coordinate values of the feed axis of the spindle modules 100 and 100', the rotation speed of the spindle 112, the rotation position of the rotary table 210 of the table module 200, etc. is wirelessly transmitted from the

control devices

122 and 216 for monitoring the operating status. It can be transmitted to the processing system control device 300 through communication. Alternatively, a machining program is transmitted from the machining system control device 300 to the control devices 122 of the spindle modules 100 and 100'to construct a closed control system in the machining modules 10 and 10'for each machining process. May be good.

The machining system control device 300 can further reconfigure the machining system in order to optimize the machining process according to the machining and production schedule required for the workpiece. In the above-described embodiment, the machining modules 10, 10'include one spindle module 100, 100' and one table module 200. However, the present invention is not limited to this, and the machining system can be configured by a plurality of machining modules. For example, the machining system 20 shown in FIGS. 5 and 6 is composed of three machining modules 10-1, 10-2, and 10-3. Each of the machining modules 10-1, 10-2, 10-3 has one spindle module 100-1, 100-2, 100-3 and the spindle module 100-1, as in the case of the machining module 10, 10'. It is composed of one table module 200-1, 200-2, 200-3 coupled to each of 100-2 and 100-3.

Each of the machining modules 10-1, 10-2, and 10-3 is separated into the workpieces W-1, W-2, and W-3 fixed to the table modules 200-1, 200-2, and 200-3. Machining is performed and one machining process is executed as a whole. More specifically, the workpieces W-1, W-2, and W-3 have the adjacent table module 200 from the first table module 200-1 to the last table module 200-3, as indicated by the arrow P. It is sequentially transferred to -1, 200-2, and 200-3, and during that time, it is sequentially processed by the spindle modules 100-1, 100-2, and 100-3. This makes it possible to optimize the machining process, increase productivity, and perform various machining on the workpiece.

As shown by the arrow P, the workpieces W-1, W-2, and W-3 are sequentially transferred to the adjacent table modules 200-1, 200-2, and 200-3, so that the machining modules 10-1 and 10 are transferred to the adjacent table modules 200-1, 200-2, and 200-3. Each of -2, 10-3 can be provided with a work gripping tool 150 as shown in FIG. 7 as an example.

The work gripping tool 150 has a main body 152 having a central axis _OG that is in line with the central axis OS of the main shaft 112 when mounted on the main shaft 112, and hands _154a and 154b protruding axially from the main shaft 152. I have. The work gripping tool 150 further includes a tapered portion 156 formed so as to extend axially from the main body 152 to the side opposite to the

hands

154a and 154b and to fit into the tapered hole of the main shaft 112. The tapered portion 156 can be formed in the same manner as the tapered shank of the tool holder mounted in the tapered hole of the spindle 112. As shown in FIG. 8, the work gripping tool 150 of the example of FIG. 7 can be attached to the tip end portion of the spindle 112.

When the main body 152 of the work gripping tool 150 is attached to the spindle 112, for example, one of the

hands

154a and 154b approaches and separates from the other hand 154b and _154a by using the rotary feed shaft CS that rotationally indexes the spindle 112. It is equipped with a drive device (not shown). Both

hands

154a and 154b may be able to approach and separate from each other. The

hands

154a and 154b are inserted into the gripping holes HG formed in the work W of the spindle module 100, and the work W is held and separated by moving one or both of the

hands

154a and 154b in close proximity to each other. The work W is released.

The transfer of the work will be described with reference to FIGS. 9 and 10.
In FIGS. 9 and 10, two machining modules 10-1 and 10-2 are shown for convenience in order to explain the transfer of workpieces between adjacent machining modules, but the machining modules 10- on the downstream side are shown. One or more machining modules may be arranged further downstream of 2, or a transport carriage for transferring the machined workpiece to a workstation described later may be arranged.

When it is not necessary to transfer the work W-1 from the machining module 10-1 to the adjacent machining module 10-2, such as during machining of the workpieces W-1 and W-2, the workpiece gripping tool 150 is held in the tool magazine 116. Has been done. At the stage where the machining in the machining modules 10-1 and 10-2 is completed and the work W-1 is transferred from the machining module 10-1 to the machining module 10-2, the spindles of the spindle modules 100-1 and 200-2 are respectively. The tool T mounted on the 112 and the work gripping tool 150 are replaced (see FIG. 9). Next, the

hands

154a and 154b of the work gripping tool 150 are inserted into the gripping holes HG, and the works W-1 and W-2 are held by the work gripping tools 150 of the machining modules 10-1 and 10-2.

Next, as shown in FIG. 10, the spindle modules 100-1 and 100-2 of the machining modules 10-1 and _10-2 , the Z-axis and the BS axis of the column base 106, and the table module 200-1 , _200-2 BT axes are used to transfer the workpieces W-1 and W-2 from one machining module to the adjacent downstream machining module. In this way, by transferring the work W-1 and W-2 using the feed shafts of the spindle modules 100-1 and 100-2 and the table modules 200-1 and 200-2, the transfer device for moving the work can be obtained. Not only does it eliminate the need to provide it, which reduces the cost of the machining system, but it also eliminates the need for an installation space for the transfer device for workpiece transfer. Furthermore, the degree of freedom in module layout is increased. It is also possible to grip the work with the work gripping tool 150, invert the mounting surface, reattach the work W to the upper surface of the rotary table 210, and process the surface that has been the mounting surface until now.

In the above-described embodiment, the machining system is composed of one machining module or a plurality of machining modules arranged side by side, but the present invention is not limited thereto.
The machining system 30 shown in FIG. 11 has a second machining module set 20 in addition to the first machining module set 20 composed of three machining modules 10-1, 10-2, and 10-3 similar to the machining system of FIG. As a machining module set, one additional spindle module 100-4 is provided. The added additional spindle module 100-4 is coupled to the table module 200-2 of the second stage machining module 10-2 of the first machining module set. As a result, in the machining module 10-2, machining is performed from two side surfaces with respect to one work W-2 fixed to the table module 200-2. When the machining time of the second machining module 10-2 is long, the bottleneck can be eliminated with the assistance of the additional spindle module 100-4.

The machining system 40 shown in FIG. 12 has two machining modules 10-4, 10-5 in addition to the first machining module set 20 composed of three machining modules 10-1, 10-2, and 10-3. It includes a second machining module set 50 made of. In the first machining module set 20, the work W is transferred from the machining module 10-1 toward the machining module 10-3 in the first transfer direction indicated by the arrow P1. In the second machining module set 50, the work W is transferred from the machining module 10-4 toward the machining module 10-3 in the second transfer direction indicated by the arrow P2. In the machining modules 10-4 and 10-5 of the second machining module set 50, the same machining as in the machining modules 10-1 and 10-2 of the first machining module set 20 is performed, and the machining module 10- 3 alternately receives the work W subjected to the same machining from the machining module 10-2 of the first machining module set 20 and the machining module 10-5 of the second machining module set 50. .. The processing system 40 is particularly advantageous when the time required for the final process is short.

The machining system 60 shown in FIG. 13 has one machining as a second machining module set in addition to the first machining module set 20 composed of three machining modules 10-1, 10-2, and 10-3. It is equipped with modules 10-4. The spindle module 100-4 of the added machining module 10-4 is coupled to the table module 200-2 of the second-stage machining module 10-2 of the first machining module set 20. In the first machining module set 20, the work W is transferred from the machining module 10-1 toward the machining module 10-3 in the first transfer direction indicated by the arrow P1. As shown by the arrow P2, the machining module 10-4 constituting the second machining module set receives the work W from the second-stage machining module 10-2 of the first machining module set 20, and receives the work W from the first machining module set 20. The same processing as the processing in the processing module 10-3 at the final stage of the processing module set 20 is performed. That is, the machining module 10-2 alternately transfers the work W to the two machining modules 10-3 and 10-4. The processing system 40 is particularly advantageous when the time required for the final process is long.

The machining system 70 shown in FIG. 14 has two machining modules 10-4, 10-5 in addition to the first machining module set 20 composed of three machining modules 10-1, 10-2, and 10-3. It comprises a second machining module set 80 comprising. In the first machining module set 20, the work W is transferred from the machining module 10-1 toward the machining module 10-3 in the first transfer direction indicated by the arrow P1. In the second machining module set 80, the work W is transferred from the machining module 10-1 toward the machining module 10-5 in the second transfer direction indicated by the arrow P2. In the machining modules 10-4 and 10-5 of the second machining module set 80, the same machining as in the machining modules 10-2 and 10-3 of the first machining module set 20 is performed, and the machining module 10- The work W machined in 1 is alternately transferred to the machining module 10-2 of the first machining module set 20 and the machining module 10-5 of the second machining module set 80. The processing system 70 is particularly advantageous when the time required for the first step is short.

In this way, the machining module 10 is configured by the spindle module 100 and the table module 200 that are independent of each other, and the

machining systems

20, 30, 40, 60, 70 are configured based on the machining module 10 to form one machining module. The machining time is long and causes a wait in the machining module in the subsequent stage, the machining performed by the machining module 10-2 in the example of FIG. 11, and the machining modules 10-1, 10-2 and the machining module 10- in the example of FIG. Machining performed by 4, 10-5, machining performed by each machining module 10-3, 10-4 in the example of FIG. 13, machining modules 10-2, 10-3 and machining modules 10-4, 10 in the example of FIG. By supplementing the machining performed by -5 with more spindle modules 100, the waiting of the machining module can be eliminated, the machining time of the entire machining system can be shortened, and the so-called bottleneck can be eliminated.

For example, assuming that the machining time of the process of the machining module 10-1 in FIG. 6 is 4 minutes, the machining time of the process of the machining module 10-2 is 6 minutes, and the machining time of the process of the machining module 10-3 is 4 minutes. The waiting time of the machining module 10-1 when transferring from the module 10-1 to 10-2 is 2 minutes. The waiting time of the machining module 10-3 when shifting from the machining module 10-2 to 10-3 is 2 minutes. In order to eliminate this waiting time, in FIG. 11, the spindle module 100-4 is supplemented to the machining module 10-2, the machining time of the process of the machining module 10-2 is improved to 4 minutes, and the machining times 10-1 and 10 As a result of adjusting the total processing time of -2, 10-3 to 4 minutes, the waiting time, that is, the bottleneck of production is eliminated, and the production efficiency is improved.

For example, assuming that the machining time of each process of the machining modules 10-1 and 10-2 in FIG. 6 is 6 minutes and the machining time of the process of the machining module 10-3 is 3 minutes, the machining modules 10-1 to 10-2 are used. There is no waiting time when transferring to, but the waiting time of the machining module 10-3 when shifting from the machining module 10-2 to 10-3 is 3 minutes. In order to eliminate this waiting time, in FIG. 12, machining modules 10-4 and 10-5 equivalent to the spindle modules 100-1 and 10-2 are added to the machining module 10-3. As a result, the production bottleneck has been eliminated, and the overall productivity of the processing system 40 has doubled compared to the processing system 20.

In the above-described embodiment, one machining system composed of at least one machining module 10 has been described, but the present invention is not limited to this, and constitutes a large-scale machining system including a plurality of machining systems. You can also do it.

Referring to FIG. 15, the large-scale machining system 400 includes a plurality of

machining lines

410, 420 in FIG. 15 controlled by one machining system control device 300. The machining lines 410 and 420 are configured by a machining system including at least one machining module 10 described above. The large-scale machining system 400 includes a workstation 430. The workstation 430 includes a raw workstation 431 accommodating a raw work W _U and a processed workstation 432 accommodating a processed work _WP . The work transfer device 441, such as a transfer carriage, transfers the raw work _WW from the workstation 430 to the

machining lines

410, 420, and the transfer device 442 transfers the processed work _WP from the

machining lines

410, 420 to the workstation 430. Will be transported to.

The large-scale machining system 400 further includes a module station 450 that houses a spare spindle module 100 and a table module 200 that are not in use. If the spindle module 100 or table module 200 constituting the

machining lines

410 or 420 fails, the failed spindle module 100 or table module 200 is self-propelled to be removed from the

machining lines

410 or 420, and instead, the spindle module of the module station is removed. The 100 or the table module 200 can be incorporated into the

machining lines

410, 420. Further, the failed spindle module 100 or table module 200 can be self-propelled to the maintenance station 460. Further, the self-propelled spindle module 100 and the table module 200 are equipped with a battery as a power source, and the maintenance station 460 also has a battery charging facility.

The large-scale machining system 400 may include a tool magazine module 470 (FIG. 17) having the same contour as the spindle module 100 and the table module 200. When the tool T held by the tool magazine 116 of the spindle module 100 is insufficient, the tool magazine module 470 travels to the spindle module 100 by itself, and the spindle 112 directly accesses each tool of the tool magazine module to access the spindle. By exchanging tools with the module 100, the missing tool T is provided.

The machining system control device 300 can change or reconfigure the configurations of the

machining lines

410 and 420 according to the required machining and production plan.
Referring to FIG. 16, when the required machining or production plan is input to the machining system control device 300 in step S10, the machining system control device 300 is the number of spindle modules 100 and table modules 200 constituting the machining line. A module layout is created, and it is confirmed by simulation whether or not the machining of the work W by the created module layout conforms to the required machining and production plan (step S12).

If it does not match, create a new module layout, and repeat the module layout creation and simulation until a matching module layout is found. When the conforming module layout is determined, the machining system control device 300 transmits a movement command to the spindle module 100 and the table module 200 to construct the determined module layout (step S14).

After the spindle module 100 and the table module 200 are moved according to the movement command in step S16, it is determined whether or not the spindle module 100 and the table module 200 are normally coupled by the first and

second couplers

126 and 218. (Step S18). This can be done by the proximity sensor 138 of the first coupler 126. If it is not normally joined (No in step S18), the process returns to step S16, the spindle module 100 and the table module 200 are moved, and the joining operation is repeated again.

If they are normally connected (Yes in step S18), the combined spindle module 100 and table module 200 are calibrated in step S20. Here, "calibration" means establishing communication and control between modules after module coupling, and for example, attaching a ruler directly on the rotary table 210 of each table module 200 using the work transfer device 441. By attaching a measurement probe (not shown) from the tool magazine 116 to the spindle 112 of each spindle module 100, measuring the spatial accuracy of the X, Y, and Z axes, and setting error correction parameters for each machining module 10. be. As a specific calibration method, there is a method using various spatial accuracy measuring devices such as a laser length measuring device and an imaging device, and any method may be adopted.

Next, the raw work W _U is transported from the raw workstations 431 to the

machining lines

410 and 420, the workpiece W _U is machined, and the machined workpiece _WP is transferred from the

machining lines

410 and 420 to the machined workstation 432. It is conveyed (step S22), and the workpiece W _U is repeatedly processed. While the work is being machined, it is determined whether or not the spindle module 100 and the table module 200 are operating normally (step S24). If the spindle module 100 and the table module 200 are not operating normally (No in step S24), that is, if the spindle module 100 or the table module 200 fails or operates abnormally, an abnormality occurs in step S26. The main shaft module 100 or the table module 200 is self-propelled to the maintenance station 460, and the main shaft module 100 or the table module 200 that has not failed is selected as an alternative module from the module station 450 (step S28), and the

machining lines

410 and 420 are selected. Self-propelled to the position of the spindle module 100 or the table module 200 in which the abnormality occurred (step S16). Then, steps S18 to S24 are executed.

When the spindle module 100 and the table module 200 are operating normally (Yes in step S24), the process proceeds to step S30 to determine the presence / absence of an interrupt production command. While machining based on the current production directive is in progress, an interrupt production command that requires express machining may be issued from the machining system control device 300. If this interrupt production command is Yes, the production scheduling in step S10 will be performed again.

If No in step S30, it is determined whether or not the processing of all the work W has been completed (step S32). When the machining of all the workpieces is completed (Yes in step S32), the spindle module 100 and the table module 200 wait until the next production command is issued at that position (step S34). When the next production command is issued (Yes in step S36), the process returns to step S10, and processing is performed under the new module layout according to the input next product required processing and production plan (step S10). It will be started.

10 Machining module 16 Tool magazine 30 Machining system 100 Main shaft module 106 Column base 108 Column 110 Saddle 112 Main shaft 116 Tool magazine 122 Control device 126 Connector 130 Clamping device 200 Table module 202 Table module base 208 Table base 210 Rotating table 210 Pallet 216 Control Device 218 Second coupler 300 Machining system control device

Claims

In a machining system provided with at least one machining module for machining the work by moving the tool and the work relative to each other.
The processing module
A spindle module having a spindle extending along a predetermined axis for mounting the tool on the tip, and a spindle module.
A table module with a table for fixing the work, and
A coupler that connects and separates the spindle module and the table module,
A machining system comprising, wherein at least one module of the spindle module and the table module has a self-propelled module base capable of traveling along a floor surface.
The machining system according to claim 1, further comprising a machining system control device that sends and receives control signals to and from the spindle module and table module and controls the spindle module and table module.
The machining system includes a first set of machining modules including a plurality of the machining modules arranged side by side.
The first set of machining modules includes a spindle module row consisting of the plurality of spindle modules and a table module row consisting of a plurality of table modules arranged in front of each of the spindle modules.
The spindle module comprises the first spindle module located at the very end of the spindle module row and the last spindle module located at the opposite end of the spindle module.
The table module includes the first table module coupled to the first spindle module and the last table module coupled to the last spindle module.
Each of the spindle modules performs separate machining on the workpiece, and while the workpiece is sequentially transferred to the adjacent table module until transferred from the first table module to the last table module, each of the machining modules. The processing system according to claim 2, wherein the processing is sequentially performed by the spindle module.
It has the self-propelled module base and further includes an additional spindle module coupled to one of the plurality of machining modules, and the spindle module and the additional spindle of the machining module are added to the table module of the one machining module. The machining system according to claim 3, wherein both modules are connected and the workpiece fixed to the table module is machined by two spindle modules.
Further comprising a second machining module set comprising at least one machining module including a spindle module having the self-propelled module base and a table module having the self-propelled module base.
The machining system according to claim 3, wherein the table module at the end of the second machining module set is arranged adjacent to any table module of the first machining module set.
The machining system control device separates the coupler and self-propells the spindle module having the self-propelled module base or the table module having the self-propelled module base from the machining module to disconnect or stand by. A claim for instructing that a spindle module having the self-propelled module base or a table module having the self-propelled module base is self-propelled and the coupler is coupled so as to be reconstructed as the machining module. The processing system according to 2.
A work stocker including a first area for storing raw workpieces and a second area for accommodating processed workpieces.
A claim comprising a transport vehicle for transporting raw work from a first region of the work stocker to the first table module and transporting the machined work from the last table module to a second region of the work stocker. Item 3. The processing system according to Item 3.
The machining system according to claim 1, wherein the spindle module includes a tool magazine that holds a plurality of tools that are interchangeably mounted on the spindle.
The machining system according to claim 8, wherein the spindle module is held in the tool magazine and further includes a work gripping tool formed so as to be mounted on the spindle.
The spindle module mounts the work gripping tool on the spindle, grips the work by utilizing the relative movement of the spindle between the spindle module and the table module, and grips the gripped work between the adjacent table modules. The processing system according to claim 9 to be transferred.
The processing system according to claim 1, wherein the spindle module performs processing of any of removal processing, addition processing, and plastic working.