WO2022071554A1 - Processing system - Google Patents

Abstract

A processing system (1100) configured from a combination of a plurality of modules, wherein: the processing system comprises a table module (600-1, 600-2, 600-3) provided with a table for securing a workpiece, a tool module (500-1, 500-2, 500-3) joined to the table module, and a drive module (560, 700, 750, 770) on which each of the table module and the tool module is placed; and at least two table modules are positioned together and joined to each other along a prescribed first axis (O_CC) to form a main line.

Description

Processing system

The present invention relates to a machining system including a tool module and a table module, which can be reconfigured by changing the arrangement of the modules.

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 that can flexibly reconfigure the machining system according to the type and number of workpieces to be machined in the reconfigurable machining system composed of a plurality of modules.

In order to achieve the above object, according to the present invention, in a machining system composed of a combination of a plurality of modules, a table module provided with a table for fixing a work and a tool module coupled to the table module are provided. , A drive module on which each of the table module and the tool module is mounted.
A machining system is provided in which at least two of the table modules are arranged and joined side by side with each other along a predetermined first axis to define a main line.

According to the present invention, in a machining system composed of a combination of a plurality of modules, at least two table modules for connecting tool modules are arranged side by side and connected to each other along a predetermined first axis, and the main line is connected. Therefore, it is possible to easily replace the table module or increase or decrease the number of table modules in a short time when the design of parts is changed, the model of the product is changed, the bottleneck of the production line appears, etc. It is possible to reconfigure the optimum processing system at low cost.

It is a perspective view of the processing module which comprises the tool 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. It is a side view of the tool module by another embodiment mounted on a drive module. It is a front view of the tool module of FIG. It is a top view of the tool module of FIG. It is a perspective view which looked at the tool module of FIG. 18 from the front side. It is a side sectional view of the tool module of FIG. 18 which shows the state which the spindle is advanced. It is a side sectional view of the tool module of FIG. 18 which shows the state which the spindle is retracted. It is a partially enlarged sectional view of the tool module which shows the support part and the holding part. It is a perspective view of a chip block. It is a partially enlarged sectional view of the tool module which shows the support part and the holding part. It is a perspective view of the tool module of the structure which feeds the spindle in a straight line in the direction of 3 orthogonal axes. It is a side sectional view of the tool module of FIG. 18 which shows the state that the spindle is retracted, and is the figure which shows the chip discharge device provided with the belt conveyor. It is a front view of the 1st active interface. It is a front view of the 2nd active interface. It is a front view of the 3rd active interface. It is a front view of the 2nd passive interface corresponding to the 2nd active interface. It is a front view of the 3rd passive interface corresponding to the 3rd active interface. It is a perspective view which shows an example of the multi-connector provided with an actuator. It is a top view of the multi-connector of FIG. 30A. FIG. 30 is a front view of the 30An multi-connector. It is a perspective view of the drive module of FIG. It is a perspective view of the drive module by another embodiment. It is a side view of the drive module of FIG. 31B. It is a front view of the drive module of FIG. 31B. It is a top view of the drive module of FIG. 31B. It is an enlarged side view of the suspension of the drive module of FIG. 31B. It is an enlarged front view of the suspension of the drive module of FIG. 31B. It is a front view of the drive module of FIG. 31B installed on the floor surface inclined in the left-right direction of the drive module. It is a side view of the drive module of FIG. 31B installed on the floor surface inclined in the front-rear direction of the drive module. It is a perspective view of the drive module according to still another embodiment. It is a side view of the drive module of FIG. 39 shown together with the tool module of FIG. It is a perspective view of the drive module according to still another embodiment. FIG. 11 is a perspective view of a push-pull motor vehicle capable of autonomous traveling that can be coupled to the drive module of FIG. 41. It is a side view of the drive module of FIG. 41 equipped with the tool module of FIG. 18 which shows the state which the charging module is connected. It is a front view of the table module which can be coupled to the tool module of FIG. 18 shown together with a drive module. It is a side sectional view of the table module of FIG. 44. It is a side sectional view of the tool module shown in FIG. 24B which is shown in the state of being connected with a table module. It is a perspective view of the table module of FIG. 44 shown in the closed mode. It is a perspective view of the table module of FIG. 46 seen from another angle. It is a top view of the table module of FIG. It is a perspective view of the rotary table of a table module. It is a side view of the rotary table of FIG. It is a perspective view of the rotary table by another embodiment. It is a side view of the rotary table of FIG. 51. It is a perspective view of the rotary table according to still another embodiment. It is a side view of the rotary table of FIG. 53A. It is a schematic perspective view which shows the tool rack. It is a schematic plan view of the table module which shows the closed mode of a movable cover. FIG. 4 is a perspective view of the table module of FIG. 44 in the first open mode. FIG. 5 is a plan view of the table module of FIG. 56 in the first closed mode. FIG. 5 is a schematic plan view of a table module similar to FIG. 55 showing a first open mode of the movable cover. FIG. 4 is a perspective view of the table module of FIG. 44 in the second open mode. FIG. 5 is a plan view of the table module of FIG. 59 in the second closed mode. FIG. 5 is a schematic plan view of a table module similar to FIG. 55 showing a second open mode of the movable cover. It is a front view of the 1st passive interface. It is a schematic diagram which shows an example of an identification code. It is a front view of the 4th active interface. It is a front view of the 4th passive interface. FIG. 5 is a plan view showing an example of a tool module having a second passive interface of FIG. 28 and a third passive interface of FIG. 29 on the side. It is a top view of the table module which shows the arrangement of the interface of a table module. It is a schematic plan view for demonstrating the connection of a table module. FIG. 3 is a schematic plan view showing the three table modules that have been joined. FIG. 6 is a schematic plan view showing a state in which one tool module is joined to the three joined table modules of FIG. 69. FIG. 3 is a schematic cross-sectional view for explaining the coupling between the first active interface and the first passive interface. FIG. 7 is a schematic cross-sectional view similar to FIG. 71 showing a state in which the force sensor of the first active interface engages with the corresponding guide hole of the first passive interface. FIG. 7 is a schematic cross-sectional view similar to FIG. 71 showing a state in which the tool module retractable coupler is engageable with the corresponding retractable coupler of the table module. FIG. 7 is a schematic cross-sectional view similar to FIG. 71 showing a state in which the pull-in coupler of the first active interface clamps the corresponding pull-in coupler of the first passive interface. It is a schematic cross-sectional view similar to FIG. 71 showing a state in which the pull-in coupler of the first active interface is pulled in after the clamp, and the cone clamp of the first active interface clamps the corresponding cone clamp of the first passive interface. .. FIG. 74 is a schematic cross-sectional view similar to FIG. 71 showing a state in which the pull-in coupler of the first active interface unclamps the corresponding pull-in coupler of the first passive interface from the state of FIG. 74. It is a top view of the machining system composed of three sets of machining modules each consisting of a tool module and a table module. It is sectional drawing of the processing system of FIG. 77A. It is the same plan view as FIG. 77 explaining the method of adding one set of machining modules to the machining system of FIG. 77. It is a top view for demonstrating the transfer method of the work in the processing system. It is a plan view similar to FIG. 79 for explaining the method of transporting the workpiece in the machining system. It is a figure which showed the state which coincides with the central axis in the longitudinal direction. It is the same plan view as FIG. 79 for explaining the transfer method of the work in the processing system, and is the figure which showed the state which puts and fixes the work to hold on the rotary table of a table module. It is the same plan view as FIG. 79 for explaining the work transfer method in a machining system, and is the figure which showed the state which the machined work is removed from the rotary table of a table module by retracting a spindle. FIG. It is a figure which showed the state of placing and fixing on a table. It is the same plan view as FIG. 79 for explaining the work transfer method in a machining system, and is the figure which showed the state which all the tool modules are swirled in order and returned to the initial position. It is a top view for demonstrating the transfer method of the work to one set of processing modules added in FIG. 78. It is a schematic diagram which shows the whole processing system including a processing system control device, a safety control device and peripheral equipment. It is a block diagram which shows the control system of the processing system of FIG. It is a control flowchart for demonstrating the connection method of the tool module and the table module in the machining system of FIGS. 85 and 86. It is a control flowchart for demonstrating the connection method of the tool module and the table module in the machining system of FIGS. 85 and 86. It is a control flowchart for demonstrating the connection method of the tool module and the table module in the machining system of FIGS. 85 and 86. It is a control flowchart for demonstrating the connection method of the tool module and the table module in the machining system of FIGS. 85 and 86. It is a control flowchart for demonstrating a work transfer method. It is a control flowchart for demonstrating a work transfer method. It is a control flowchart for demonstrating a work transfer method. It is a control flowchart for demonstrating a work transfer method. It is a schematic plan view for demonstrating the change of the detection area and the non-detection area with the movement of a module. It is a schematic plan view for demonstrating the change of the detection area and the non-detection area with the movement of a module. It is a schematic plan view for demonstrating the change of the detection area and the non-detection area with the movement of a module. It is a schematic plan view for demonstrating the change of the detection area and the non-detection area with the movement of a module. Schematic plan view showing changes in the detection area when one tool module is combined with one table module in a module set in which one tool module is combined with a line formed by connecting three table modules. Is. Schematic plan view showing changes in the detection area when one tool module is combined with one table module in a module set in which one tool module is combined with a line formed by connecting three table modules. Is. Schematic plan view showing changes in the detection area when one tool module is combined with one table module in a module set in which one tool module is combined with a line formed by connecting three table modules. Is. It is a schematic plan view which shows the detection area when one table module is combined with one table module in the processing system which consists of three processing modules. It is a schematic plan view which shows an example of the integrated detection area formed around the processing system which consists of three processing modules. It is a top view which shows the machining system which provided with the main line and the auxiliary line. It is a schematic diagram which shows the manipulator module of the processing system of FIG. 100. It is a top view which shows the table module of the processing system of FIG. 100. It is a schematic diagram which shows the cleaning module. It is a schematic diagram which shows the screw tightening module. It is a schematic diagram which shows the inspection module which measures the dimension of a workpiece using a touch probe. It is a schematic diagram which shows the inspection module which inspects the surface of a work with a visual sensor (camera). It is a schematic diagram which shows the inspection module which inspects the airtightness of a work. It is a schematic diagram which shows the assembly module which combined the two manipulator modules into one table module. It is a schematic diagram which shows the deburring module which provided the manipulator in the table module. It is a schematic diagram which shows the deburring module which arranged the deburring tool in the table module. It is a schematic diagram which shows the deburring module which fixed the work to the table module, and attached the deburring tool to the manipulator of the manipulator module. It is a schematic diagram which shows the welding module equipped with a spot welder. It is a schematic diagram which shows the welding module equipped with an arc welder. It is a schematic diagram which shows the blower module which blows off the processing liquid and chips adhering to a work. It is a schematic diagram which shows the marking module which marks the surface of a work with a laser beam. It is a schematic diagram which shows the marking module which marks (prints) on the surface of a work by an inkjet head. It is a schematic diagram which shows the assembly module which press-fits a part into a pilot hole of a work. It is a schematic diagram which shows the assembly module which winds a seal tape around a thread part. It is a schematic diagram which shows the machining system which connects the main line and the addition line so that the angle between the main line and the addition line becomes 90 °. It is a schematic plan view which shows the AMR (Autonomous Mobile Robot) equipped with the manipulator used in the processing system of FIG. 119. It is a schematic plan view which shows the table module used in the processing system of FIG. 119. It is a schematic plan view which shows the tool module used in the machining system of FIG. 119. It is a schematic diagram which shows the large-scale machining system including the component of the machining system of FIG.

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 tool module 100 and a table module 200. The tool 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 tool module 100 includes a tool module base 102. A plurality of wheels 104 are arranged on the bottom surface of the tool module base 102. The tool 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 about a vertical axis. By driving the wheel drive motor and the steering motor, the tool 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 tool 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 tool module base 102 in the B _S axis direction, which is a rotary feed axis around the vertical axis O _VS. The tool 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 tool module base 102 includes a B _S -axis servomotor (not shown) that rotates and 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 for detecting the position can be provided.

The contour of the tool 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 on the outer peripheral surface of the tool module base 102 below the column base 106. The oil pan 124 has dimensions that form the hexagonal outline of the tool 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 dimension larger than the external dimension of the tool 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 the central 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 tool module 100 has two linear feed axes, a Y axis and a Z axis, and one rotary feed axis _BS , but the present invention is not limited thereto. In the tool 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 central axis OS. The spindle head 114 may include a spindle servomotor (not shown) that rotationally drives the spindle ₁₁₂ around the spindle line 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 central 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 tool module 100 and the table module 200 is fixed to the floor, the stability of the machining module 10 in which both the 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 size larger than the external size of the table module base 202. In FIG. 1, the oil pan 124 of the tool 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 tool 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 tool module 100 and the table module 200 with the same dimensions, the modules can be easily replaced. By forming the hexagonal contours of the tool 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 tool module 100 and the table module 200. The coupler includes one first coupler 126 provided in the tool module 100 and one or more second couplers 218 provided in 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 tool 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 tool 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 129. The tapered cone 128b typically has a conical shape in which the radius gradually decreases from the plane 129 toward the tip along the central axis _OC1 . Inside the tapered cone 128b, a ball collet 132 is reciprocally inserted into the hollow hole 128a along the central axis _OC1 , and the base end portion of the ball collet 132 forms a 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 main body 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 _OC1 , 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 tapered hole 218b is formed in a complementary shape to the tapered 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 _OC1 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 tool module 100 and the table module 200, the tool module 100 and the table module are aligned so that the central axis _OC1 of the first coupler 126 and the central axis _OC2 of the second coupler 218 match. 200 and 200 are arranged relative to each other. Next, the tool 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 132 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 129 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 128b 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 tool 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 releasing the coupling between the tool module 100 and the table module 200, the cylinder chamber 128d is pressurized to press 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 tool 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 and 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 tool 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 tool 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 tool 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 tool module 100 and the table module 200 are coupled to each other, the oil pans 124 and 214 that form contours in which each of the tool 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 tool 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 tool modules 100 and 100'is a spindle 112 (spindle servomotor) of the tool modules 100 and 100', a feeder (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 of coupler 126 (pressing device for ball collet 132), and other peripherals included with tool 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 tool module 100, 100'and the table module 200 are combined, either the control device 122 of the tool module 100, 100'or the control device 216 of the table module 200 has 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 tool 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 tool modules 100 and 100', the rotation speed of the spindle 112, the rotation position of the rotation 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 tool modules 100 and 100'to form 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 tool 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 tool module 100-1, 100-2, 100-3 and the tool 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 tool 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 tool 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 tool modules 100-1 and 100-2 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.

Then, as shown in FIG. 10, the tool modules 100-1 and 100-2 of the machining modules 10-1 and 10-2 have the Y-axis, 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 tool 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 tool module 100-4 is provided. The added additional tool 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 tool 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 tool 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 tool 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 tool 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 tool 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 modules 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 machining modules 10-1 and 10-2 are added to the machining module 10-3. As a result, the production bottleneck was eliminated, and the overall productivity of the processing system 40 was about twice that of 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 lines. 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 . A workpiece transfer device 441 such as a transport carriage transports raw work WW from the workstation 430 to the machining lines 410 and 420, and a transport device 442 transfers the _machined workpiece _WP from the machining lines 410 and 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 tool module 100 and a table module 200 that are not in use. If the tool module 100 or table module 200 constituting the machining lines 410 or 420 fails, the failed tool module 100 or table module 200 is self-propelled and removed from the machining lines 410 or 420, and instead, the tool 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 tool module 100 or table module 200 can be self-propelled to the maintenance station 460. Further, the self-propelled tool 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 tool module 100 and the table module 200. When the tool T held by the tool magazine 116 of the tool module 100 is insufficient, the tool magazine module 470 self-propells to the tool module 100, and the spindle 112 directly accesses each tool of the tool magazine module to make a tool. By exchanging tools with the module 100, the missing tool T is provided.

The machining system control device 300 can 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 tool 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 tool module 100 and the table module 200 to configure the determined module layout (step S14).

After the tool module 100 and the table module 200 are moved according to the movement command in step S16, it is determined whether or not the tool 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 tool module 100 and the table module 200 are moved, and the joining operation is repeated again.

If they are normally combined (Yes in step S18), the combined tool 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 tool 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 tool module 100 and the table module 200 are operating normally (step S24). If the tool module 100 and the table module 200 are not operating normally (No in step S24), that is, if the tool module 100 or the table module 200 malfunctions or operates abnormally, an abnormality occurs in step S26. The tool module 100 or the table module 200 is self-propelled to the maintenance station 460, and the tool 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 tool module 100 or the table module 200 in which the abnormality has occurred (step S16). Then, steps S18 to S24 are executed.

If the tool 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 tool 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.

Next, referring to FIGS. 18 to 22B, a modified example of the tool module is illustrated. In the present embodiment, the tool module of the above-described embodiment is formed of the tool module 500 and the drive module 560.

The tool module 500 includes a fixed base 504 that is placed and fixed on the upper surface of the drive module 560. A swivel base 506 is mounted on the upper surface of the fixed base 504 so as to be swivelable around the rotation axis _OBS (B axis) in the vertical direction. The tool module 500 has a transverse center axis OS1 that intersects the rotation axis _OBS perpendicularly and extends in the horizontal anteroposterior direction, and a transverse center axis O _S1 that intersects both the rotation axis _OBS and the longitudinal center axis _OS1 . It has a central axis _OS2 .

A hollow spindle cover 502 that defines a substantially rectangular parallelepiped space is arranged on the upper surface of the swivel base 506. A tool magazine 522 containing a plurality of tools T is arranged in the upper portion of the front surface of the spindle cover 502. The tool T can be mounted on a two-sided restrictive tool holder compliant with the HSK standard and a tool holder having a shank shape with a 7/24 taper or a 1/10 taper, and can be stored and held in the tool magazine 522. .. In this case, the tool magazine 522 has a plurality of gripping claws that engage with the peripheral groove (not shown) of the tool holder on the outer peripheral portion, and is provided so as to be rotatable about the Z axis, and the magazine. It can have a magazine drive motor 523 that rotates the base. The magazine base can be rotated to determine the tool T to be replaced at the replacement position, and the spindle 512 can be brought close to the tool T arranged at the replacement position so that the tool T can be mounted on the spindle 512.

The spindle cover 502 has an open front end surface of the tool module 500. A signal lamp 509 is arranged on the opposite side surface of the spindle cover 502. The signal lamp 509 may be arranged on the back surface of the spindle cover 502. Behind the tool module 500 may be a cabinet 524 that houses solenoid valves and filters for pneumatic and hydraulic equipment, and motor-cooling chillers. A control panel 526 containing a control device for the tool module 500 is attached to the rear end of the fixed base 504. A mist collector 501 is arranged on the upper surface of the spindle cover 502.

The tool module 500 includes a spindle 512 for mounting a tool at the tip. The spindle 512 is rotatably supported by the spindle head ₅₁₀ around the central axis OS. The spindle head 510 has a built-in spindle motor that rotationally drives the spindle 512. The spindle head 510 is attached to the A-axis base 508. The spindle head 510 may be rotatably attached to the A-axis base 508 about an axis parallel to the X-axis by the A-axis rotation drive device 514. In the present embodiment, the A-axis rotation drive device 514 has a servomotor 514a that rotationally drives the spindle head 510 around the axis a parallel to the X-axis.

In the present embodiment, the A-axis base 508 is movably supported by a parallel link mechanism in the orthogonal three-axis directions of the X, Y, and Z axes. The parallel link mechanism includes six rod members 515, 516, 517, 518, 518, 520.

In the present embodiment, a pair of first rod members 515 and 516 are coupled to the upper end portion of the A-axis base 508 at one end of each. More specifically, the rod members 515 and 516 are rotatably coupled to the upper end or adjacent portion of the A-axis base 508 at one end thereof, for example by a two-degree-of-freedom knuckle joint 515a, 516a. Has been done. The other end of the first rod member 515, 516 is rotatably coupled to the first Z slider 530 by, for example, a two-degree-of-freedom knuckle joint (only the knuckle joint 516b is shown).

The first Z slider 530 can reciprocate in the horizontal front-back direction or the Z-axis direction (FIG. 19 is the direction perpendicular to the paper surface). In the present embodiment, the first Z slider 530 is reciprocated in the Z-axis direction by the first Z-axis linear motor. In the present embodiment, the first Z-axis linear motor has a stator 536 fixed in the ceiling of the spindle cover 502 extending in the Z-axis direction and a mover fixed to the first Z slider 530 (not shown). And are equipped.

A pair of second rod members 517, 518 are rotatable at one end of each, for example, by knuckle joints 517a, 518a with two degrees of freedom, on one side edge of the A-axis base 508, in the present embodiment. It is connected to the right edge portion (right side in FIG. 19) when viewed from the front of the tool module 500. The other end of the second linear actuator 517, 518 is rotatably coupled to the second Z slider 532 by, for example, a two-degree-of-freedom knuckle joint 517b, 518b.

The second Z slider 532 can be reciprocated in the horizontal front-back direction or the Z-axis direction (FIG. 19 is the direction perpendicular to the paper surface). In the present embodiment, the second Z slider 532 is reciprocated in the Z-axis direction by the second Z-axis linear motor. In the present embodiment, the second Z-axis linear motor includes a stator 538 extending in the Z-axis direction fixed to the inner surface of the right side wall (side wall on the right side when viewed from the front of the tool module 500) of the spindle cover 502. It is provided with a mover (not shown) fixed to the Z slider 532 of 2.

A pair of third rod members 519, 520 are rotatable at one end of each, eg, by a two-degree-of-freedom knuckle joint 519a, 520a, the other side edge of the A-axis base 508, in the present embodiment. It is connected to the left edge portion (left side in FIG. 19) when viewed from the front of the tool module 500. The other end of the third linear actuator 519, 520 is rotatably coupled to the third Z slider 534 by, for example, a two-degree-of-freedom knuckle joint 517b, 518b.

The third Z slider 534 can be reciprocated in the horizontal front-back direction or the Z-axis direction (FIG. 19 is the direction perpendicular to the paper surface). In the present embodiment, the third Z slider 534 is reciprocated in the Z-axis direction by the third Z-axis linear motor. In the present embodiment, the third Z-axis linear motor includes a stator 540 extending in the Z-axis direction fixed to the inner surface of the left side wall (the side wall on the left side when viewed from the front of the tool module 500) of the spindle cover 502, and the third Z-axis linear motor. It is provided with a mover (not shown) fixed to the Z slider 534 of 3.

Before the tool module 500 is coupled to the table module 600, the spindle head 510 is arranged in the spindle cover 502. When the machining process or the work transfer process is started after the tool module 500 and the table module 600 are combined, the spindle head 510 projects forward in the Z-axis direction from the opening 502a in front of the spindle cover 502.

In this way, the spindle 512 includes the A-axis base 508 constituting the parallel link mechanism, the first to third pair of rod members 515, 516: 517, 518: 518: 520, and the first to third Z sliders 530, 532. It is supported by 534 so as to be reciprocating in the three orthogonal axes of X, Y, and Z.

In the above-described embodiment, the spindle head that rotatably supports the spindle of the tool module is supported by a parallel link mechanism so as to be movable in three orthogonal axes of X, Y, and Z. Not limited to this. For example, as shown in FIG. 24A, the spindle head may be supported by a linear feed shaft device in three orthogonal axes of X, Y, and Z.

Referring to FIG. 24A, the tool module 1500 is reciprocally attached to the base portion 1502 mounted on the drive module 560, the swivel base 1504 fixed to the upper surface of the base portion 1502, and the swivel base 1504 in the X-axis direction. The column or the X slider 1506, the front surface of the X slider 1506 is provided with a Y slider 1508 reciprocally attached in the Y-axis direction, and the Y slider is provided with a spindle head 1510 reciprocally attached in the Z-axis direction. The spindle 1512 is rotatably supported by the spindle head ₁₅₁₀ around the central axis OS in the Z-axis direction. The swivel base 1504, the X slider 1506, the Y slider 1508 and the spindle head 1510 are surrounded by a cover 1516. Further, in the cover 1516, a tool magazine 1514 is arranged above the spindle head 1510.

The swivel base 506 has a shaft portion 506a protruding from its lower surface. The fixed base 504 has a boss hole _504a formed around the rotation axis OBS and receiving the shaft portion 506a. The shaft portion 506a of the swivel base 506 is rotatably supported by the bearing 546 in the boss hole 504a of the fixed base 504. Thus, the swivel base 506 is rotatably supported by the fixed base ₅₀₄ around the vertical axis OS B. The tool module 500 can include a servomotor as a drive source for rotationally driving the swivel base 506. In the present embodiment, the servomotor is attached to the stator 548 fixed to the inner peripheral surface of the boss hole 504a of the fixed base 504 and to the outer peripheral surface of the shaft portion 506a of the swivel base 506 so as to face the stator 548. It is equipped with a rotor 550.

At the time of processing, the spindle 512 protrudes forward in the Z-axis direction from the opening 502a in front of the spindle cover 502, so that a rotational moment acts on the swivel base 506 in the downward direction of the front portion. Therefore, as shown in FIGS. 23A and 23C, the tool module 500 has a support portion 542 provided on the fixed base 504 and a holding portion 544 provided on the swivel base 506. The support portion 542 projects upward from the fixed base 504, and the sandwiching portion 544 protrudes downward from the swivel base 506 so that the support portion 542 can be sandwiched or held. When the swivel base 506 swivels around the rotation axis _OBS (B-axis), the support portion 542 is preferably such that the support portion 542 does not interfere with the pinching portion 544 or any other portion or component protruding from the swivel base 506. While the swivel base 506 is swiveling, it can be stored in the fixed base 504. By sandwiching or holding the support portion 542 by the sandwiching portion 544, the weight of the portion of the swivel base 506 in front of the rotation axis _OBS (B axis) is supported by the supporting portion 542 and the sandwiching portion 544.

As a specific form of the support portion 542 and the sandwiching portion 544, as shown in FIG. 23C, a rolling guide in which the rail is formed in an arc shape can be considered. A support portion 542 that is a rail is provided, and a bearing that sandwiches the rail and runs on the rail can be used as the holding portion 544. Instead of the rolling type using balls and rollers, slip guidance may be used.

As another form, as shown in FIG. 23A, it is conceivable that the support portion 542 and the sandwiching portion 544 are formed so as to be in contact with each other only at a desired indexing position and separated in other regions. The support portion 542 is arranged at at least one rotation position with respect to the rotation axis _OBS (B axis). For example, the support portion 542 is arranged on the longitudinal central axis _OS1 of the tool module 500. The pinching portion 544 of the swivel base 506 so that when the pinching portion 544 sandwiches or holds the support portion 542, the central axis OS of the spindle ₅₁₂ coincides with the longitudinal central axis OS ₁ of the tool module 500. Positioned on the bottom surface. A plurality of support portions 542 may be provided at different rotation positions with respect to the rotation axis _OBS (B axis).

Further, the tool module 500 is equipped with a chip discharging device 552. In this embodiment, the chip evacuation device 552 comprises a screw conveyor built into a fixed base 504. The screw conveyor comprises a screw (Archimedes screw) 556 extending in the Z-axis direction and a drive motor 558 coupled to the rear end of the screw 556. The screw 556 is housed in a trough 554 that opens upward. In this case, the drive motor 558 can be fixed to the rear end of the trough 554.

The chip discharging device 552 can preferably be reciprocated. In the present embodiment, a slidable block 555 is fixed to the lower surface of the trough 554 along a guide rail 555 extending linearly in the Z-axis direction. The block 555 is reciprocally driven along the guide rail 555 by an actuator, preferably a fluid pressure cylinder 557 such as a hydraulic cylinder or a pneumatic cylinder. In this way, the screw 556 and the drive motor 558 can reciprocate in the Z-axis direction together with the trough 554. As will be described later, the chip discharge device 552 of the tool module 500 advances in the Z-axis direction when coupled to the table module 600, protrudes from the front end of the fixed base 504, and enters the chip discharge passage of the table module 600. Is accepted by.

The tool module 500 may also include a chute 528 that guides chips from within the spindle cover 502 to the chip discharge device 552. The chute 528 is made of a hollow member extending in the vertical direction, has a wide upper end opening for receiving chips and a narrow lower end processed portion for discharging chips, and is formed in a funnel shape as a whole. .. The trough 554 of the waste discharge device has an upper portion open to receive the lower end portion of the chute 528. When the swivel base 506 is at a swivel position where the central axis OS of the spindle ₅₁₂ coincides with the longitudinal central axis OS ₁ of the tool module 500, the lower end machined portion of the chute 528 is the trough 554 of the chip ejector 552. Arranged in an upper position, the chips fall into the trough 554 of the chip discharging device 552. When the swivel base 506 _swivels around the rotation axis O _BS (B axis) and the center axis OS of the spindle 512 and the longitudinal center axis OS ₁ of the tool module 500 do not match, chips fall from the chute 528. A chip block 529 as shown in FIG. 23B can be provided on the fixed base 606 to prevent this from happening. The chip block 529 is an arc-shaped member in contact with the lower end opening of the chute 528, and has an opening 529a arranged above the trough 554 of the chip discharging device 552.

Further, in the above-described embodiment, the chip discharging device 552 includes a screw conveyor as a chip conveyor, but the present invention is not limited to this, and for example, as shown in FIG. 24B, the chip discharging device. May be formed from a belt conveyor 551. In the embodiment of FIG. 24B, the belt conveyor 551 is disposed on the swivel base 506. The belt conveyor 551 includes a belt stretched between the drive pulley 551a and the driven pulley 551b, and transports chips accumulated on the belt during processing forward along the longitudinal central axis _OS1 . .. As the chip conveyor provided in the chip discharging device, a screw conveyor, a bellcoton bear, a scraper conveyor, a hinge conveyor and the like can be considered.

The tool module 500 is provided with a first active interface 800 as a coupling portion used for coupling with the table module in the front portion. The first active interface 800 can be coupled with the first passive interface 820 described below. Referring to FIG. 25, the first active interface 800 has a flat plate-like substrate 802. The substrate 802 is formed with an opening 802a for passing the chip discharging device 552.

The first active interface 800 includes various functional devices disposed on the substrate 802. Functional devices include a multi-connector 804. The multi-connector 804 is arranged in the central portion adjacent to the upper edge of the substrate 802. The multi-connector 804 shown as an example includes at least one power connector 804a, 804b, 804c, 804h, 804i for connecting a power line, at least one data connector 804d, 804e for connecting a signal line, and an air cylinder. Includes at least one fluid connector 804f, 804g for connecting a conduit (not shown) through which a working fluid such as pressurized air or oil to drive a hydraulic cylinder or a fluid such as a coolant is passed.

The first active interface 800 further includes a plurality of couplers for mechanically coupling the tool module 500 to the table module 600 described later. In this embodiment, the coupler comprises at least one retractable coupler. In this embodiment, the lead-in coupler includes two pull-in couplers 806a and 806b. The two lead-in couplers 806a and 806b are arranged in the central portion adjacent to each of the left and right edges of the substrate 802. The coupler further includes a plurality of cone clamps having a positioning function. The present embodiment includes four cone clamps 808a, 808b, 808c, 808d arranged in each of the corners of the substrate 802.

The first active interface 800 further includes a plurality of sensor devices. The sensor device includes at least one contact sensor for determining whether the tool module 500 and the table module 600 are fully coupled. In this embodiment, the contact sensor includes two contact sensors 810a and 810b arranged diagonally of the substrate 802. The two contact sensors 810a and 810b are arranged inside a pair of cone clamps 808a and 808d arranged diagonally on the substrate 802.

The sensor device further includes at least one force sensor. In this embodiment, the force sensor includes two force sensors 812a, 812b arranged diagonally on the substrate 802. The two force sensors 812a and 812b are arranged on a diagonal line different from the diagonal line on which the two contact sensors 810a and 810b are arranged. That is, the two force sensors 812a and 812b are arranged inside the other pair of cone clamps 808b and 808c arranged diagonally on the substrate 802. The force sensors 812a and 812b are provided with pins that project vertically with respect to the substrate 802, and have a function of guiding the pins in the projecting direction by inserting the pins into the corresponding guide holes.

Sensor devices further include non-contact sensors, especially optical sensors. In this embodiment, the optical sensor includes a camera 814. The camera 814 is preferably oriented so that its optical axis is perpendicular to the substrate 802. In this embodiment, the camera 814 is arranged between the multi-connector 804 and the upper edge of the opening 802a. The camera 814 may be arranged below the opening 802a. The non-contact sensor may further include a laser sensor, for example a laser displacement sensor. The sensor device may further include an RFID (Radio Frequency Identifier) and an RFID reader in which an identification code is recorded in order to identify the module.

The multi-connector may be provided with a coupling cylinder. The multi-connector 960 shown in FIGS. 30A, 30B, and 30C has a male side and a female side, and when each passive module and each active module are coupled, the multi-connector 960 is in a state where the cylinder 966 is advanced. The male side of the is pushed into the female side. Both ends of the male side of the multi-connector 960 are fixed to the module with bolts 962. At this time, the fixed portion of the multi-connector 960 is provided with a play of several millimeters in the vertical and horizontal directions. Therefore, even if a slight positional deviation occurs between the module and the female side multi-connector 960 at the time of module coupling, the module can be smoothly coupled.

The cylinder 966 is moved forward and backward by the actuator 964. Specifically, the ball screw (not shown) in the actuator 964 moves forward and backward, so that the cylinder 966 moves forward and backward. Further, when performing maintenance work, by retracting the cylinder 966, each passive module and each active module in the coupled state can be separated from each other. For example, as the multi-connector 960, one manufactured by Stäubli can be used.

The tool module 500 can include one or more types of interfaces in addition to the first active interface 800. For example, the tool module 500 can include a second active interface 870 as shown in FIG. 26 in addition to the first active interface 800. The second active interface 870 can be coupled to the second passive interface 860 (FIG. 28) described below. The second active interface 870 can include a multi-connector 874 mounted on a flat substrate 872. The multi-connector 874 is arranged adjacent to the central portion of the upper edge of the substrate 872. The multi-connector 874 shown as an example drives at least one power connector 874a, 874b, 874c, 874h, 874i for connecting a power line, data connectors 874d, 874e for connecting a signal line, and an air cylinder or a hydraulic cylinder. Includes at least one fluid connector 874f, 874g for connecting a conduit (not shown) through which a working fluid such as pressurized air or hydraulic oil or a fluid such as coolant is passed. The second active interface 870 can further include a camera 876. Further, since the camera 876 of the second active interface 870 has the same embodiment as the first active interface and the third active interface, the details will be omitted.

The tool module 500 can include a third active interface 900 shown in FIG. 27 in addition to the first active interface 800 or in addition to the first and second active interfaces 800 and 870. The third active interface 900 can include a multi-connector 904 mounted on a flat substrate 902. The multi-connector 904 is arranged adjacent to the central portion of the upper edge of the substrate 902. The multi-connector 904 shown as an example drives at least one power connector 904a, 904b, 904c, 904h, 904i for connecting a power line, data connectors 904d, 904e for connecting a signal line, and an air cylinder or a hydraulic cylinder. Includes at least one fluid connector 904f, 904g for connecting a conduit (not shown) through which a working fluid such as pressurized air or hydraulic oil or a fluid such as coolant is passed.

The third active interface 900 further includes a plurality of couplers for mechanically coupling to the corresponding third passive interface 880 (FIG. 29). In this embodiment, the coupler comprises at least one retractable coupler. In this embodiment, the lead-in coupler includes two pull-in couplers 906a and 906b. The two lead-in couplers 906a and 906b are arranged at the corners between the left and right edges of the substrate 902 and the lower edges. The coupler further includes a plurality of cone clamps having a positioning function. In the present embodiment, two cone clamps 908a and 908b are arranged at the corners between the left and right edges and the upper edge of the substrate 902.

Similar to the first active interface 800, the third active interface 900 further includes a plurality of sensor devices. In this embodiment, the sensor device includes a contact sensor 910 similar to the contact sensors 810a, 810b of the first active interface 800, and a force sensor 912 similar to the force sensors 812a, 812b of the first active interface 800. .. The contact sensor 910 and the force sensor 912 are arranged between the cone clamps 908a and 908b and the retractable couplers 906a and 906b, inside the cone clamps 908a and the retractable couplers 906a, and the cone clamps 908b and the retractable couplers 906b. .. The third active interface 900 can further include a camera 914. The camera 914 is arranged between the contact sensor 910 and the force sensor 912.

The second active interface 870 and / or the third active interface 900 can be arranged on the fixed base 504 of the tool module 500 on a side surface different from that of the first active interface 800.

The tool module 500 can also include a second passive interface 860 (FIG. 28) corresponding to the second active interface 870, in addition to the first active interface 800. The second passive interface 860 can include a multi-connector 864 mounted on a flat substrate 862. The multi-connector 864 is a multi-connector corresponding to the multi-connector 874 of the second active interface 870, and connects at least one power connector 874a, 874b, 874c, 874h, 874i, and a signal line for connecting a power line. Data connectors 874d, 874e, and at least one fluid for connecting a conduit (not shown) through which a working fluid such as pressurized air or oil to drive an air cylinder or hydraulic cylinder or a fluid such as a coolant is passed. Includes connectors 874f, 874g. The second active interface 870 can further include a camera 876.

The tool module 500 can also include, in addition to the first active interface 800, a third passive interface 880, shown in FIG. 29, corresponding to the third active interface 900. The third passive interface 880 can include a multi-connector 884 mounted on a flat substrate 882. The multi-connector 884 is a multi-connector corresponding to the multi-connector 884 of the third active interface 900, and connects at least one power connector 884a, 884b, 884c, 884h, 884i, and a signal line for connecting a power line. Data connectors 884d, 884e and at least one fluid connector for connecting a conduit (not shown) through which a working fluid such as pressurized air or oil to drive an air cylinder or hydraulic cylinder or a fluid such as a coolant is passed. 884f, 884g is included.

The third passive interface 880 further includes an image pickup target 894 by the camera 914 of the third active interface 900. In the present embodiment, the image pickup target is a recognition code representing the tool module 500, and a code of another format such as a barcode may be used, but the recognition code can be a two-dimensional code. FIG. 50 shows an example of a two-dimensional code. The two-dimensional code of FIG. 50 is a data matrix with 8 rows and 8 columns. The recognition code is a matrix type two-dimensional code such as QR code (registered trademark), micro QR code (registered trademark), SP code, VeriCode, MaxiCode, CP code, or PDF417, micro. Two stack types such as PDF417, code 49 (Code49), code (Code16K), coder block (Codablock), super code (SuperCode), ultra code (Ultra Code), RSS composite (Composite), and Aztec Mesa. It can be a dimensional code. Further, the two-dimensional code is used to calculate the relative position and angle between the third active interface 900 and the third passive interface 880 based on the image of the identification code captured by the camera 914 of the third active interface 900. can. If the sensor device is equipped with an RFID (Radio Frequency Identifier), the recognition code may be communicated by RFID.

The third passive interface 880 further includes a plurality of couplers corresponding to the couplers of the third active interface 900. In this embodiment, the coupler includes two pull-in couplers 886a, 886b corresponding to the pull-in couplers 906a, 906b of the third active interface 900. The lead-in couplers 886a and 886b are arranged at the corners between the left and right edges of the substrate 882 and the lower edges. The coupler further includes two cone clamps 888a, 888b corresponding to the cone clamps 908a, 908b of the third active interface 900. In the cone clamps 888a and 888b, two cone clamps 888a and 888b are arranged at the corners between the left and right edges and the upper edge of the substrate 882.

The third passive interface 880 further includes a contact piece 890 corresponding to the contact sensor 910 of the third active interface 900 and a guide hole 892 corresponding to the force sensor 912. The contact piece 890 and the guide hole 892 are arranged between the cone clamps 888a and 888b and the retractable couplers 886a and 886b, inside the cone clamp 888a and the retractable coupler 886a, and the cone clamp 888b and the retractable coupler 886b. There is.

Referring to FIG. 31A, the drive module 560 has a hollow, generally rectangular parallelepiped base portion 562. Wheels 564 are rotatably attached to the four corners of the base portion 562. The wheel 564 can be formed by a combination of ordinary tires and wheels, but is preferably formed by a Mecanum wheel. The Mecanum wheel is a wheel that turns by using the difference in rotation of the wheel, instead of turning by a steering operation that tilts the wheel itself with respect to the traveling direction like a normal wheel. By controlling the rotation difference of the wheel, it is possible not only to move the wheel linearly in the rotation direction like a normal wheel, but also to make a super-credit turn and parallel movement in all directions. Wheel 564 may be formed by an omni wheel.

The drive module 560 is provided with a drive motor (not shown) for independently rotating and driving each of the four wheels 564. The drive motor may be arranged in the base portion 562, but it is preferably an in-wheel motor (not shown) arranged in each wheel 564.

The drive module 560 is equipped with area sensors 598 arranged at the four corners. More specifically, the two area sensors 598 are arranged on the front surface of the base portion 562, and the two area sensors 598 are arranged on the rear surface of the base portion 562. The four area sensors 598 form a generally circular detection area around the drive module 560. The area sensor 598 detects the presence, shape and position (distance, direction) of an object in the detection area. The area sensor 598 can be a laser sensor, particularly a lidar (LiDAR (Light Detection and Ringing)) sensor. The rider sensor can measure the scattered light to the laser irradiation that emits in a pulse shape, analyze the distance to the object at a long distance and the property of the object, measure the accurate distance to the object, and measure the surroundings. It provides a three-dimensional traveling space sensor that can grasp the situation in real time and three-dimensionally. Further, as the laser sensor, a 3d LiDAR sensor may be used.

As described above, the four area sensors 598 form a detection region around the drive module 560, and the shape and position of the object existing in the detection region are detected. In the present invention, the detection area is inside a circle having a predetermined radius centered on the drive module 560. In FIGS. 91 to 94, the area between the outer first detection circle C ₁ and the inner second detection circle C ₂ is defined as the first detection region SA ₁ , and the inside of the second detection circle C ₂ is defined. It is defined as the second detection area SA ₂ . The second detection circle C ₂ is, for example, the outer surface of the drive module (drive module 560 in FIGS. 91 to 94) and the module mounted on the drive module (table module 600 in FIGS. 91 to 94). It has a radius obtained by adding a predetermined length d ₁ to the radius of the largest circle in contact with (a circle obtained by projecting a cylindrical surface extending in the vertical direction onto a horizontal plane). The first detection circle C ₁ has a radius obtained by adding a predetermined length d ₂ to the radius of the second detection circle C ₂ .

By providing the two concentric detection regions SA ₁ and SA ₂ in this way, for example, at least one area sensor 598 of the drive module 560 detects an object in the outer first detection region SA ₁ . Occasionally, the moving speed of at least one of the tool module 500, the table module 600 and the drive module 560 is reduced and / or an "alarm" is issued within the inner second detection area SA ₂ . When an object is detected, the operation of at least one of the tool module 500, the table module 600 and the drive module 560 can be stopped and / or an "alarm" can be issued.

For example, when the area sensor 598 detects an object in the first detection area SA ₁ , the moving speed of the drive module 560 is reduced, and when the object is detected in the second detection area SA ₂ , the drive module 560 is used. You can make it stop. In FIG. 91, since a part of the table module 600-1 has entered the first detection area SA ₁ of the table module 600-2, the moving speed of the table module 600-2 (drive module 560) is reduced. Module.

Even if an object is detected in the first detection region SA ₁ , it is not a human being, and one module (active module) is in another module (passive module) that is stationary, for example, as shown in FIGS. 91 to 94. In the case of coupling, if it is clear that the active module is approaching the passive module and the object detected in the detection area SA ₁ is the passive module, there is no need to reduce the moving speed of the active module. It is possible. In such a case, as shown in FIG. 92, the non-detection region Δ1 can be formed in the first detection region SA ₁ to cancel the detection of the object in the non-detection region Δ1. As an example, the non-detection region Δ1 is a portion indicated by a diagonal line surrounded by the first and second detection circles C ₁ and C ₂ and two radial straight lines forming the central angle α 1.

As shown in FIG. 93, when the active module approaches the passive module further and the passive module enters the second detection region SA ₂ , the active module stops before being coupled to the passive module. This can be avoided by forming the non-detection region Δ2 in the second detection region SA ₂ in addition to the non-detection region Δ1 of the detection region SA ₁ of 1. As an example, the non-detection region Δ2 is a portion indicated by a second detection circle C ₂ and a diagonal line surrounded by two radial straight lines forming a central angle α2. The non-detection regions Δ1 and Δ2 of the first and second detection regions SA ₁ and SA ₂ can be expanded by gradually increasing the central angles α1 and α2 as the active module approaches the passive module.

91 to 94 show the first and second detection regions SA ₁ and SA ₂ when one active module is coupled to one passive module, but FIGS. 95 to 97 show three processes. In the case of configuring a machining system consisting of modules, one tool module 500- is already combined with three table modules 600-1, 600-2, 600-3 and one tool module 500-1. 2 shows the changes in the detection regions SA ₁ and SA ₂ when the table module 600-2 is coupled.

Further, FIG. 98 shows a first formed around the table module 600-4 of the machining system 1100 already composed of three machining modules, and the table module 600-4 when one further table module 600-4 is coupled. And the second detection areas SA ₁ and SA ₂ are shown.

The drive module 560 further includes a stand assembly 570 arranged on two side surfaces of the base portion 562 facing each other in the left-right direction. The stand assembly 570 includes a foot or shoe 572, a shaft 574, a guide 576 and a fluid cylinder 578. The fluid cylinder 578 is fixed to a motor bracket 566 projecting from the two side surfaces of the base portion 562. The shaft 574 is extended so as to be in the vertical direction when the drive module 560 is placed on a horizontal surface (floor surface). The upper end of the shaft 574 is coupled to the fluid cylinder 578 and the lower end is coupled to the foot or shoe 572.

The shaft 574 has a length that allows the foot or shoe 572 to sufficiently contact the floor on which the drive module 560 is mounted. The guide 576 engages the shaft 574 and is fixed to the stand support portion 568. The stand support portion 568 projects below the bracket 566 from the two sides of the base portion 562. By driving the shaft 574 by the fluid cylinder 578, which is a stand actuator, the shoe 572 moves in the vertical direction. In the present embodiment, the stand actuator is a fluid cylinder 578, but as another example of the stand actuator, a ball screw and a drive motor may be used to drive the shaft 574. By setting the stand assembly 570, that is, bringing the shoe 572 into contact with the floor surface, the stand assembly 570 can be loaded with the weight of the drive module 560 and the tool module 500 (or table module 600 described below) mounted on the drive module 560. ) Will support the weight.

The drive module 560 controls the power supply device 580 that supplies power to the drive motor (in-wheel motor) of the wheel 564 and the power supplied from the power supply device 580 to the drive motor of the wheel 564, particularly the current value and polarity thereof. It is equipped with a device 582 (FIG. 22A). The power supply 580 may include a rechargeable battery, in particular a lithium battery.

The drive module 560 is provided with a jack or a leveling block 590 for leveling the tool module 500 mounted on the base portion 562. In the present embodiment, the drive module 560 is provided with four leveling blocks 590 on the upper surface 562a (module mounting surface) of the base portion 562. Each of the leveling blocks 590 includes a ram drive motor 592, a case 594, and a ram 596 provided on top of the case 594. The tool module 500 is mounted on four rams 596.

In the illustrated embodiment, the ram 596 is provided so as to be able to reciprocate in a direction perpendicular to the upper surface of the case 594. A wedge member (not shown) is provided in the case 594 so as to be reciprocating in the linear direction. A slope (not shown) that contacts the slope of the wedge member is formed at the lower end of the ram 596. By linearly moving the wedge member by the ram drive motor 592, the ram 596 moves in a direction perpendicular to the upper surface of the case 594. Each of the ram drive motors 592 is individually connected to the power supply device 580, and the position of the ram 596 is controlled by the control device 582. As a result, the tool module 500 mounted on the ram 596 can be leveled, whereby the tool module 500 and the table module 600 can be smoothly connected.

The drive module 560 described above adjusts the height of the ram 596 of the leveling block 590 to horizontally hold the tool module 500 or the table module 600 mounted on the drive module 560. The present invention is not limited to this, and the tool module 500 or the table module 600 mounted on the drive module may be held horizontally by keeping the drive module itself horizontal.

Referring to FIGS. 31B-38, the drive module 700 according to another embodiment of the present invention is a self-propelled drive device like the drive module 560 of FIG. 31A. In this embodiment, the drive module has a longitudinal central axis _OD1 and the front-rear direction of the drive module 700 is defined along the central axis _OD1 . Further, the drive module 700 has a transverse central axis _OD2 extending perpendicularly to the longitudinal central axis _OD1 , and the left-right direction of the drive module 700 is defined along the central axis _OD2 .

The drive module 700 has a hollow, generally rectangular parallelepiped base portion 702. The upper surface 702a of the base portion 702 is a module mounting surface on which the tool module 500 and the table module 600 described later are mounted. Wheels 704-1, 704-2, 704-3, 704-4 are attached to the four corners of the base portion 702 via the suspension 706. Notches 714 for arranging the wheels 704-1, 704-2, 704-3, 704-3 can be formed at the four corners of the lower surface of the base portion 702. Further, the base portion 702 has four tabs 748 that project horizontally in the longitudinal direction. In this embodiment, the tab 748 projects in the front-rear direction from the notch 714.

Wheels 704-1, 704-2, 704-3, 704-4 can be formed by a combination of ordinary tires and wheels, but are preferably formed by Mecanum wheels. The Mecanum wheel is a wheel that turns by using the difference in rotation of the wheel, instead of turning by a steering operation that tilts the wheel itself with respect to the traveling direction like a normal wheel. By controlling the rotation difference of the wheel, it is possible not only to move the wheel linearly in the rotation direction like a normal wheel, but also to make a super-credit turn and parallel movement in all directions. Wheels 704-1, 704-2, 704-3, 704-4 may be formed by omni wheels.

Each of the wheels 704-1, 704-2, 704-3, 704-4 comprises an inner ring 756, an outer ring 758, and a plurality of rollers 760. The plurality of rollers 760 have the central axes (axle central axes) O _w-1 and O _w-2 of the wheels 704-1, 704-2, 704-3, and 704-4 between the inner ring 756 and the outer ring 758, respectively. , O _w-3 , Extends along the roller axes _Or-1 , _Or-2 , _Or-3 , _Or-4 , which are inclined at an angle of approximately 45 degrees with respect to O _w-4 . , The inner ring 756 and the outer ring 758 are rotatably attached to the outer peripheral portions of each. In this embodiment, the central axes O _w-1 , O _w-2 , O _w-3 , and O _w-4 of the wheels 704-1, 704-2, 704-3, and 704-4 are driven. It extends parallel to the transverse central axis O _D2 of the module 700. If the wheels 704-1, 704-2, 704-3, 704-4 are Mecanum wheels, the wheels 704-1, 704-2, 704-3, 704-4 are diagonally arranged wheels. Roller axis (roller axis Or _-1 , Or _-4 and roller axis Or _-2 , Or _-3 ) of the set (wheels 704-1, 704-4 and wheels 704-2, 704-3) Are arranged to be parallel or coincident.

The drive module 700 includes one or more drive motors that drive the wheels 704-1, 704-2, 704-3, 704-4. If the wheels 704-1, 704-2, 704-3, 704-4 are Mecanum wheels, the drive motor is preferably within each of the wheels 704-1, 704-2, 704-3, 704-4. It can be a built-in in-wheel motor 761. The drive module 700 includes a power supply device 703 that supplies electric power to a drive motor, in this embodiment, an in-wheel motor 761, and a drive motor from the power supply device 703, particularly wheels 704-1, 704-2, 704-3, 704-4. Each of the in-wheel motors 761 is individually supplied with electric power, particularly a control device 701 for controlling the current value and polarity thereof. The power supply 703 includes a rechargeable battery, particularly a lithium battery.

The suspension 706 includes a rocker arm 708, a coil spring 738, a damper 739, a suspension drive motor (servo motor) 740 for level adjustment, and a ball screw as main components. If each of the wheels 704-1, 704-2, 704-3, 704-4 is equipped with an in-wheel motor 761, rocker the casing (not shown) or output shaft (not shown) of the in-wheel motor 761. It can be coupled to the arm 708.

One end (upper end) 708a of the rocker arm 708 is connected to the base 702. More specifically, the upper end 708a is rotatably attached to the side surface 714a of the notch 714 by the upper suspension shaft 712. The upper suspension shaft 712 extends parallel to the central axis _OD2 in the transverse direction of the drive module 700.

A lower spring receiving member 720 that supports the lower end of the coil spring 738 is connected to the other end (lower end) 708b of the rocker arm 708. The lower spring receiving member 720 has a shaft portion 718 extending parallel to the central axis _OD2 in the transverse direction of the drive module 700. The shaft portion 718 is rotatably connected to the other lower end portion 708b of the rocker arm 708.

The suspension 706 has an upper spring receiving member 732, and the coil spring 738 is held between the upper spring receiving member 732 and the lower spring receiving member 720. More specifically, the coil spring 738 is disposed between the upper spring receiving member 732 and the lower spring receiving member 720 around the central axis _OSP of the suspension.

The central axis O _SP of the suspension is inclined with respect to the central axis O _D1 in the longitudinal direction of the drive module 700 and extends perpendicularly to the central axis O _{D 2} in the transverse direction. More specifically, in the drive module 700, the central axis _OSPs of the suspension 706 for a set of wheels 704-1, 704-2 arranged in the transverse direction extend parallel to each other. The central axis OSP of the suspension 706 for the other sets of wheels 704-3, _704-4 aligned in the transverse direction also extends parallel to each other. The central axis OSP of the suspension 706 for a set of longitudinally aligned wheels 704-1, _704-3 is tilted above the base 702 to intersect each other. The central axis OSP of the suspension 706 for the other sets of wheels 704-2, _704-4 arranged in the longitudinal direction is also inclined above the base portion 702 so as to intersect each other.

The suspension 706 has a ball screw 734 and a contact member 726 facing the ball screw 734. The abutting member is formed so as to project upward along the central axis _OSP of the suspension 706 from each of the lower spring receiving members 720.

The ball screw 734 is held so as to be able to reciprocate along the central axis _OSP . The ball screw 734 consists of a screw member extending through the upper spring receiving member 732. In this embodiment, the ball screw 734 is formed of a ball screw that engages the nut 728.

The nut 728 is rotatably held by the nut holder 730 around the central axis _OSP of the suspension 706. The nut holder 730 has a shaft portion 730a extending parallel to the central axis _OD2 in the transverse direction. The shaft portion 730a is rotatably supported by a bearing 731 fixed to each of the four tabs 748.

The suspension 706 is further equipped with a suspension drive motor 740. The suspension drive motor 740 is attached to the support plate 749. In this embodiment, the support plate 749 is integrally formed with the nut holder 730. A drive pulley 744 is attached to the output shaft 742 of the suspension drive motor 740. The suspension drive motor 740 can include a sensor 740a such as a rotary encoder that measures the rotation position and rotation speed of the suspension drive motor 740. The suspension drive motor 740 is connected to the power supply device 703, and its rotation speed, rotation direction, and cumulative number of rotations are controlled by the control device 701.

The drive pulley 744 rotates integrally with the output shaft 742. The drive pulley 744 is connected to the driven pulley 736 via a belt 746. The driven pulley 736 is fixed to the nut 728. The driven pulley 736 and the nut 728 rotate integrally around the ball screw 734. As the nut 728 rotates in the nut holder 730, the ball screw 734 moves toward and away from the abutting member 726 along the central axis _OSP of the suspension 706 according to the rotation direction of the nut 728. In particular, after the ball screw 734 comes into contact with the contact member 726, the ball screw 734 moves further downward, so that the distance between the upper spring receiving member 732 and the lower spring receiving member 720 increases. As a result, the base portion 702 is lifted upward.

The drive module 700 according to the present embodiment also has a stand assembly 570 similar to the drive module 560.

The wheel on the lower side when the floor surface F on which the drive module 700 is mounted is inclined in the left-right direction when the drive module 700 is viewed in the direction of the central axis _OD1 in the longitudinal direction. The base portion 702 can be made horizontal by causing the pressing member 734 of the above to move away from the abutting member 726. For example, in the example shown in FIG. 37, the floor surface F is lowered on the right side, and in this case, the pressing member 734 is attached to the abutting member 726 by the suspension drive motor 740 of the wheel 704-2 and / or the wheel 704-4. By abutting and further moving downward, the right side of the base portion 702 can be lifted and the upper surface of the base portion 702 can be leveled.

Similarly, when the floor surface F is inclined in the front-rear direction of the drive module 700, the pressing member 734 of the wheel on the lower side is moved away from the abutting member 726 to cause the base portion 702. Can be leveled. For example, in the example shown in FIG. 38, the front side of the floor surface F is low, but in this case, the pressing member 734 is brought into contact with the abutting member 726 by the suspension drive motor 740 of the wheel 704-1 and / or the wheel 704-2. The front side of the base portion 702 can be lifted and the upper surface of the base portion 702 can be leveled by abutting on the base portion 702 and further moving the base portion 702 downward.

Although the drive module 700 is shown so as not to have an area sensor, the drive module 700 can also have an area sensor.

As described above, in the examples of FIGS. 31B to 38, the upper surface (module mounting surface) 702a of the base portion 702 of the drive module 700 is horizontally arranged by the suspension 706, thereby mounting on the upper surface 702a of the base portion 702. The tool module 500 and the table module 600 to be placed can be leveled, so that the tool module 500 and the table module 600 can be smoothly connected. In order to confirm the levelness of the base portion 702, a gyro sensor / tilt sensor (not shown) may be attached to the base portion 702.

When the drive module 700 normally runs in the factory, all wheels need to be in contact with the floor surface. (Especially when driving with a Mecanum wheel) If the floor surface is uneven, it is necessary to prevent a sudden load from being applied to the suspension drive motor 740 when overcoming the unevenness. Therefore, the suspension drive motor 740 can control the impedance during normal running and allow the displacement when a large external force is applied to the suspension so that the motor is not overloaded. For example, even when the pull-in coupler forcibly pulls in the module when the drive module is coupled to the table module, the suspension drive motor 740 controls the impedance to allow displacement due to external force and overload the motor. Can be prevented. During normal driving, the suspension drive motor 740 controls impedance and keeps the base horizontal.

When the modules are connected, the suspension drive motor 740 controls the position. The first module lined up at the very beginning of the machining line controls the position of the suspension so that it stays horizontal based on the values of the gyro sensor and tilt sensor (not shown). When another module is combined with a stationary module, the relative position / angle between the modules is measured by a sensor such as a camera, and the suspension position is controlled based on the value, so that the modules can be connected smoothly. ..

With reference to FIGS. 39 and 40, the drive module 750 according to still another embodiment is illustrated. The drive module 750 is configured in substantially the same manner as the drive module 560, but the base portion 752 has an upper surface 752a (module mounting surface) arranged at a position lower than the upper surface of the drive module 560. Is different. Further, only when the tool module 500 moves, it is coupled to the drive module 750 and conveyed. After configuring the line, it can be separated from the tool module 500. The upper surface 752b of the rear portion of the drive module 560 is higher than the upper surface 752a forming the module mounting surface. Two area sensors 598 are provided on the front surface of the base portion 752 of the drive module 750, and two area sensors 598 are provided on the rear surface thereof. The area sensor 598 can be a laser sensor, particularly a lidar (LiDAR (Light Detection and Ringing)) sensor.

Further, the drive module 750 is provided with a connector assembly 754. The connector assembly 754 can be coupled to the corresponding connector assembly (not shown) provided in the tool module 500. The connector assembly 754 of the drive module 750 is arranged on the front side surface 752c of the drive module 750 between the two upper surfaces 752a and 752b having different heights. The corresponding connector assembly of the connector assembly 754 and the tool module 500 can include, for example, a data connector connecting the signal lines and a power connector connecting the power lines, and when coupled with the tool module 500, the drive module. The connector assembly 774 of the 770 is a connector for supplying power, a signal, and a fluid to the tool module 500.

As shown in the figure, the connector assembly of the tool module 500 mounts the tool module 500 on the ram 596 of the leveling block 590 arranged on the upper surface 752a forming the module mounting surface of the drive module 750. When the drive module 770 invades the lower side of the tool module 500, the connector assembly 754 of the drive module 770 is arranged at a position where it can be engaged, and in the illustrated embodiment, it is provided on the control panel 526.

In this embodiment, the stand assembly 570 is provided on the side surface of the fixed base 504 of the tool module 500, not the drive module 770. Further, also in the present embodiment, the drive module 770 separately supplies electric power to the power supply device 580, the drive motor (not shown) for driving each of the wheels 564, and the ram drive motor 592 of each leveling block 590. It has a control device 582 to control.

After connecting the tool module 500 to the table module 600, it is not necessary to move the tool module 500 and the table module 600, so that the drive module does not necessarily have to be equipped with a battery. With reference to FIGS. 41 to 43, the drive module 770 according to still another embodiment is illustrated. The drive module 770 is configured in much the same way as the drive module 750, but the power supply does not have a battery and does not have a control device to supply and control power, data and fluid through the connector assembly 794. Alternatively, it differs from the drive modules 560, 700, and 750 described above in that it has only a very small capacity battery (rechargeable battery).

The drive module 770 includes a thin base portion 772 having an upper surface forming a module mounting surface. The drive module 770 differs from the drive module 750 which has two upper surfaces 752a and 752b in that the base portion 752 has one upper surface. A control device is housed in the base portion 772, and a connector assembly 774 is provided on the rear end surface of the base portion 772. The connector assembly 774 includes, for example, a data connector for connecting a signal line, a power connector for connecting a power line, a working fluid such as pressurized air or hydraulic oil for driving an air cylinder or a hydraulic cylinder, or a fluid such as a coolant. It can include a fluid connector for connecting a conduit (not shown) through which it passes.

The drive module 770 can be connected to a push-pull motor vehicle 790. The motor vehicle 790 is equipped with a hollow body 792. Wheels 564 are arranged at the four corners of the vehicle body 792. Inside the vehicle body 792, a power supply device that supplies electric power to the drive motor (not shown) of the wheel 564 and a control device that controls the electric power supplied from the power supply device to the drive motor are housed.

The motor vehicle 790 is equipped with a coupler 796 that can be engaged with the engaging portion 776 of the drive module 770. When the motor vehicle 790 is connected to the drive module 770, the connector assembly 774 of the drive module 770 is connected to the corresponding connector assembly 794 of the power supply module 790. Further, when coupled to the tool module 500, the connector assembly 774 of the drive module 770 is a connector for supplying electric power, a signal, and a fluid to the tool module 500.

After connecting the tool module 500 to the table module 600, it is not necessary to move the tool module 500 and the table module 600. Therefore, unlike the drive module 770 of the present embodiment, the power supply device does not have a battery and a small number of power supplies are used. By preparing the module 790, the drive module can be manufactured at low cost.

With reference to FIGS. 44 to 61, a table module to which the tool module 500 is attached is illustrated. The table module of this embodiment, which is a modification of the table module 200, is formed of a table module 600 and a drive module 560. The table module 600 is placed on the upper surface 562a of the drive module 560, particularly on the ram 596 of the leveling block 590. The table module 600 includes a base portion 620 and a rotary table 630 rotatably supported around the central axis _OT in the vertical direction. When the table module 600 is combined with the tool module 500, the longitudinal central axis O _T1 corresponding to the longitudinal central axis OS ₁ of the tool module 500, the vertical rotation axis O _BT , and the longitudinal central axis It has a transverse central axis O _T2 that intersects both O _{T 1} perpendicularly.

The rotary table 630 has a mounting surface 630a formed of a flat surface on which a work (not shown) is placed and fixed, and a shaft portion 632 protruding from the lower surface on the opposite side of the mounting surface 630a (FIGS. 49 and 50). ). The base portion 620 has a boss hole 622 formed around the rotation axis O _BT and receiving the shaft portion 632 of the rotary table 630. The shaft portion 632 is rotatably supported by the bearing 634 in the boss hole 622.

The rotary table 630 is rotatably attached to the base portion 620 about the rotation axis O _BT in the vertical direction, but the rotation center of the rotary table is not limited to the vertical axis. For example, as shown in FIGS. 51 and 52, it may be rotatably attached to the base portion 620 around an inclined rotation axis (inclined axis) _OAT . In FIGS. 51 and 52, the rotary table 640 includes a table body 646 having a fixed surface _646a that rotates about the rotation axis OBT. The table body 646 is integrally coupled to the rotation base portion 642. The rotation base portion 642 is rotatably supported around the inclined axis _OAT by the table base portion 644 fixed to the base portion 620.

Further, the rotary table of the table module 600 may be rotatable (swinged) around the horizontal axis. In the embodiment shown in FIGS. 53A and 53B, the rotary table 650 includes a swing table 654 having a fixed surface 654a. The swing table 654 is swingably supported by a pair of blocks 652 around the horizontal rotation axis _OHT . The pair of blocks 652 are arranged apart from each other at predetermined intervals along the rotation axis _OHT , and are fixed to the base portion 620.

Further, a tool rack 660 as shown in FIG. 54 may be attached to the rotary table 630 of the table module 600. The tool rack 660 has a tool holder 664 having a gripping claw 662 that engages a peripheral groove (not shown) of the tool T. Although one tool holder 664 is shown in FIG. 54, the tool rack 660 may include a plurality of tool holders 664. The tool rack 660 can transfer the tool to the adjacent table module 500 by the automatic work exchange operation of the tool module 500 described later.

Further, a reference ball 668 as shown in FIG. 54 may be attached to the rotary table of the table module 600. In this case, a measuring probe (not shown) is attached to the spindle 512 of the tool module 500 from the tool magazine, and the coordinates of the X, Y, and Z axes of the reference ball 668 are measured by the measuring probe. By referring to the coordinates of the X, Y, and Z axes of the reference sphere 668, it is possible to correct the machining error caused by the positional error of the coupling between the table module 600 and the tool module 500.

Further, the rotary table of the table module 600 can be provided with a coupler 666 as shown in FIG. 54. An oil-pneumatic circuit from the first active interface 800 is connected to the coupler 666. For example, when a work fixture that opens and closes pneumatically by the clamper that holds the work W is provided at the position indicated by the alternate long and short dash line on the mounting surface 630a, the clamper and the coupler 666 are connected by piping and pressure is applied to the clamper. Can be supplied. Further, at least one of the couplers 666 has the function of the energy converter 667. An air hydro system is particularly used for the energy converter 667. The air pressure shared from the first active interface 800 is converted to hydraulic pressure. For example, when a work fixture that hydraulically opens and closes the work fixture that holds the work W is provided at the position indicated by the two-dot chain line on the mounting surface 630a, the clamper and the energy converter 667 are connected by piping to the clamper. Pressure can be supplied.

The table module 600 can include a servomotor as a drive source for rotationally driving the rotary table 640. In the present embodiment, the servomotor is attached to the stator 636 fixed to the inner peripheral surface of the boss hole 622 of the base portion 620 and the outer peripheral surface of the shaft portion 632 of the rotary table 630 so as to face the stator 636. It is equipped with a rotor 638.

A chip discharge passage 626 is formed in the base portion 620. The chip discharge passage 626 extends along the horizontally extending central axis (chip conveyor axis) _{OC C} that is inclined with respect to the longitudinal central axis _OT1 and the transverse central axis OT2 of the table module 600. ing. The chip discharge passage 626 penetrates the base portion 620 along the chip conveyor axis _OCC . Further, the base portion 620 has a chip discharge hole 624 which opens on the upper surface thereof. The bottom of the chip discharge hole 624 extends to the chip discharge passage 626 to collect chips generated during processing and guide them to the chip discharge passage 626.

Further, the chip discharge passage 626 has a receiving portion 626a. The receiving portion 626a is formed from a hole extending in the O _T1 direction of the central axis in the longitudinal direction. The receiving portion 626a is open on the side surface of the base portion 620 facing the tool module 500, and when the tool module 500 is coupled to the table module 600, the length of the tool module 500 in the screw conveyor of the chip discharging device 552. Receiving a portion protruding forward along the central axis _OS1 in the direction.

When the chip discharge device is not a screw conveyor but a belt conveyor shown in FIG. 24B, the chip discharge passage 626 does not have to be provided with the receiving portion 626a. Further, when the chip discharging device is the belt conveyor 551, when the tool module 500 is coupled to the table module 600, the tip end portion of the belt conveyor 551 is arranged above the chip discharging hole 624 as shown in FIG. 45B.

A chip discharge device 618 is arranged in the chip discharge passage 626. The chip discharge device 618 can be formed by a belt conveyor 628 extending along the chip conveyor axis _OCC . In the belt conveyor 628, in the chip discharging device 618, one end portion (upstream side end portion) _628a is arranged near the side surface of the base portion 620, and the other end portion (downstream side end portion) 628b is the chip conveyor axis OCC. It protrudes from the opposite side surface of the base portion 620 along the line. In the illustrated embodiment, the upstream end portion 628a of the belt conveyor 628 slightly protrudes from the side surface of the base portion 620. The downstream end portion 628b of the belt conveyor 628 is a lift-up portion lifted upward.

The table module 600 can further include a movable cover assembly 602 attached to the upper surface of the base portion 620. The movable cover assembly 602 can be a cover that can be opened and closed around the vertical rotation axis _OCVR on the upper surface of the base portion 620. The movable cover assembly 602 includes a first movable cover 604, a second movable cover 606, and a third movable cover 608. The first to third movable covers 604 to 608 can independently move in the circumferential direction. Actuators 609 of the first to third movable covers 604 to 608 are arranged in the actuator cover 610.

The first, second, and third movable covers 604, 606, and 608 are side surfaces 604a, 606a formed from a part of a cylindrical surface curved along the circumference centered on the rotation axis _OCVR of the cover. , 608a and ceilings 604b, 606b, 608b extending radially inward from the upper ends of the side surfaces 604a, 606a, 608a. The first and second movable covers 604 and 606 are arranged on the same circumference centered on the rotation axis _OBT , and the third movable cover 608 is inside the first and second movable covers 604 and 606. Is located in.

The first and second movable covers 604 and 606 have rollers 616 and 617 protruding outward in the radial direction at the lower end thereof. The rollers 616 and 617 are rotatably provided about an axis extending in the radial direction with respect to the rotation axis O _BT . The table module 600 has a cover rail 615 extending along a circumference about the rotation axis O _BT . The rollers 616, 617 are mounted on the upper end of the cover rail 615, whereby the first and second movable covers 604, 606 are movably supported along the cover rail 615. While the first and second movable covers 604 and 606 move, the rollers 616 and 617 roll along the cover rail 615. The table module 600 is further arranged at a cover rail (not shown) for the third movable cover 608 and a lower end portion of the third movable cover 608, and is a cover for the third movable cover 608. It is equipped with a roller (not shown) that rolls along the rail. The cover rail for the third movable cover 608 is arranged inside the third movable cover 608.

44-48 and 55 show the closed mode of the movable cover assembly 602. In the closed mode, one opening region _AO (FIG. 55) is formed at a position facing the tool module 500 coupled to the table module 600. At this time, the opening 502a in front of the spindle cover 502 of the tool module 500 and the opening 602a of the table module 600 match, and the machining area is the spindle cover 502 of the tool module 500 and the first, second, and third. Surrounded by movable covers 604, 606, 608.

56-58 show the first open mode of the movable cover assembly 602. In the first open mode, the three movable covers 604, 606, 608 move circumferentially so that at least partially overlap so that one opening region _AO (FIG. 58) is maximized.

59-61 show the second open mode of the movable cover assembly 602. In the second open mode, the third movable cover 608 moves so as to overlap the second movable cover 606 in the radial direction, and two opening regions A _O1 and A _O2 (FIG. 61) are formed.

The table module 600 includes servomotors 623 and 638 for driving the rotary table 630, a chip discharging device 618, and a control device (not shown) for controlling the operation of the movable cover assembly 602.

The table module 600 further includes a first passive interface 820 (FIG. 62) corresponding to the first active interface 800 of the tool module 500. The first passive interface 820 has a flat plate-shaped substrate 822 attached to the base portion 620. More specifically, the substrate 822 is fixed to the side surface of the base portion 620 facing the tool module 500 to be coupled.

Referring to FIG. 62, the substrate 822 is formed with an opening 822a for passing the chip discharging device 552. The first passive interface 820 includes various functional devices disposed on the substrate 822. The functional device includes a multi-connector 824 that can be coupled to the multi-connector 804 of the first active interface 800. The multi-connector 824 is arranged adjacent to the central portion of the upper edge of the substrate 822. The multi-connector 824 shown as an example drives at least one power connector 824a, 824b, 824c, 824h, 824i for connecting a power line, data connectors 824d, 824e for connecting a signal line, and an air cylinder or a hydraulic cylinder. Includes at least one fluid connector 824f, 824g for connecting a conduit (not shown) through which a working fluid such as pressurized air or hydraulic oil or a fluid such as coolant is passed.

The first passive interface 820 further includes a plurality of couplers corresponding to the couplers of the first active interface 800. In this embodiment, the coupler includes two pull-in couplers 826a, 826b corresponding to the pull-in couplers 806a, 806b of the first active interface 800. The lead-in couplers 826a and 826b are arranged adjacent to the central portions of both the left and right edges of the substrate 822. The coupler further includes four cone clamps 828a, 828b, 828c, 828d corresponding to the cone clamps 808a, 808b, 808c, 808d of the first active interface 800. The cone clamps 828a, 828b, 828c, and 828d are arranged in each of the corners of the substrate 822.

The first passive interface 820 further includes contact pieces 830a, 830b corresponding to the contact sensors 810a, 810b of the first active interface 800. The contact pieces 830a and 830b are arranged at positions facing the contact sensors 810a and 810b when the first active interface 800 and the first passive interface 820 face each other. , Are arranged inside a pair of diagonally arranged cone clamps 808a, 808d.

The first passive interface 820 further has guide holes 832a and 832b corresponding to the force sensors 812a and 812b of the first active interface 800. The guide holes 832a and 832b receive the pins of the force sensors 812a and 812b when the tool module 500 is coupled to the table module 600, and guide the operation of the tool module 500 in the protruding direction of the pins.

The first passive interface 820 further includes an image pickup target 834 by the camera 814 of the first active interface 800. In the present embodiment, the image pickup target is a recognition code representing the table module 600. Other codes such as barcodes may be used, but the recognition code can be a two-dimensional code. FIG. 63 shows an example of a two-dimensional code. The two-dimensional code of FIG. 63 is a data matrix with 8 rows and 8 columns. The recognition code is a matrix type two-dimensional code such as QR code (registered trademark), micro QR code (registered trademark), SP code, VeriCode, MaxiCode, CP code, or PDF417, micro. Two stack types such as PDF417, code 49 (Code49), code (Code16K), coder block (Codablock), super code (SuperCode), ultra code (Ultra Code), RSS composite (Composite), and Aztec Mesa. It can be a dimensional code. Specifically, the relative position and angle between the first active interface 900 and the first passive interface 880 are calculated based on the image of the identification code captured by the camera 914 of the first active interface 900.

The table module 600 can include one or more types of interfaces in addition to the first passive interface 820. For example, the table module 600 can include a fourth active interface 850 as shown in FIG. 64 in addition to the first passive interface 820. The fourth active interface 850 has a flat plate-shaped substrate 852 attached to the base portion 620. The substrate 852 is formed with an opening 852a for passing the chip discharging device 618 (belt conveyor 628). The fourth active interface 850 is fixed to the side surface of the base portion 620 so that the upstream end portion 628a of the belt conveyor 628 is inserted through the opening 852a.

The fourth active interface 850 includes various functional devices disposed on the substrate 852. The functional device includes a multi-connector 854 similar to the multi-connector 804 of the first active interface 800. The multi-connector 854 is arranged adjacent to the central portion of the upper edge of the substrate 852. The multi-connector 854 shown as an example includes power connectors 854a, 854b, 854c, 854h, 854i for connecting power lines, data connectors 854d, 854e for connecting signal lines, pressurized air or hydraulic fluid for driving an air cylinder or a hydraulic cylinder. Includes at least one fluid connector 854f, 854g for connecting a conduit (not shown) through which a working fluid such as or a fluid such as a coolant is passed.

In this embodiment, the functional device includes a camera 856. The camera 856 is preferably oriented so that its optical axis is perpendicular to the substrate 852. In this embodiment, the camera 856 is arranged between the multi-connector 854 and the upper edge of the opening 852a. The camera 856 may be located below the opening 852a. The functional device may further include a laser sensor, for example, a lidar (LiDAR (Light Detection and Ringing)) sensor.

The table module 600 can include a fourth passive interface 840 shown in FIG. 65 in addition to the first passive interface 820 and the fourth active interface 850. The fourth passive interface 840 is an interface paired with the fourth active interface 850 and is fixed to two opposite sides of the base portion 620 along the chip conveyor axis _OCC . The fourth passive interface 840 has a flat plate-shaped substrate 842 attached to the base portion 620. The substrate 842 is formed with an opening 842a for passing the chip discharging device 618 (belt conveyor 628). The fourth passive interface 840 is a base portion 620 on the opposite side of the fourth active interface 850 along the chip conveyor axis OCC so that the downstream end portion 628b of the belt conveyor 628 is inserted through the opening _842a . It is fixed to the side. The fourth passive interface 840 can additionally be mounted at a position on the side surface of the base portion 620 at an angle of 45 ° with respect to the chip conveyor axis _OCC .

The fourth passive interface 840 can include various functional devices disposed on the substrate 842. The functional device includes a multi-connector 844 similar to the multi-connector 824 of the first passive interface 820. The multi-connector 844 is arranged adjacent to the central portion of the upper edge of the substrate 822. The multi-connector 844 shown as an example includes power connectors 844a, 844b, 844c, 844h, 844i for connecting a power line, data connectors 844d and 844e for connecting a signal line, and pressurized air or hydraulic fluid for driving an air cylinder or a hydraulic cylinder. Includes at least one fluid connector 844f, 844g for connecting a conduit (not shown) through which a working fluid such as or a fluid such as a coolant is passed.

The fourth passive interface 840 further includes an image pickup target 846 by the camera 856 of the fourth active interface 850. In the present embodiment, the image pickup target is a recognition code representing the table module 600 similar to the image pickup target 834 of the first passive interface 820. Further, since the camera 856 of the fourth active interface 850 has the same embodiment as the first active interface and the third active interface, the details will be omitted.

The tool module 500 can include a second passive interface 860 and a third passive interface 880 in addition to the first active interface 800. The first active interface 800 is arranged on the longitudinal central axis _OS1 of the tool module 500. The second passive interface 860 and the third passive interface 880 are fixed to two opposite sides of the base portion 620 along the chip conveyor axis _OCC .

The table module 600 can include a third passive interface 880 in addition to the first passive interface 820. The first passive interface 820 and the third passive interface 880 are arranged on the longitudinal central axis _OS1 of the tool module 500 and are fixed to two opposite sides of the base portion 620. Further, the fourth active interface 850 and the fourth passive interface 840 are paired interfaces and are fixed to two opposite side surfaces of the base portion 620 along the chip conveyor axis _OCC . Further, the fourth passive interface 840 can be additionally mounted at a position on the side surface of the base portion 620 at an angle of 60 ° with respect to the chip conveyor axis _OCC .

An example of the information contained in the above-mentioned recognition code is shown in the table below.

In the table above, each of the N types of recognition codes has information about contour shapes, module types, and interface types. The "contour shape" is a parameter (argument) corresponding to the contour shape of the table module or tool module to which the interface is attached, which is visible from the camera of the active interface to which the passive interface holding the recognition code is connected.

The "module" is a parameter (argument) indicating whether the module to which the passive interface holding the recognition code is attached is a tool module or a table module. The "interface type" is a parameter (argument) indicating which of the first to fourth passive interfaces 820, 860, 880, and 840 is the passive interface holding the recognition code.

Hereinafter, an example in which a machining system is configured by the tool module 500, the table module 600, and the drive modules 560 and 700 according to the embodiments of FIGS. 18 to 65 will be described with reference to FIGS. 66 to 69. In FIGS. 66 to 69, the machining system 1100 is composed of a machining module including three sets of combined tool modules 500 and table modules 600.

In the processing system 1100, first, the third table module 600-3 (the rightmost table module in FIGS. 68 to 70) is moved and fixed at a predetermined position. Next, the second table module 600-2 is coupled to the third table module 600-3, and the first table module 600-1 is coupled to the second table module 600-2 (FIG. 68). In this way, when connecting two table modules 600, one table module 600 is fixed, and the other table module 600 (moving side table module) is fixed to the fixed table module 600 (stationary side table module). ) Are brought closer to each other to combine the two.

At this time, the moving side table module makes its fourth active interface 850 face the fourth passive interface 840 of the stationary side table module, and approaches the stationary side table module along the chip conveyor axis _OCC . When coupled, the downstream end portion 628b of the chip discharging device of the moving table module enters the chip discharging passage 626 of the base portion 620 of the stationary table module along the chip conveyor axis _OCC and stands still. It is arranged above the upstream end portion 628a of the belt conveyor 628 of the side table module.

The two table modules 600 are coupled to each other by coupling the fourth active interface 850 of the moving table module to the fourth passive interface 840 of the stationary table module. After joining, the shoe 572 of the stand assembly 570 of the moving table module is brought into contact with the floor surface, whereby the moving table module is fixed to the floor surface.

Then, as shown in FIGS. 70 and 77A, one tool module 500-1, 500-2, 500- corresponding to each of the three table modules 600-1, 600-2, 600-3 coupled to each other. 3 is combined. In each of the tool modules 500-1, 500-2, and 500-3, the longitudinal central axis OS1 thereof becomes the longitudinal central axis O _T1 of each of the table modules _600-1 , 600-2, 600-3. To match, approach each of the table modules 600-1, 600-2, 600-3 along the central axis _OS1 , _OT1 , and attach the first active interface 800 to the table modules 600-1, 600-2. , 600-3 coupled to the first passive interface 820.

The first active interface 800 of each of the tool modules 500-1, 500-2, 500-3 is coupled to the first passive interface 820 of the corresponding table modules 600-1, 600-2, 600-3. Then, the chip discharging device 552 of the tool modules 500-1, 500-2, and 500-3 moves forward (in the direction approaching the table module 600) along the central axis _OT1 in the longitudinal direction, and the chip discharging device 552 is moved forward. The tip portion is arranged above the chip discharging device 618 (belt conveyor 628) of the table modules 600-1, 600-2, 600-3.

Next, with reference to FIGS. 71 to 76, the action of the coupler when the first active interface 800 and the first passive interface 820 are mechanically coupled will be described.
The tool module 500 is based on a command from a machining system control device which is a higher-level control device, and as shown in FIG. 68, for example, the longitudinal direction of the table module 600 to which the central axis _OS1 in the longitudinal direction of the tool module 500 is to be connected. It moves to the front of the table module 600 so as to coincide with the central axis O _T1 of. The tool module 500 then approaches the table module 600 along the longitudinal central axis _OS1 . For example, the positioning accuracy when the distance between the substrate 802 of the first active interface 800 of the tool module 500 and the substrate 822 of the first passive interface 820 of the table module 600 is close to D = 50 mm to 100 mm is It is about ± 20 mm.

For example, the camera 814 of the first active interface 800 of the tool module 500 captures the identification code of the first passive interface of the table module 600 to detect the relative position, and further approaches while performing precise positioning, D = 50 mm. Then, the force sensors 812a and 812b begin to engage the corresponding guide holes 832a and 832b (FIG. 72). As a result, the information (position signal) related to the relative position between the first active interface 800 and the first passive interface 820 is the drive module 560 on which the tool module 500 is mounted from the force sensors 812a and 812b. Alternatively, it is output to the control device 582 or the control device 701 of 700. The control device 701 controls the electric power supplied from the control device to the drive motor of each wheel 564 based on the signals of the non-contact sensor and the force sensor. By adjusting the rotation angle of each wheel 564 and the height of the ram 596 of the leveling block 590 by the control device of the ram drive motor 592 of the leveling block 590, the position and attitude of the drive module 560 are accurately positioned. As a result, the tool module 500 is more accurately positioned with respect to the table module 600.

While the tool module 500 approaches the table module 600 further, the monitoring of the relative position of the tool module 500 with respect to the table module 600 by the force sensors 812a and 812b continues. When D = 19 mm, the two pull-in couplers 806a and 806b of the first active interface 800 of the tool module 500 can be engaged with the corresponding pull-in couplers 826a and 826b of the first passive interface 820 of the table module 600. (Fig. 73).

When the corresponding pull-in couplers 826a, 826b of the first passive interface 820 of the table module 600 can be engaged, the movement of the tool module 500 by the drive module 560, 700, 750 or 770 is stopped and the pull-in coupler of the tool module 500 is stopped. The engaging portions 807a and 807b of the 806a and 806b are driven forward by pneumatic pressure with respect to the outer cylinders 803a and 803b fixed to the substrate 802. As a result, the fitting portions 827a and 827b of the corresponding pull-in couplers 826a and 826b of the table module 600 are fitted into the fitting holes 805a and 805b of the engaging portions 807a and 807b of the lead-in couplers 806a and 806b to be retracted. The engaging portions 807a and 807b of the couplers 806a and 806b engage with the retractable couplers 826a and 826b (FIG. 74). At this time, the positioning accuracy of the tool module 500 with respect to the table module 600 will be about ± 0.05 mm.

After the engaging portions 807a, 807b of the retractable couplers 806a, 806b are engaged with the corresponding retractable couplers 826a, 826b of the table module 600, the engaging portions 807a, 807b are pneumatically rearward with respect to the outer cylinders 803a, 803b. Driven to. As a result, the tool module 500 is further approached toward the table module 600 fixed to the floor surface by the stand assembly 570. When D = 15 mm, the cone clamps 808a, 808b, 808c, 808d of the tool module 500 can be engaged with the corresponding cone clamps 828a, 828b, 828c, 828d of the table module 600 (FIG. 75). The pull studs 829a, 829b, 829c, 829d of the cone clamps 828a, 828b, 828c, 828d of the table module 600 are fitted into the fitting holes 813a, 813b, 813c, 813d of the cone clamps 808a, 808b, 808c, 808d of the tool module 500. By being fitted and held by the balls 815a, 815b, 815c, 815d, the cone clamps 808a, 808b, 808c, 808d of the tool module 500 and the cone clamps 828a, 828b, 828c, 828d of the table module 600 are coupled. do.

When the engaging portions 807a and 807b of the retractable couplers 806a and 806b engaged with the corresponding retractable couplers 826a and 826b of the table module 600 are pneumatically stroked and further retracted with respect to the outer cylinders 803a and 803b, the tool module 500 The cone clamps 808a, 808b, 808c, 808d of the table module 600 pull in the pull studs 829a, 829b, 829c, 829d of the corresponding cone clamps 828a, 828b, 828c, 828d of the table module 600 with a spring, so that the tapered surfaces are completely engaged with each other. It fits (Fig. 76). The positioning accuracy of the tool module 500 with respect to the table module 600 at this time will be about ± 0.005 mm due to the engagement between the cone clamps 808a, 808b, 808c, 808d and the cone clamps 828a, 828b, 828c, 828d.

When the cone clamps 808a, 808b, 808c, 808d and the cone clamps 828a, 828b, 828c, 828d are completely engaged, the cone clamps 808a, 808b, 808c, 808d of the tool module 500 are spring-loaded (not shown). Retract the corresponding cone clamps 828a, 828b, 828c, 828d. Thus, the first active interface 800 of the tool module 500 is coupled to the first passive interface 820 of the table module 600 with high positioning accuracy (FIG. 76).

Next, the pull-in couplers 806a and 806b of the tool module 500 unclamp the corresponding pull-in couplers 826a and 826b of the table module 600 and move backward by pneumatic pressure, that is, in a direction away from the table module 600 (FIG. 76). .. Thus, the cone clamps 808a, 808b, 808c, 808d of the first active interface 800 and the cone clamps 828a, 828b, 828c, 828d of the first passive interface 820 are completely engaged. The positioning accuracy of the tool module 500 with respect to the table module 600 at this time will be about ± 0.005 mm.

Repeating the coupling process of the first active interface 800 and the first passive interface 820 described above, each of the tool modules 500-1, 500-2, and 500-3 sequentially, as shown in FIG. 77A, sequentially. A machining system 1100 is formed by being coupled to each of the corresponding table modules 600-1, 600-2, 600-3.

FIG. 77B is a cross-sectional view of the processing system 1100 of FIG. 77A cut in a horizontal plane, and is a diagram showing a discharge path of chips generated during processing. In FIG. 77B, the table modules _600-1 , 600-2, 600-3 are connected side by side along the chip conveyor axis OCC. At this time, the downstream end portion 628b of the table module 600-2 is arranged above the upstream end portion 628a of the belt conveyor 628 of the table module 600-1, and above the upstream end portion 628a of the table module 600-2. The downstream end portion 628b of the table module 600-3 is arranged in the table module 600-3. In this way, the belt conveyors 628 of the table modules 600-1, 600-2, 600-3 become one chip discharging device, the chips are transferred in the direction indicated by the arrow CC, and downstream of the belt conveyor 628 of the table module 600-1. It is discharged to the outside of the processing system 1100 from the side end portion 628b.

Further, the tip portion of the chip discharging device (screw conveyor) 552 of the tool modules 500-1, 500-2, 500-3 coupled to the table modules 600-1, 600-2, 600-3 is the table module 600. -1, 600-2, 600-3 are introduced into the receiving part 626a of each chip discharge passage 626 and placed above the central part of the belt conveyor 628 of the table modules 600-1, 600-2, 600-3. Will be done.

In FIGS. 77A and 77B, the machining system 1100 is composed of three sets of machining modules including tool modules 500-1, 500-2, 500-3 and table modules 600-1, 600-2, 600-3, respectively. However, the number of machining modules is not limited to this. As shown in FIG. 78, an additional set of machining modules can be added to the machining system 1100.

In FIG. 78, the additional table module 600-4 is coupled to the second table module 600-2 of the machining system 1100. In this case, the fourth active interface 850 of the additional table module 600-4 is coupled to the additional fourth passive interface 840 of the second table module 600-2.

After joining the additional table module 600-4 to the second table module 600-2, the additional tool module 500-4 is joined to the additional table module 600-4. In this case, the first passive interface 800 of the additional table module 600-4 is coupled to the first passive interface 820 of the additional table module 600-4.

Next, a method of transporting the work will be described with reference to FIGS. 79 to 84.
To the processing system 1100 configured as described above, one or a plurality of work Ws are transported to the machining system 1100 configured as described above by the work transfer carriage 1102 in the vicinity of the tool module 500-1 arranged on the most upstream side. The tool module 500-1 mounts the work gripping tool 150 on the tip of the spindle 512, and sets the swivel base 506 on the rotation axis _OBS (so that the work gripping tool 150 faces the work W on the work transfer carriage 1102). Turn around the B axis). Next, the spindle 512 is advanced to hold one work W on the work transfer carriage 1102 by the work gripping tool 150. Next, the spindle 512 is retracted and taken out from the work transfer carriage 1102 (FIG. 79). At this time, the movable cover assembly 602 of the table module 600-1 coupled to the tool module 500-1 is in the first open mode.

Next, the tool module 500-1 so that the central axis OS of the spindle 512 coincides with the longitudinal central axis _OS1 of the tool module _500-1 and the longitudinal central axis O _T1 of the table module 600-1. The swivel base 506 swivels around the rotation axis _OBS (axis B) (FIG. 80). Next, the tool module 500-1 advances the spindle 512 along the Z axis (central axis _OS , _OS1 , O _T1 ), and the work W held by the work gripping tool 150 is held by the table module 600-1. It is placed and fixed on the mounting surface 630a of the rotary table 630 (FIG. 81). The work W can be fixed on the mounting surface 630a by any method known in the field of machine tools. For example, a work fixing tool in which a clamper holding the work W opens and closes by pneumatic pressure or the like. Is provided on the mounting surface 630a, and the clamper (not shown) of the work fixing tool can be controlled to open and close according to the loading of the work. Alternatively, the work W is fixed in advance on the pallet (not shown), and the tapered cone (not shown) provided on the lower surface of the pallet is fixed by the clamper (not shown) provided on the mounting surface 630a. It can be done by. Further, the work fixing tool may be placed on the pallet, the work W may be fixed to the pallet via the work fixing tool, and the clamper of the pallet and the clamper of the work fixing tool may be selectively used.

After the machining process by the tool module 500-1 is completed, the work gripping tool 150 is reattached to the tip of the spindle 512, and the spindle 512 is advanced along the Z axis (central axis _{OS, OS1 ,} O _T1 ). Holds the machined work W on the mounting surface 630a of the rotary table 630 of the table module 600-1. Next, the spindle 512 is retracted along the Z axis (central axis _OS , _OS1 , _OT1 ), and the machined work W is removed from the mounting surface 630a (FIG. 82). At this time, the movable cover assembly 602 of all the table modules 600-1, 600-2, 600-3 of the processing system 1100 is in the first open mode.

Next, all the tool modules 500-1, 500-2, and 500-3 are arranged in order, and each swivel base 506 is swiveled around the rotation axis _OBS (B axis) (counterclockwise direction in FIG. 83). Let me. Next, the machined work W that advances and holds the spindle 512 of the tool module 500-1 is placed above the rotary table 630 of the table module 600-2, and then the spindle 512 is moved downward in the Y-axis direction. It is placed and fixed on the mounting surface 630a of the rotary table 630 (FIG. 83). The turning operation of the tool modules 500-1, 500-2, 500-3 is to turn in the order of 500-3, 500-2, 500-1, but the tool modules 500-1, 500-2, 500 are turned. The turning operation of -3 may be synchronized.

Next, all the tool modules 500-1, 500-2, and 500-3 are arranged in order, and each swivel base 506 is oriented in the opposite direction (clockwise in FIG. 83) about the rotation axis _OBS (B axis). In addition to turning to), the movable cover assembly 602 of all the table modules 600-1, 600-2, 600-3 is put into the closed mode (FIG. 84A). In this way, the tool module 500-2 is ready for machining. The turning operation of the tool modules 500-1, 500-2, 500-3 is to turn in the order of 500-1, 500-2, 500-3, but the tool modules 500-1, 500-2, 500 are turned. The turning operation of -3 may be synchronized.

In the tool module 500, the rear end portion of the spindle cover 502 is formed in an outwardly tapered shape or trapezoidal shape along the central axis _OS1 in the longitudinal direction, whereby the most of the machining system 1100 is formed. When the tool module 500-1 on the upstream side turns to the work transfer carriage 1102 side in order to grip the work W, it does not interfere with the adjacent tool module 500-2.

In FIGS. 79 to 84A, the table modules 600-1, 600-2, and 600-3 are arranged and connected side by side in a row along a predetermined axis. By arranging the table modules 600-1, 600-2, and 600-3 in a row, a main line, which is a production line in a row, is formed. As shown in FIGS. 78 and 84B, the machining system can further include an additional line, which is a production line branched from the main line. The table module 600-4 of FIGS. 78 and 84B is an additional line.

The main line and the additional line are connected so as to form 60 °. In the form of the tool module 500 and the table module 600, the contour is not hexagonal like the tool module 100 and the table module 200, but the interface of each module is arranged so as to be the position of the hexagonal side. , The main line and the additional line can be connected so as to form a 60 °.

When transporting the work W from the main line to the addition line, the movable cover assembly 602 of the table module 600-2 to which the tool module 500-4 forming the addition line is connected is set to the second open mode, and the work W is set to the second open mode. Set the table module 600-4 to the first open mode. By swiveling the swivel base 506 of the tool module _500-4 around the rotation axis OBS (B axis), the work can be transferred from the table module 600-2 to the table module 600-4. After the work W is transferred to the table module 600-4, the movable cover assembly 602 of the table modules 600-2 and 600-4 is set to the closed mode. In this way, the tool module 500-4 is ready for machining.

Next, a machining system control device and a safety control device for integrated control of the machining system 1100 will be described.
FIG. 85 is a schematic view showing the entire machining system 1100 including the machining system control device, the safety control device, and peripheral devices. In FIG. 85, the machining system 1100 is composed of three sets of machining modules including tool modules 500-1, 500-2, 500-3 and table modules 600-1, 600-2, 600-3. The control device for the machining system 1100 includes a factory server 1200 which is a general-purpose server for the factory where the machining system 1100 is installed, a safety control unit 1202 for safely operating the machining system 1100, and a machining system control device 1204. include. The factory server 1200, the safety control unit 1202, and the processing system control device 1204 can be communicably connected to each other via the network communication network 1206 provided in the factory. The network communication network 1206 may be a wireless and / or wired LAN (Local Area Network). Alternatively, the safety control unit 1202 and the processing system control device 1204 may be programmatically formed in the factory server 1200.

The machining system control device 1204 determines the number of tool modules, the number of table modules, and the form of the machining system 1100 according to the production plan. The number of tool modules 500, the number of table modules 600, and the validity of the form of the machining system 1100 determined by the machining system control device 1204 can be verified by production simulation. Further, the machining system control device 1204 determines the determined number of tool modules 500, the number of table modules 600, and the order of joining the tool modules 500 and the table module 600 that match the form of the machining system 1100, and determines the machining system 1100. Outputs the command to configure.

The tool modules 500-1, 500-2, and 500-3 are equipped with a wireless LAN device 920 that can be connected to the network communication network 1206. The wireless LAN device 920 can be incorporated into the control device of the tool modules 500-1, 500-2, and 500-3. The tool modules 500-1, 500-2, 500-3 also include an emergency stop button 922 for the operator to press to make an emergency stop of the machining system 1100.

The table modules 600-1, 600-2, and 600-3 are also equipped with a wireless LAN device 924 that can be connected to the network communication network 1206. The wireless LAN device 924 can be incorporated in the control device of the table modules 600-1, 600-2, 600-3. The table modules 600-1, 600-2, 600-3 also include an emergency stop button 926 for the operator to press to emergency stop the machining system 1100.

FIG. 85 shows a work stocker 950 on which a processed work W or an unprocessed work W is placed and a tool stocker 952 on which a tool or a tool sub-magazine 954 is placed as peripheral devices of the processing system 1100. Peripherals for the machining system 1100 further include one or more transport vehicles 930, 940 for transporting the raw work W, the machined work W, or the tool or tool sub-magazine 954.

In the transport vehicles 930 and 940, robots or manipulators 932 and 942 are attached to the transport carts 934 and 944. The transport vehicles 930 and 940 include robots or manipulators 932 and 942 and control devices 938 and 948 that automatically control the transport carts 934 and 944, and constitute an autonomous traveling transport robot. The control devices 938 and 948 of the transport vehicles 930 and 940 include a wireless LAN device that can be connected to the network communication network 1206.

The transport vehicles 930 and 940 are the tool modules 500-1, 500-2 and 500-3 of the machining system 1100, each of the table modules 600-1, 600-2 and 600-3, the work stocker 950 and the work stocker. It autonomously travels to and from the tool stocker 952 to convey the machined work W, the raw work W and / or the tool or the tool sub-magazine 954. Instead of transporting in units of workpieces, tools or tool sub-magazines, wheels are provided on the work stocker 950 and tool stocker 952, and pushed and pulled by the transport vehicles 930 and 940 to the work stocker 950 and tool stocker 952 per machining system 1100. You may access it. Further, the work stocker 950 and the tool stocker 952 themselves may be provided with wheels, a drive device, and a control device so as to self-propell to a position adjacent to the table module at the end of the machining line.

The tool modules 500-1, 500-2, 500-3 and table modules 600-1, 600-2, 600-3 of the machining system 1100 are also provided by the portable operation panel 956 carried and operated by the operator. Can be operated. The portable operation panel 956 can be formed by a tablet equipped with a wireless LAN device that can be connected to the network communication network 1206. The portable operation panel 956 includes an emergency stop button 958 that is manually pressed by the operator.

The machining system 1100 has four operation modes shown in the table below.

While the drive module of the machining system 1100 is moving, the machining system 1100 is operating in mode 0. During this time, the emergency stop button 958 of the portable operation panel 956 is disabled, and nothing happens when the operator operates the emergency stop button 958. When the operator operates the emergency stop button 922 of the tool modules 500-1, 500-2, 500-3 or the emergency stop button 926 of the table modules 600-1, 600-2, 600-3, the module is stopped. Further, when the area sensor 598 detects an object in the first detection area SA ₁ , the operation of the drive module 560, 700, 750 or 770 is decelerated, and when the area sensor 598 detects an object in the second detection area SA ₂ , the drive module 560, Stop the operation of 700, 750 or 770. The signal light is off.

During the module coupling, for example, the machining system 1100 is operating in mode 1 while the tool module 500 is approaching to couple to the table module 600 described above. During this time, the emergency stop button 958 of the portable operation panel 956 is disabled, and nothing happens when the operator operates the emergency stop button 958. When the operator operates the emergency stop button 922 of the tool modules 500-1, 500-2, 500-3 or the emergency stop button 926 of the table modules 600-1, 600-2, 600-3, the module is stopped. Further, when the area sensor 598 detects an object in the first detection area SA ₁ , the operation of the drive module 560, 700, 750 or 770 is decelerated, and when the area sensor 598 detects an object in the second detection area SA ₂ , the drive module 560, Stop the operation of 700, 750 or 770. The signal light is off.

One of the tool modules 500-1, 500-2, and 500-3 is being machined, and the machining system 1100 is operating in mode 2. During this time, if the emergency stop button 958 of the portable operation panel 956 is pressed, only the module selected by the operator is stopped. When the operator operates the emergency stop button 922 of the tool modules 500-1, 500-2, 500-3 or the emergency stop button 926 of the table modules 600-1, 600-2, 600-3, the module is stopped. Also, in mode 2, the area sensor is inactivated or disabled. In mode 2, the signal lights of the tool modules 500-1, 500-2, and 500-3 are lit in green when the tool module is operating normally. When the signal light is lit in red, it means "warning".

During the automatic transfer of workpieces or tools, the machining system 1100 is operating in mode 3. During this time, the emergency stop button 958 of the portable operation panel 956, the emergency stop button 922 of the tool modules 500-1, 500-2, 500-3 or the emergency stop button 926 of the table modules 600-1, 600-2, 600-3 are pressed. When operated, all modules will stop. When the area sensor detects an object, all modules decelerate and stop all at once. Further, in mode 3, the signal lamps of the tool modules 500-1, 500-2, and 500-3 are lit in orange when the tool module is operating normally. Also, when the tool module is stopped, the signal light turns red.

FIG. 86 shows a block diagram of the control system of the machining system 1100. In FIG. 86, the factory server 1300 includes a resource management unit 1302, a navigation management unit 1304, an NC program management unit 1306, a monitoring management unit 1308, and a safety control unit 1310. The factory server 1300 can consist of one or more computers. The resource management unit 1302, the navigation management unit 1304, the NC program management unit 1306, the monitoring management unit 1308, and the safety control unit 1310 can be programmatically configured by a part of the factory server 1300. The resource management unit 1302 functions to grasp the number and status of workpieces, fixtures, tools, processes, and modules, and maintain them in good condition. The navigation management unit 1304 functions to specify the destination of the module and the destination of the transport vehicle. The NC program management unit 1306 functions to transfer various NC programs to each module. The monitoring management unit 1308 functions to collect various information from each module, a transport vehicle, and a portable operation panel. The safety control unit 1310 functions to store the contour shape of the connecting surface between the modules or between the modules and the transport vehicle.

The machining system control device 1318 can also be configured by a computer. The processing system control device 1318 can be programmatically configured by a computer independent of the factory server 1300 or a part of the factory server 1300. It was explained that the machining system control device 1318 and the factory server 1300 are above the table module 1320 and the tool module 1330 and have a so-called centralized control system, but each of the machining system control device 1318 and the factory server 1300. The functional software can be a so-called distributed control system provided in the computer in the table module 1320 or the tool module 1330. Further, it may be provided in the computer in the drive module 1340, 1350 or the transport vehicle 1360. This improves the redundancy of the machining system, and even if the machining system control device 1318 or factory server fails or the network communication network 1206 is interrupted, there is an advantage that the machining system can continue to operate by coordinating between modules. be.

The table module 1320 includes an NC device 1322 that controls the rotation of the rotary table 630 around the rotation axis O _BT , the first to third movable covers 604, 606 and 608 of the movable cover assembly 602, and a chip discharging device 618. The machine control unit 1324 and the safety control unit 1326 for controlling the above are provided. The machine control unit 1324 and the safety control unit 1326 are used for CPU (central arithmetic element), memory devices such as RAM (random access memory) and ROM (read-only memory), HDD (hard disk drive) and SSD (solid state drive). It can consist of a computer including such a storage device, an input / output port (wireless LAN port), and a bidirectional bus interconnecting them and related software. The machine control unit 1324 and the safety control unit 1326 may be configured by software as a part of the NC device 1322.

The tool module 1330 is an NC device 1332, a chip discharge device 552, particularly, which controls the rotation of the spindle 512, the feed in the X, Y, Z axis directions of the spindle 512, and the rotation of the swivel base ₅₀₆ around the rotation axis OBS. It includes a mechanical control unit 1334 that controls the operation of the drive motor 558 and the fluid pressure cylinder 557, and a safety control unit 1336. The machine control unit 1334 and the safety control unit 1336 are for CPU (central arithmetic element), memory devices such as RAM (random access memory) and ROM (read-only memory), HDD (hard disk drive) and SSD (solid state drive). It can consist of a computer including such a storage device, an input / output port (wireless LAN port), and a bidirectional bus interconnecting them and related software. The machine control unit 1334 and the safety control unit 1336 may be configured by software as a part of the NC device 1332. The coupling interface 1358 of the tool module 1330 may be the first active interface 800, and the coupling interface 1348 of the table module 1320 may be the first passive interface 820.

The drive modules 1340 and 1350 on which the table module 1320 and the tool module 1330 are mounted are machine control units 1342, 1352, safety control units 1344, 1354, area sensors 1346, 1356, navigation control units 1345, 1355 and precision positioning control units 1347. , 1357. The machine control units 1342, 1352, safety control units 1344, 1354, navigation control units 1345, 1355, and precision positioning control units 1347, 1357 include a CPU (central arithmetic element), RAM (random access memory), and ROM (read-only memory). Computers and related software including memory devices such as memory devices, storage devices such as HDDs (hard disk drives) and SSDs (solid state drives), input / output ports (wireless LAN ports), and bidirectional buses that interconnect them. Can be configured from. The area sensors 1346 and 1356 can be, for example, lidar (LiDAR (Light Detection and Ringing)) sensors.

The transport vehicle 1360 includes a robot control unit 1362, a transport vehicle control unit 1364, a safety control unit 1366, and an area sensor 1368. The robot control unit 1362, the transport vehicle control unit 1364, and the safety control unit 1366 are CPU (central arithmetic element), memory devices such as RAM (random access memory) and ROM (read-only memory), HDD (hard disk drive) and SSD. It can consist of a computer including a storage device (solid state drive), an input / output port (wireless LAN port), and a bidirectional bus that interconnects them and related software.

In FIG. 86, the drive modules 1340 and 1350 are shown to include one area sensor 1346 and 1356, respectively, but in reality, as shown in FIG. 30, the front surface of the base portion 562 of the drive module 560. Two area sensors 598 are arranged on the rear surface and two area sensors 598 are arranged on the rear surface.

Next, with reference to FIGS. 87A to 90B, the machining system control device 1318, the drive module 1350, the navigation control unit 1302, the precision positioning control unit 1357, and the drive module 1350 in the process of connecting the tool module 1330 to the table module 1320. The operation of the machine control unit 1352 will be described.

The start of the joining process between the table module 1320 and the tool module 1330 is commanded by the machining system control device 1318. When the joining step starts (step S100), the module to be joined is selected (step S102). In this embodiment, a drive module 1340 equipped with a table module 1320 and a table module 1320 as a stationary passive module, and a drive module equipped with a tool module 1330 and a tool module 1330 as active modules that are closely coupled to the passive module. 1350 is selected. The selection of modules to be combined is made by the machining system controller 1318. The operator may input from the portable operation panel 956 to select the module to be combined.

Next, the position, angle, identification code and contour shape of the passive module are instructed to the active module (step S104). The identification code of the passive module is the identification code of the table module 1320. The contour shape of the passive module is the contour shape of the entire passive module when the active module is viewed from the active module in the direction in which the active module approaches the passive module. In this example, the outline shape of the entire drive module 1340 equipped with the table module 1320 and the table module 1320 as seen from the tool module 1330 area sensor 1356 in the direction in which the tool module 1330 which is an active module approaches the table module 1320. ..

Next, the navigation control unit 1355 of the drive module 1350 moves the drive module 1350 equipped with the tool module 1330 to the coupling start position based on the navigation map (step S106). This is done in cooperation with the navigation control management unit 1304 of the factory server 1300 through the machine control unit 1352 of the drive module 1350. The control method by the navigation control unit 1355 for moving the active module to the coupling start position by autonomous driving follows the autonomous driving method known in the field of autonomous driving. The coupling start position is, for example, as shown in FIG. 71, where the first active interface 800 of the drive module 1350 has a predetermined distance D (D in the example of FIG. 71) to the corresponding first passive interface 820 of the table module 1320. = 50 mm to 100 mm), which is the position facing each other. The predetermined distance D may be set to a distance farther than the example of FIG. 71.

While the active module (drive module 1350) moves, the safety control unit 1354 of the drive module 1350 repeatedly determines whether or not the detection areas of the passive module and the area sensors 1346 and 1356 of the active module interfere with each other. When the interference in the detection area is detected, the identification code of the passive module, for example, the identification code of the first passive interface 820 (FIG. 62) is identified by the camera 814 of the first active interface 800 (FIG. 25) included in the tool module 1330. Image 834 (step S108) At this time, the distance of the other module is calculated. In the step of reading the identification code of the other module, an IC tag may be used instead of the identification code 834 of the passive interface, and a code detector such as an RFID (Radio Frequency Identifier) reader may be used instead of the camera 814 of the active interface.

The safety control unit 1354 of the drive module 1350 determines whether or not the identification code can be recognized (decoded) from the captured image (step S110). If the identification code cannot be recognized (decoded) based on the image captured by the camera, the flowchart returns to step S108, and the identification code of the passive module is captured again by the camera of the active module, and can the identification code be read from the captured image? Whether or not it is determined (step S110). During this time, the navigation control unit 1355 of the drive module continues to move the drive module 1350 equipped with the tool module 1330.

When the identification code is recognized (decoded) based on the image captured by the camera in step S110, then, based on the image of the identification code captured by the same camera, the position relative to the passive interface of the other table module 1320, Along with measuring the relative angle, it is determined whether or not the value is within the allowable value (step 112). In the case of No, the drive module 1350 is moved forward and backward or swiveled in the period of step 108 to finely adjust the position and angle. When Yes in step 112, the area sensor 1356 detects the relative position of the passive modules (table module 1320 and drive module 1340) and the contour of the facing surface through the safety control unit 1354 of the drive module 1350 (step S114). The safety control unit 1354 compares the detected contour shape with the contour shape of the passive module that is received and stored in step S104 (step S116). If the detected contour shape does not match the contour shape of the passive module to be stored (No in step S26), the flowchart returns to step S108. The fact that the contour shapes do not match means that a person or an object is present between the tool module 1330 and the table module 1320, and the drive module 1350 keeps stopping. The safety control unit 1354 detects the contour of the mating module again by the area sensor 1356 and compares it with the contour shape of the passive module that stores the detected contour shape. When the detected contour shape matches the contour shape of the passive module to be stored (Yes in step S116), the safety control device 1316 detects the position relative to the passive module by the camera of the active module. When the detected relative position reaches a predetermined value (Yes in step 118), a non-detection area (Δ1, Δ2 in FIG. 93) is set in the detection area of the area sensor 1356 (step 120).

Next, the precision positioning control unit 1357 of the drive module 1350 switches to position control when the leveling mechanism of the drive module 1350 is a rocker arm (step S122). Then, the relative position and angle with respect to the table module 1320 are measured based on the captured image of the identification code by the camera (step S124), and after the guide pins of the force sensors 812a and 812b are inserted into the guide holes 832a and 832b, Using the measured values of the force sensors 812a and 812b, the position and angle are adjusted (centered) with 6 degrees of freedom while approaching the table module 1320 (step S126). It is determined whether the retractable couplers 806a and 806b and the retractable couplers 826a and 826b can engage with each other at relative positions and angles (step S128). If No, the process returns to step S124. If Yes, if the leveling mechanism of the drive module 1350 is a rocker arm, it is switched to impedance control (step S130).

The mechanical control unit 1352 of the drive module 1350 engages and retracts the retractable couplers 806a and 806b and the retractable couplers 826a and 826b (step S132). If the pull-in is not completed (No in step S134), the mating module is once pushed by the pull-in coupler, released (step S136), and returned to step 130. When the pulling is completed in step S134, the pulling coupler is released (step S138). Then, the cone clamps 808a, 808b, 808c, 808d and the cone clamps 828a, 826b, 826c, 826d are engaged (step S140). Then, the retractable coupler is engaged again (step S142).

It is determined whether the contact between the multi-connector 804 and 824 is normal, and whether the contact sensors 810a and 810b are in close contact with the contact pieces 830a and 830b (step S144). ), Return to step S136. If Yes, power and fluid are supplied to the multi-connector (step S148), and the leveling drive motor and the wheel drive motor are locked (step S150). Then, the shoe 572 is grounded to the floor, the drive modules 1340 and 1350 are fixed to the floor together (step S152), and the connection flow between the tool module 1330 and the table module 1320 is completed.

Next, referring to FIGS. 89A to 90B, the table modules 600-1, 600-2, 600-3 of the work processing system 1100 in FIG. 85, the transport vehicle 930 and the table module 600-1, and the table module The operation of workpiece transfer between 600-3 and the transfer vehicle 930 will be described.

Prior to the work transfer (work transfer, replacement), the machining system control device 1318 confirms the configuration (line configuration) of the machining system 1100 (step S200), and whether or not all the modules are arranged in predetermined positions. Is confirmed (step S202). When it is confirmed that all the modules are arranged in predetermined positions (Yes in step S202), the machining system control device 1318 has an area to be set around each tool module 500 and each table module 600. The non-detection area of the sensor is calculated and transmitted to the safety control units 1336 and 1326 of the tool module and the table module through the safety control unit 1310 of the factory server 1300 (step S204). This non-detection region is a portion where the detection circles C ₁ and C ₂ that each module has on the entire circumference interfere with the shape of the plane model of the adjacent module, and is calculated by the geometric calculation of the figure. Then, the machining system control device 1318 outputs an automatic workpiece change (AWC) command to the tool module, the table module, and the transport vehicle.

Next, the safety control units 1336 and 1326 of the tool module and the table module turn on all area sensors 1346 and 1356 (step S206). The detection areas SA ₁ and SA ₂ (see FIG. 99) of the area sensor are set based on the non-detection areas of the detection circles C1 and C2 transmitted earlier (step S208). When an obstacle is detected by the set area sensor (Yes in step S210), and the detected obstacle is an object allowed by the evaluation by the operator or an intelligent algorithm (Yes in step S212). (Case), since it was confirmed that the area sensor operates normally, the initial setting flow of this area sensor is terminated. If No in step S210 and No in step S212, a signal is sent to the operator to report that there is a problem with the area sensor (step S214), and the process returns to step S208.

Next, the flow of workpiece replacement (transportation) will be explained. The machine control units 1334 and 1324 of the tool module and the table module start the work exchange (step S220). The spindles of all tool modules grip the work with the work gripper (step S222). Then, the orange signal lights up (step S224). All the doors of the table module are opened (step S226), and the work can be handed over. Then, the tool module starts the work exchange (AWC: Automatic Workpiece Change) operation described above (step S228). When the replacement operation is completed, all the doors of the table module are closed (step S230), and when the signal is transmitted to the tool module and the safety control units 1336 and 1326 of the table module, all area sensors are disabled (step S232) and this flow is completed. do.

In parallel with steps S226, S228, and S230, the safety control units 1336 and 1326 of the tool module and the table module perform the following operations. During the AWC operation, it is constantly monitored whether an obstacle is detected by the area sensor (step S234). If it is detected (Yes in step S234), when the transport vehicles 930 and 940 approach the tool module 500 and the table module 600, the transport vehicle may be recognized as an obstacle, so it is excluded. Therefore, whether the identification code when the camera of the second or third active interface of the carrier reads the identification code of the second or third passive interface of the tool module or the table module is the correct identification code. It needs to be determined (step S236).

If the identification code is not correct (Yes in step S236), a red signal light or acoustic signal is sent to the operator while reducing the AWC speed override (step S238) because people and obstacles intervene in the carry-out area. And call attention. Decreasing the override is determined in advance by decelerating or stopping. If No in step 234 and step 236, it is not an obstacle, so if the AWC speed is overridden, it is restored (step S244), and if there is a change in the signal lamp or an acoustic signal is emitted, it is stopped (step S246). ..

After step S240 and step S246, it is determined that the AWC operation is completed (step S242), and if it is completed (Yes in step S242), step S232 is processed, and if it is not completed (No in step S242). In the case of), return to step S234. The reason why all the area sensors in the line are disabled in step S232 is to prepare for the machining mode (mode 2). In this way, the automatic work exchange operation is terminated.

In the present embodiment of FIG. 86, the processing system safety control device of the present invention includes the safety control unit 1310 of the factory server 1300, the safety control unit 1326 of the table module 1320, the safety control unit 1336 of the tool module 1330, and the safety of the drive module 1340. It is a general term for the control unit 1344 and the safety control unit 1354 of the drive module 1350. Further, in a processing system having a transport vehicle 1360, it is a general term that always includes a safety control unit 1366 of the transport vehicle 1360. It can be considered that the safety control units 1310, 1326, 1336, 1344, and 1354 cooperate with each other to form one safety control device.

The detection areas SA ₁ and SA ₂ as safety areas set around the processing system 1100 by the safety device of the processing system of the present invention are, so to speak, virtual safety fences. In the reconfigurable machining system, the tool module, table module, and carrier can be freely connected and combined, and the safety area can be quickly set each time the connection or combination changes. Moreover, even if an operator enters the detection areas SA1 and SA2 for each mode such as during workpiece machining or automatic workpiece replacement (during transport), it is possible to freely set whether the machining system can be decelerated / stopped or kept running. , A flexible safety device can be obtained.

FIG. 123 is a schematic diagram showing a large-scale machining system including the components of the machining system of FIG. 85. This large-scale machining system 400 includes two work machining lines 1100-1 and 1100-2 controlled by a machining system control device 1204, a work stocker 950, a tool stocker 952, a transport vehicle 930, 940, a module station 450, and a maintenance station. It is composed of 460. Both of the two workpiece machining lines 1100-1 and 1100-2 are formed by arranging four sets of machining modules in which the tool module 500 and the table module 600 are connected in a line shape. A chip conveyor runs on each table module 600, and chips collected by all the chip conveyors from the leftmost chip conveyor are collected in the chip bucket 970. The manipulators 932 and 942 of the transport vehicles 930 and 940 are used to carry the chip bucket 970 to a predetermined chip collection point (not shown) in the factory, and the empty chip bucket 970 is installed in the original position.

The transport vehicles 930 and 940 move to the left end and the right end of each work processing line 1100-1 and 1100-2, and the work before processing and the tool before use are moved to each work processing line 1100-1 using the above-mentioned AWC operation. It is thrown into 1100-2, and the machine after machining and the tool after use are received from the right end of each work line 1100-1 and 1100-2. FIG. 200 shows a state in which the transport vehicle 930 is moved to both ends of the work processing line 1100-1 and the transport vehicle 940 is moved to both ends of the work processing line 1100-2. Can be moved to the end of the required workpiece line. Since the description of the module station 450 and the maintenance station 460 is the same as that in FIG. 15, the description thereof will be omitted.

In the above form, the angle between the main line and the additional line is 60 °, but the angle between the main line and the additional line can be 90 °. With reference to FIG. 119, in addition to the tool module 2600 and the table module 2700, an AMR (Autonomous Mobile Robot) 2800 equipped with a manipulator 2804 having a hand 2804a can be further coupled. In this embodiment, the module is composed of square units, and interfaces 2806, 2808, 2810, and 2812 are provided at positions forming the sides of the square. The AMR2800 equipped with a manipulator 204 for gripping the work W is configured to be connected to the side opposite to the tool module 2600 across the table module 2700, and the work W is carried by the AMR2800 to be added to the main line. It is possible to form a production line with an angle of 90 ° with the line.

Further, with reference to FIG. 100, the machining system 2000 is illustrated.
The machining system 2000 includes machining modules 2020 and 2030 forming a main line, processing modules 2010, 2040, 2050, 2060, 2070 and 2080 forming auxiliary lines, and a higher-level machining system control device 3000.

In FIG. 100, the main line is formed of two machining modules 2020, 2030, but the main line can include one machining module or three or more machining modules. The tool modules 500-1 and 500-2 of the machining modules 2020 and 2030 and the table modules 600-1 and 600-2 are composed, and the tool modules 500-1 and 500-2 are composed of the tool module 500 described above. The table modules 600-1 and 600-2 are composed of the table module 600 described above.

The auxiliary line carries out various auxiliary processes as described later for the work processed on the main line. In FIG. 100, the auxiliary line includes six processing modules 2010, 2040, 2050, 2060, 2070, 2080, but the auxiliary line can include one or more processing modules instead of the six processing modules. Auxiliary lines can also be included between major lines and are not necessarily included at the beginning or end of major lines.

As an example, the processing module 2040 of the auxiliary line arranged downstream of the processing modules 2020 and 2030 of the main line can be the cleaning module 2040. The cleaning module 2040 includes a manipulator module 2100 and a table module 2220. The manipulator module 2100 and the table module 2200 are mounted on the drive modules 2112 and 2216, respectively. The drive modules 2112 and 2216 can be formed by the drive modules 560, 700, 750 and 770 described above. The drive modules 2112 and 2216 are provided with power supply devices 2116 and 2217, respectively (FIG. 103), and can autonomously travel.

Referring to FIG. 101, the manipulator module 2100 includes a base portion 2104 mounted on the drive module 2112 and a manipulator 2102 attached to the base portion 2104. The base portion 2104 has a coupling portion 2108 for coupling with the table module 2220. The coupling portion 2108 is attached to the side surface of the base portion 2104 facing the table module 2220. The coupling portion 2108 can be formed by the third active interface 900 (FIG. 27) described above.

The manipulator 2102 includes an arm 2106 and a manipulator base 2106c. The arm 2106 has first and second arm portions 2106a and 2106b. The first and second arm portions _2106a and 2106b are largely rotatably connected around a horizontally extending rotation axis OM1, and the first arm portion 2106a is a horizontally extending rotation axis at the proximal end. It is rotatably connected to the manipulator base _206c around the OM2. A wrist portion 2106d is rotatably attached to the tip of the second arm portion _2106b about a horizontal rotation axis OM3. In this way, the arm 2106 forms a horizontal articulated robot arm. The manipulator base _2106c is rotatably attached to the base portion 2104 of the manipulator module 2100 about the vertical axis OMV.

The manipulator 2102 further uses a servomotor (not shown) for rotationally driving the first arm portion 2106a with respect to the manipulator base _2106c around the rotation axis OM2, and the second arm portion 2106b to the first arm portion 2106a. On the other hand, a servo motor (not shown) that rotates around the rotation axis OM1 and a servomotor (not shown) that rotates the wrist portion _2106d around the rotation axis OM3 with respect to the second arm portion _2106b and a manipulator. It is equipped with a servo motor (not shown) that drives the base _2106c to rotate around the rotation axis OMV with respect to the base portion 2104. The manipulator module 2100 includes a control device 2101 that controls the servomotor of the manipulator 2102. The control device 2101 is connected to a higher-level machining system control device 3000 of the machining system 2000 such as the machining system control device 1318 (FIG. 86) by a wireless communication means such as a wireless LAN. It also has a power supply to supply power and is equipped with rechargeable batteries, especially lithium batteries.

A hand 2110 is attached to the wrist portion 2106c of the manipulator 2102 as an end effector. The hand 2110 itself is rotatable about the central axis OH, which is perpendicular to the rotation axis _OM3 and substantially parallel to the longitudinal direction of the second arm portion _2106b . The hand 2110 can grip the work, for example.

The table module 2220, unlike the table module 600 described above, includes a table module 2200 that does not have a cover or splash guard such as the movable cover assembly 602 (FIG. 102). The table module 2200 is arranged in a base portion 2202 mounted on the drive module 2216, a top plate 2204 fixed to the upper surface of the base portion 2202, and a chip discharge hole (not shown) formed in the base portion 2202. It is equipped with a belt conveyor 2218 as a chip discharging device provided. The base portion 2202 can have substantially the same configuration as the base portion 620 of the table module 600 described above, but has a table that can rotate around the rotation axis _OBT in the vertical direction like the table module 600. It doesn't have to be.

One or more joints can be attached to the side surface of the base 2104 of the table module 2200. The table module 2200 shown in FIG. 102 includes five coupling portions 2206, 2208, 2210, 2212, 2214. The coupling portion 2206 is attached to the side surface to which the manipulator module 2100 is coupled, and can be formed by the first passive interface 800 (FIG. 25) or the second passive interface 860 (FIG. 28) described above.

The coupling portion 2208 is attached to the opposite side surface of the coupling portion 2206 along the longitudinal central axis _OT1 and is the first passive interface 820 (FIG. 25) or the second passive interface 860 (FIG. 25) described above. It can be formed according to FIG. 28). The coupling portions 2210 and 2212 are attached to two side surfaces of the base portion 2202 facing each other along the chip conveyor axis _OCC . More specifically, it is mounted above the chip discharge hole in which the belt conveyor 2218 is located. The coupling portion 2210 arranged on the upstream side in the chip transport direction of the belt conveyor 2218 has a fourth passive interface 840 (FIG. 65), and the coupling portion 2212 arranged on the downstream side has a fourth active interface 850. (Fig. 64) can be provided. The coupling portion 2214 is arranged so as to face the outside of the processing system 2000 at a direction of 60 ° with respect to both the central axis _{O T1} and the chip conveyor axis OC C in the longitudinal direction.

Two coupling portions 2210 and 2212 facing each other along the chip conveyor axis _OCC input and output electric power. That is, one table module 2200 receives power from the coupling portion 2212 of the table module 2200 adjacent to the upstream side coupled to the coupling portion 2212, and is coupled to the coupling portion 2210 on the downstream side of the table module 2200. Power is output to the coupling portion 2210 of. Further, the table module 2200 outputs electric power from the coupling portion 2206 to the manipulator module coupled to the table module. That is, in the present invention, power is output from each of the plurality of table modules coupled along the chip conveyor axis _OCC to the tool module or the manipulator module. Further, the coupling portion 2210, 2212, 2214 shown in FIG. 102 can be a first coupling portion, and the coupling portion 2206, 2208 can be a second coupling portion.

Various elements can be placed or attached to the top plate 2204 of the table module 2200. For example, as shown in FIG. 103, the cleaning device 2230 can be placed and fixed on the table module 2220 of the cleaning module 2040. As an example, the cleaning device 2230 includes a cleaning tank 2232 for storing cleaning liquid, for example, water, a work holder 2234 such as a cage made of a metal mesh, and an oscillator attached to the outer surface of the bottom plate of the cleaning tank 2232, preferably. An ultrasonic oscillator 2236 and an oscillator 2238 for the oscillator 2236 can be provided.

The manipulator module 2100 of the cleaning module 2040 equipped with the cleaning device 2230 can include a visual sensor 2114 connected to the control device 2101. The visual sensor 2114 can be connected to a higher-level control device of the machining system 2000 via the control device 2101. The visual sensor 2114 can be attached to the tip of the manipulator 2102. As an example, the visual sensor 2114 can be attached to the hand 2110 as shown in FIG. 103. The visual sensor 2114 can include a camera (not shown) that captures the cleaning state of the work W in the cleaning tank 2232. The visual sensor 2114 may include a lighting device (not shown) such as an LED lamp around the objective lens (not shown) of the camera. The visual sensor 2114 can be used to confirm the cleaning state of the work W. It can also be used to confirm the position when transporting the work W.

Further, the oscillator 2238 incorporated in the control device 2201 of the cleaning device 2230 is a data port of the coupling portion 2206, 2108, for example, a data connector 824d, 824e or a data connector of the first passive interface 820 or the second passive interface 860. It is connected to the control device 2101 of the manipulator module 2100 via the 864d and 864e and the data connectors 904d and 904e of the third active interface 900, and is connected to the upper control device of the machining system 2000 via the control device 2101. can do.

The table module 2220 has a cleaning liquid supply pipe (not shown) provided with a filter and a processing liquid discharge pipe (not shown) for collecting the cleaning liquid from the cleaning tank 2232 in order to supply the cleaning liquid to the cleaning tank 2232. Can be prepared. The cleaning liquid supply and recovery system including the cleaning liquid supply pipe and the cleaning liquid discharge pipe can be housed in the base portion 2202 of the table module 2220.

Further, the processing module 2050 coupled to the downstream side of the cleaning module 2040 can be a screw tightening module. As shown in FIG. 104, the screw tightening module 2050 includes a manipulator module 2120 and a table module 2240.

The manipulator module 2120 is configured in much the same manner as the manipulator module 2120 of the processing module 2040, except that the screw tightening tool 2042 is attached to the wrist portion 2106d as an end effector instead of the hand 2110. Duplicate explanations will be omitted.

A visual sensor 2126 similar to the visual sensor 2114 of the processing module 2040 is attached to the screw tightening tool 2042. The screw tightening tool 2042 can have, for example, a driver bit 2042a adapted to the screw or bolt 2124 screwed into the work W, and a drive motor 2042b that rotationally drives the driver bit 2042a. The driver bit 2042a can hold a screw or a bolt screwed into the work W at its tip, for example, by a magnetic force. The screw tightening tool 2042 screwes the screw or bolt 2246 held at the tip of the driver bit 2042a into a screw hole (not shown) preformed in the work W.

The table module 2240 is configured in substantially the same manner as the table module 2220, except that the work fixing device 2242 for fixing the work W is fixed to the top plate 2204 (FIG. 102) instead of the cleaning device 2230. In the following, duplicate explanations will be omitted. The work fixing device 2242 may be configured to directly fix the work W, or may be configured to fix the pallet (not shown) to which the work W is attached to the top plate 2204. The work fixing device ₂₂₄₂ may rotate the work W around the vertical axis OB.

A screw stocker 2244 containing a plurality of screws or bolts 2246 to be screwed into the work W may be attached to the top plate 2204 of the table module 2240. The manipulator 2102 holds a screw or bolt 2246 from the screw stocker 2244 to the tip of the driver bit 2042a of the screw tightening tool 2042, and a predetermined screw hole (not shown) of the work W fixed to the work fixing device 2242. Screw in and tighten. The visual sensor 2248 can be used to position the screw or bolt 2246 at the tip of the driver bit 2042a and the screw hole (not shown).

The manipulator module 2120 may push the screw insert into the pilot hole (not shown) of the work W instead of the screw or bolt. In this case, a screw insert tool (not shown) is attached to the tip of the arm 2106 (wrist portion 2106d) as an end effector instead of the screw tightening tool 2042.

Further, the processing module 2060 coupled to the downstream side of the screw tightening module 2050 can be used as a second cleaning module. In the second cleaning module 2060, a process of inactivating the surface of the work W is performed. The manipulator module 2130 and the table module 2250 of the second cleaning module 2060 have substantially the same configurations as the manipulator module 2100 and the table module 2220 of the cleaning module 2040, and redundant description will be omitted below.

The table module 2250 of the second cleaning module 2060 has a reaction tank 2232 for storing the immobilization treatment liquid and a demobilization treatment liquid supply pipeline for supplying the demobilization treatment liquid to the reaction tank 2232. (Not shown) or an immobilization treatment liquid discharge pipe (not shown) for recovering the cleaning liquid from the reaction vessel can be provided. The supply and recovery system of the mobilization treatment liquid including the mobilization treatment liquid supply pipe and the mobilization treatment liquid discharge pipe can be housed in the base portion 2202 of the table module 2250. The reaction tank 2232 of the table module 2250, the work holder (not shown) arranged in the reaction tank 2232, the supply and recovery system of the immobilization treatment liquid are not corroded by the immobilization treatment liquid, for example, an aqueous nitric acid solution. It is made of material.

The inspection module 2070 can be coupled to the downstream side of the second cleaning module 2060. In the inspection module 2070, the processed work W is inspected, and in particular, the dimensions of each part of the work W are measured. The inspection module 2070 includes a manipulator module 2140 and a table module 2260.

The manipulator module 2140 is configured much like the manipulator module 2100 of the cleaning module 2040, except that the touch probe 2142 is attached to the wrist 2106d as an end effector, as shown in FIG. 105, rather than the hand 2110. In the following, duplicate explanations will be omitted. Further, the table module 2260 is configured in substantially the same manner as the table module 2240 of the screw tightening module 2050 except that the screw stocker 2244 is not provided, and redundant description will be omitted below.

The touch probe 2142 is connected to the control device 2101 of the manipulator module 2140. The touch probe 2142 can be connected to the higher-level machining system control device 3000 of the machining system 2000 via the control device 2101. The touch probe 2142 has a contact 2142a at its tip, and when the contact 2142a comes into contact with the surface of the work W fixed to the work fixing device 2242, a skip signal is output to the control device 2101. It is supposed to be done. The machining system control device 3000 measures the dimensions of each part of the work W from the X, Y, and Z coordinate values when the skip signal is output. Alternatively, a laser tracker (not shown) may be arranged in the manipulator module 2140 to measure the position of the contact 2142a when the skip signal is output.

The inspection module 2070 is not limited to the one in which the touch probe 2142 is attached to the wrist portion 2106d of the manipulator 2102 and the dimensions of each part of the work W with which the touch probe 2142 is in contact are measured. For example, as shown in FIG. 106, the work W fixed to the work fixing device 2242 is surrounded by the cover 2262, and the work W is imaged by the visual sensor (camera) 2264 arranged in the cover 2262. The surface of W may be inspected.

Further, as shown in FIG. 107, the inspection module 2070 may inspect the airtightness of the work W. In FIG. 107, the manipulator module 2140 is configured in substantially the same manner as the manipulator module 2100 or 2140, and redundant description will be omitted below. However, in this example, the closing lid 2074 is attached to the wrist portion 2106d of the manipulator 2102 as an end effector instead of the touch probe 2142 via a jig 2078. Further, the table module 2260 is configured in substantially the same manner as the table module 2240 of the screw tightening module 2050 except that the screw stocker 2244 is not provided, and redundant description will be omitted below.

A nipple 2076 is attached to the closed lid 2074. The nipple 2076 is connected to the pneumatic source 2071 via a conduit 2073. A shutoff valve 2072 and a pressure gauge 2075 are arranged in the pipeline 2073. The pneumatic source 2071 can be a compressor housed in the drive module 2112. The pneumatic source 2071 may be a compressor housed in the base portion 2104 of the manipulator module 2140. In this case, the pipeline 2073 can be extended along the arm 2106 of the manipulator 2102. The pressure gauge 2075 is connected to the machining system control device 3000. The pressure gauge 2075 may be connected to the control device 2101 of the manipulator module 2140 and connected to the machining system control device 3000 via the control device 2101.

In this example, the work W is a bottomed hollow member, and the opening is arranged on the side opposite to the work fixing device 2242 and fixed to the work fixing device 2242. The opening of the work W is closed by the closing lid 2074 using the manipulator 2102. The shutoff valve 2072 is then opened and pressurized air from the pneumatic source 2071 is supplied into the work W via the conduit 2073 and the nipple 2076 while measuring the pressure in the work W with a pressure gauge 2075. Then, when the pressure in the work W reaches a predetermined pressure, the isolation valve 2072 is closed. After that, the airtightness of the work W can be inspected by measuring the pressure in the work W with the pressure gauge 2075.

As shown in FIG. 108, the assembly module 2080 can be coupled to the downstream side of the inspection module 2070. In the assembly module 2080, two manipulator modules 2150 and 2160 are coupled to one table module 2270. The manipulator module 2150 and the table module 2270 are coupled to each other via the coupling portions 2108 and 2206. The table module 2270 and the manipulator module 2160 are coupled to each other via the coupling portions 2208 and 2108.

One manipulator module 2150 is configured in substantially the same manner as the manipulator module 2100 of the cleaning module 2040, and the other manipulator module 2160 has an adhesive application device 2162 attached to the wrist portion 2106d and an adhesive supply device. It is configured in substantially the same manner as the manipulator module 2100 of the cleaning module 2040 except that it includes 2166, and duplicate description will be omitted below. Further, the table module 2270 is configured in substantially the same manner as the table module 2240 of the screw tightening module 2050 except that the work stocker 2272 is provided instead of the screw stocker 2244. Omit.

The adhesive supply device 2166 of the manipulator module 2160 has a tank (not shown) for storing the liquid adhesive to be applied, and the adhesive is transferred from the tank to the adhesive application device 2162 via the adhesive pipeline 2164. It is equipped with a pump (not shown) for sending out. The adhesive supply device 2166 may be provided with a isolation valve (not shown) at the outlet of the pump. Similarly, the adhesive application device 2162 may be provided with a isolation valve (not shown) in the vicinity of the opening (not shown) that receives the adhesive from the pipeline 2164.

By arranging the tip of the nozzle 2162a of the adhesive application device 2162 near the outer surface to which the adhesive should be applied in the first work W1 fixed to the work fixing device 2242, and opening the above-mentioned shutoff valve, the adhesive is applied. The adhesive is applied to the surface of the first work W1 from the tip of the nozzle 2162a. Next, the hand 2110 of the manipulator 2102 of the manipulator module 2150 grips the second work W2 to be adhered to the first work W1 by the hand 2110, and the second work W2 is placed on the side surface of the first work W1. Be placed. The placement of the second work W2 on the first work W1 may be performed after a predetermined time required for the adhesive to dry.

In the above-described embodiment, the auxiliary line is arranged and connected on the downstream side of the main line, but the auxiliary line may be provided on the upstream side of the main line. In the example of FIG. 100, one processing module 2010 is coupled to the upstream side of the processing modules 2020 and 2030 constituting the main line, particularly the upstream side of the processing module 2020. The processing module 2010 can be, for example, a deburring module.

Referring to FIG. 109, the deburring module 2010 includes a manipulator module 2170 and a table module 2280. In this example, the manipulator module 2170 is configured in substantially the same manner as the manipulator module 2100, and duplicate description will be omitted below.

The table module 2280 has a form in which the manipulator 2288 is attached to the top plate 2204 of the table module 2200 shown in FIG. 102. The manipulator 2288 of the table module 2280 can be a relatively small manipulator.

The manipulator 2288 is configured similarly to the manipulator 2102 and includes an arm 2286 and a manipulator base 2286c. The arm 2286 has first and second arm portions 2286a and 2286b. The first and second arm portions _2286a and 2286b are largely rotatably connected around a horizontally extending rotation axis OM1, and the first arm portion 2286a is a horizontally extending rotation axis at the base end. It is rotatably connected to the manipulator base _206c around the OM2. A wrist portion 2286d is rotatably attached to the tip of the second arm portion _2286b about the horizontal rotation axis OM3. In this way, the arm 2286 forms a horizontal articulated robot arm. The manipulator base _2286c is rotatably attached to the base portion 2284 of the manipulator module 2280 around the vertical axis OMV.

A deburring tool 2482 is attached to the wrist portion 2106d of the manipulator 2288 of the table module 2280. The deburring tool 2482 includes a grindstone 2284 rotatably supported and a drive motor (not shown) for rotationally driving the grindstone 2284. The drive motor is controlled by the control device 2201 of the table module 2280.

In this example, instead of fixing the work to the table module, the work W is gripped by the hand 2110 of the manipulator module 2170, and the deburring tool 2482 attached to the manipulator 2288 of the table module 2280 as an end effector. It is designed to remove burrs. As a result, the posture of the work W is changed by the manipulator 2288 of the manipulator module 2170, and the posture of the deburring tool 2482 is changed by the manipulator 2288 of the table module 2280, so that burrs generated in various parts of the work W are efficiently removed. Can be removed. The attitude control of the work W can be performed by the control device 2101 of the manipulator module 2170. The attitude control of the deburring tool 2482 can be performed by the control device 2201 of the table module 2280.

In the example of FIG. 109, both the work W and the deburring tool 2482 are held by the manipulator 2102 of the manipulator module 2170 and the manipulator 2288 of the table module 2280 to perform deburring. Not limited to. As shown in FIG. 110, the deburring tool may be fixed to the table module.

In FIG. 110, the deburring tool 2292 is fixed to the top plate 2204 of the table module 2290 or the work fixing device 2242. The deburring tool 2292 includes a grindstone ₂₂₉₄ rotatably supported around the vertical axis OV and a drive motor (not shown) for rotationally driving the grindstone 2294. The drive motor is controlled by the control device 2201 of the table module 2290.

The manipulator module 2170 is the same as the manipulator module 2170 in FIG. 109, the work W is held by the hand 2110, and the part where the work W is deburred is pressed against the rotating grindstone 2294 of the deburring tool 2292 by the manipulator 2102. The burr is removed. Further, the manipulator 2102 of the manipulator module 2170 transfers the work W to the adjacent processing module.

On the contrary, as shown in FIG. 111, the work W may be fixed to the table module and the deburring tool attached to the manipulator module may be used to remove the burrs on the work W. In FIG. 111, the deburring tool 2182 as an end effector has the same configuration as the deburring tool 2182 of FIG. 109, and is attached to the wrist portion 2106d of the manipulator 2102 of the manipulator module 2180. The manipulator module 2180 has substantially the same configuration as the manipulator module 2170 of FIG. 109, except that the deburring tool 2182 is attached to the wrist portion 2106d instead of the hand 2110, and is duplicated below. The explanation is omitted.

The work W is fixed to the work fixing device 2242 of the table module 2290 configured in the same manner as the table module 2260 of FIG. 107.

Although various processing modules constituting the auxiliary line have been described, the present invention is not limited to this, and in addition to the processing modules 2010.204, 2050, 2060, 2080, or the processing modules 2010.204, 2050, 2060, Other processing modules can be added to the auxiliary line in place of one or more processing modules of 2080.

For example, a welding module can be added to the auxiliary line. Referring to FIG. 112, the welding module 2300 includes a manipulator module 2400 and a table module 2500. The manipulator module 2400 includes a base portion 2104 mounted on the drive module 2112 and a manipulator 2102 attached to the base portion 2104, similarly to the manipulator module described above. The manipulator module 2400 includes a spot welder 2404 attached to the wrist portion 2106d of the manipulator 2102 as an end effector, and a power supply device 2402 for supplying electric power to the spot welder 2404 via an electric wire 2402a. The table module 2500 has substantially the same configuration as the table module described above, and includes a work fixing device 2242 on which a work W to be spot welded is placed and fixed.

In the welding module 2310 shown in FIG. 113, an arc welder 2408 is attached to the wrist portion 2106d of the manipulator 2102 as an end effector instead of the spot welder 2404. A predetermined voltage is applied between the arc welder 2408 and the work W placed and fixed on the work fixing device 2242 by the power supply device 2406 via the electric wires 2406a and 2406b. The manipulator module 2400 is a wire supply type semi-automatic welding in which a wire serves as an electrode and a solvent, and may be provided with a gas cylinder (not shown) of a shield gas.

Further, the auxiliary line may be equipped with a blower module for blowing off the processing liquid and chips adhering to the work. Referring to FIG. 114, the blower module 2320 comprises a nozzle 2412 attached as an end effector to the wrist portion 2106d of the manipulator 2102. Pressurized air is supplied to the nozzle 2412 from an air pressure source (not shown) such as service air in a factory. The pneumatic source may be a compressor housed in the drive module 2112. Pressurized air is supplied from the pneumatic source to any of the table modules of the machining system 2000, and the coupling portion 2212 coupled with any one of the fluid connectors 844f and 844g of the coupling portion 2210 and one of the fluid connectors 844f and 844g. Pressurized air is transmitted between adjacent table modules via one of the fluid connectors 854f, 854g, and finally one of the fluid connectors 824f, 824g of the coupling portion 2206 of the table module 2510 and the fluid. It is supplied to the manipulator module 2410 via one of the fluid connectors 804f, 804g of 2108 of the manipulator module 2410 coupled with one of the connectors 824f, 824g8.

Furthermore, the auxiliary line can include a marking module that prints or marks a predetermined character string or geometric shape (logo, model number, etc.) on the work. Referring to FIG. 115, the marking module 2330 includes a manipulator module 2420 and a table module 2520. The manipulator module 2420 has substantially the same configuration as the manipulator module 2100 described above. The table module 2520 includes a safety cover 2522 mounted on the work fixing device 2242 and surrounding the fixed work W, and a laser head 2524 disposed in the safety cover 2522. The laser head 2524 is controlled by the control device 2201 of the table module 2520, and irradiates the work W with a laser beam to mark a predetermined character string or geometric shape on the surface of the work W.

The marking module 2330 of FIG. 115 uses a laser beam to mark a character string or a mark on the surface of the work W, but ink may also be used. Referring to FIG. 116, in the marking module 2340, the hand 2110 of the manipulator module 2430 holds the inkjet head 2532. The manipulator 2102 is controlled by the control device 2201 of the manipulator module 2340 to move the inkjet head 2532 relative to the work W on the work fixing device 2242 to print a predetermined character string or geometric shape on the surface of the work W. be able to.

Further, the auxiliary line can include an assembly module 2350 as shown in FIG. 117. Unlike the assembly module 2080 described above, the assembly module 2350 has one manipulator module 2440 coupled to one table module 2540. The manipulator module 2440 is provided with a press-fitting device or impact hammer as an end effector, and is configured to press-fit a part 2544 such as a bush or a centering pin into a pilot hole 2542 of a work W, for example. The assembly module 2350 of FIG. 117 may include a component stocker 2446 in the table module 2540 that holds a plurality of components 2544 to be inserted into the pilot hole 2542.

Further, referring to FIG. 118, an integrated machining system 4000 including a plurality of machining systems 2000 is illustrated. In FIG. 118, the integrated machining system 4000 includes four machining systems 2000, but the present invention is not limited thereto, and the integrated machining system 4000 is a machining system 2000 of 2 or 3 or a machining system of 5 or more. 2000 can be included.

The integrated machining system 4000 stores end effector stockers 4100 for storing end effectors used in all machining systems 2000, work stockers 4200 for storing raw and machined workpieces, and parts to be attached to workpieces such as bushes and pins. It can include a maintenance station 4400 for maintaining each module such as a component stocker, a tool module 500, a table module 600, 2200, and a manipulator module 2100, and a module stocker 4500 for storing each module. Although the module stocker 4500 is shown so that only the manipulator module 2100 is stored, the module stocker 4500 may store other modules such as the tool module 500, the table module 600, and 2200. can.

10 Machining module 30 Machining system 100 Tool module 126 Coupler 200 Table module 300 Machining system controller 560 Drive module 930 Transport vehicle 940 Transport vehicle

Claims (13)

1. In a machining system consisting of a combination of multiple modules
   A table module with a table to fix the work and
   The tool module combined with the table module and
   A drive module on which each of the table module and the tool module is placed is provided.
   A machining system in which at least two of the table modules are arranged and joined side by side with each other along a predetermined first axis to define a main line.
2. One or more table modules are added to and joined to one of at least two table modules defining the main line along a second axis extending in a direction different from the predetermined first axis. The processing system according to claim 1, wherein an additional line is defined.
3. Each of the table modules comprises a movable cover assembly that surrounds the table.
   The movable cover assembly includes three movable covers.
   The movable cover can be opened and closed in the first form, the second form, and the third form.
   In the first aspect, the first surface, the second surface, and the third surface are closed.
   In the second embodiment, the first surface and the second surface are opened, and the third surface is closed.
   In the third embodiment, the first surface and the second surface are closed, and the third surface is opened.
   When the table module is arranged on the main line, the first surface is arranged on the upstream side with respect to the flow direction of the work in the main line, the second surface is on the downstream side, and the third surface is on the downstream side. Placed on an additional line,
   According to claim 2, when the table module is arranged on the addition line, the first surface is arranged on the downstream side with respect to the flow direction of the work in the addition line, and the second surface is arranged on the upstream side. Processing system.
4. The processing system according to claim 2 or 3, wherein the angle between the first and second axes is 60 °.
5. The processing system according to claim 2 or 3, wherein the angle between the first and second axes is 90 °.
6. The table module includes a chute for collecting chips generated by processing the work, and a chip discharging device arranged below the chute.
   The chip discharging device includes a chip conveyor extending along the first axis.
   The processing system according to claim 1, wherein the chip conveyor transports and discharges chips from the downstream side to the upstream side in the flow direction of the work in the main line.
7. The table module comprises at least one stand assembly.
   The shoe assembly includes a shoe provided so as to be able to approach and separate from the floor surface.
   A stand actuator that drives the shoe so as to come into contact with and separate from the floor surface,
   A shoe clamper for clamping the shoe in a predetermined position is provided.
   The shoe is advanced by the stand actuator, comes into contact with the floor surface, and then comes into contact with the floor surface with a predetermined pressing force smaller than the weight of the drive module and the table module.
   The processing system according to claim 1, wherein the shoe clamper clamps the shoe in a forward position.
8. The drive module
   On the top and
   A plurality of wheels that allow the drive module to move in the front-back, left-right directions along the floor,
   The drive motor that drives the plurality of wheels and
   With at least three height adjusters that adjust the height of the previously placed table module or tool module,
   With at least one sensor that detects the height and tilt of the previously placed table module or tool module,
   A control device that controls the height adjusting device in order to adjust the height and inclination of the module, and a control device that controls the height adjusting device.
   The processing system according to claim 1.
9. A reference ball installed on the table, an energy converter installed on the table, a coupler installed on the table, and a tool rack installed on the table having at least one recess for receiving a tool. The processing system according to claim 1, further comprising any one.
10. The table module is
    The base part mounted on the drive module and
    The processing system according to claim 1, further comprising a mounting surface for mounting the work and a rotary table mounted on the base portion.
11. The processing system according to claim 8, wherein the rotary table is rotatably supported by the base portion around a central axis in the vertical direction.
12. The rotary table is
    The table base part attached to the base part and
    The processing system according to claim 8, wherein the table base portion includes a table body rotatably supported around an inclined axis.
13. The rotary table is arranged so as to be separated from each other at a predetermined interval along a horizontally extending rotation axis, and is fixed to the base portion with a pair of blocks.
    The processing system according to claim 8, wherein the pair of blocks is provided with a table body swingably supported around the horizontal rotation axis.

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