WO2023181157A1 - 工作機械 - Google Patents

工作機械 Download PDF

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Publication number
WO2023181157A1
WO2023181157A1 PCT/JP2022/013439 JP2022013439W WO2023181157A1 WO 2023181157 A1 WO2023181157 A1 WO 2023181157A1 JP 2022013439 W JP2022013439 W JP 2022013439W WO 2023181157 A1 WO2023181157 A1 WO 2023181157A1
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WO
WIPO (PCT)
Prior art keywords
workpiece
holding member
head
held
weight
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Application number
PCT/JP2022/013439
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English (en)
French (fr)
Japanese (ja)
Inventor
創 小寺
Original Assignee
株式会社Fuji
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社Fuji filed Critical 株式会社Fuji
Priority to PCT/JP2022/013439 priority Critical patent/WO2023181157A1/ja
Priority to JP2024508879A priority patent/JPWO2023181157A1/ja
Publication of WO2023181157A1 publication Critical patent/WO2023181157A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers

Definitions

  • the present disclosure relates to a technique for setting a transfer position for transferring a workpiece between an orthogonal robot and a partner device.
  • Patent Document 1 listed below describes a vertical articulated robot that conveys a sheet-like workpiece.
  • Experimental data is stored in the control box of the vertically articulated robot.
  • This experimental data includes the detected values of the strain gauges attached to the base ends of the arms and claws of each axis, and the amount of deformation of each arm and claw that corresponds to the detected values of each strain gauge.
  • the control box calculates the amount of deformation based on the detected values input from the strain gauges and experimental data.
  • the control box inserts the workpiece into the magazine by driving the cylinder of the hand with a position correction signal that matches the calculated amount of deformation.
  • the amount of deformation caused by the weight of the workpiece is detected by a strain gauge. For this reason, it is necessary to install a strain gauge on each of the arms and claws, and process the detection signal of the strain gauge during the workpiece transfer operation to detect the amount of change.
  • the control box was required to process the detection signal output from the strain gauge each time the workpiece was transferred.
  • the present disclosure has been made in view of the above-mentioned problems, and it is possible to set an appropriate transfer position according to the weight and length of the workpiece with respect to the transfer position where the workpiece is transferred between the orthogonal robot and the partner device.
  • the purpose is to provide machine tools.
  • the present specification includes a partner device capable of holding a workpiece and a holding member that holds the workpiece, and transfers the workpiece held by the holding member to and from the partner device.
  • an orthogonal robot that executes the execution, and a control device that controls the orthogonal robot, and the control device acquires the weight and length of the workpiece when transferring the workpiece to and from the partner device.
  • a setting process for setting a transfer position which is a position of the orthogonal robot when transferring the workpiece to and from the partner device, based on the weight and length of the workpiece acquired by the acquisition process.
  • the delivery position between the partner device and the orthogonal robot is set based on the obtained weight and length of the workpiece.
  • an appropriate delivery position can be set using a correction formula, a database, etc. according to the weight and length of the workpiece.
  • the delivery position can be set more quickly.
  • FIG. 2 is a front view of the machine tool according to the present embodiment.
  • Block diagram of machine tool FIG. 2 is a perspective view showing the main body of the machine tool with the device cover removed. The right side view of the machine tool in the state of FIG. 3.
  • FIG. 3 is a perspective view of a lifting arm and a head.
  • FIG. 7 is a diagram showing the states of the left spindle device and the head when setting a reference position and transferring a workpiece. The figure which shows the reception screen of a control panel. The figure which shows the contact detection device and the state which the weight for measurement is attached to the head. A diagram for explaining the inclination of the head due to the workpiece.
  • FIG. 7 is a diagram showing the states of the stocker device and the head when setting a reference position and transferring a workpiece.
  • FIG. 1 shows a front view of a machine tool 1 of this embodiment.
  • FIG. 2 shows a block diagram of the machine tool 1.
  • FIG. 3 shows a perspective view of the main body of the machine tool 1 with the device cover 2 (see FIG. 1) removed.
  • the Z direction the right direction in the machine width direction and horizontal to the device installation surface
  • the Z direction the direction when the machine tool 1 is viewed from the front.
  • the front direction parallel to and perpendicular to the Z direction will be referred to as the Y direction
  • the Z direction and the upper direction perpendicular to the Y direction will be referred to as the X direction.
  • the letter “L” will generally be added to the reference numerals relating to the devices disposed on the left side of the machine tool 1
  • the letter “R” will be added to the reference numerals relating to the apparatuses disposed on the right side.
  • FIGS. 1 and 2 (Configuration of machine tool 1) As shown in FIGS. 1 and 2, the front surface of the machine tool 1 is covered with a device cover 2, and a movable operation panel 3 is provided on the front surface of the machine.
  • the operation panel 3 is movable in the Z direction from the center of the front surface of the device to the right end along a rail 6 provided on the lower right side of the front surface of the device cover 2.
  • the device cover 2 is provided with a left front door 5L on the left side of the machine tool 1, and a right front door 5R on the right side.
  • the left and right front doors 5L and 5R are, for example, sliding doors, and by opening the doors, it is possible to access the processing space behind the doors.
  • the machine tool 1 includes, in addition to the operation panel 3, a left processing device 11L, a right processing device 11R, a stocker device 9, a workpiece transfer device 14, and a control device 15.
  • a processing space for a left processing device 11L is provided behind the left front door 5L.
  • the left processing device 11L is, for example, a turret-type lathe, and includes a left spindle device 12L and a left turret 13L.
  • the left spindle device 12L includes, for example, a plurality of child claws that chuck a workpiece, grips the workpiece with the plurality of child claws, and rotates the workpiece around a main axis parallel to the Z direction.
  • the left turret 13L has a tool rest to which a plurality of tools (rotary tools and cutting tools) can be attached, and performs tool indexing.
  • the left turret 13L executes machining (cutting, drilling, etc.) on the workpiece gripped by the left spindle device 12L using the indexed tool.
  • the user checks the machining state of the workpiece and replaces deteriorated tools through the left front door 5L.
  • the right processing device 11R has the same configuration as the left processing device 11L except for the direction of the main axis (device). Therefore, in the description of the right side processing device 11R, description of the same contents as the left side processing device 11L will be omitted.
  • a processing space for the right spindle device 12R and the right turret 13R of the right processing device 11R is provided.
  • the main axis of the right main spindle device 12R is parallel to the Z direction, and faces (opposes) the main axis of the left main spindle device 12L of the left processing device 11L in the left-right direction. Therefore, the left and right processing devices 11L and 11R are so-called opposed two-axis lathes arranged symmetrically.
  • the left and right processing devices 11L and 11R do not have to have a symmetrical configuration. Further, the right processing device 11R may not have the same configuration as the left processing device 11L. For example, at least one of the left processing device 11L and the right processing device 11R may be another type of processing device such as a machining center.
  • the machine tool 1 is a multi-tasking machine that has the functions of both an NC lathe and a machining center.
  • FIG. 4 is a right side view of the machine tool 1 in the state shown in FIG.
  • a tool spindle device 21 is provided approximately at the center of the machine tool 1 in the left-right direction.
  • the tool spindle device 21 performs machining that is difficult for the left and right machining devices 11L and 11R, which are lathes.
  • the tool spindle device 21 can, for example, perform drilling in addition to lathe processing on the workpieces gripped by the left and right spindle devices 12L and 12R, respectively, and can drill holes at depths that are difficult to perform with the left and right turrets 13L and 13R. This enables workpiece machining at the sheath angle.
  • the machine tool 1 includes a multi-tasking machine including left and right processing devices 11L, 11R, and a tool spindle device 21 on one bed 22.
  • Each of the left and right spindle devices 12L, 12R rotates the work W (see FIG. 4) based on the drive of spindle motors 14L, 14R provided outside the devices.
  • the left and right spindle devices 12L and 12R including the spindle motors 14L and 14R are slidable in a direction parallel to the Z direction along an inclined surface 23 on a bed 22 having a slant bed structure.
  • the left and right spindle devices 12L and 12R move in a direction parallel to the Z direction by driving a ball screw mechanism (not shown) by, for example, a Z-axis servo motor 17 (see FIG. 4) provided at the bottom.
  • the left and right turrets 13L, 13R and the tool spindle device 21 are both movable in the machine body longitudinal direction and the machine body vertical direction perpendicular to the spindle. For example, while the tool spindle device 21 moves in the horizontal Y direction and the vertical X direction, the left and right turrets 13L and 13R move in the YL direction, which is the Y direction and the It is in the XL direction.
  • an automatic tool changer 25 is provided on the front side of the tool spindle device 21.
  • the tool spindle device 21 can exchange a tool T (spindle head tool) with an automatic tool changer 25.
  • the automatic tool changer 25 is equipped with a tool magazine 25A storing a plurality of tools T at the top of the device, and a tool changer 25B provided at a position facing the tool spindle device 21 exchanges tools T from the tool magazine 25A. , the tool is transported to the tool exchange position of the tool spindle device 21.
  • the machine tool 1 can also change the tool of the tool spindle device 21 while machining the workpiece W (see FIG. 4) in each of the left and right machining devices 11L and 11R.
  • the machine tool 1 includes, for example, separation shutters (not shown) disposed on both left and right sides of the tool spindle device 21 in the Z direction.
  • the machine tool 1 is capable of individually moving two separation shutters in the Y direction by a drive mechanism (not shown).
  • FIG. 3 shows a state in which this separation shutter is housed.
  • the machine tool 1 separates the machining spaces of the left machining device 11L and the right machining device 11R from the tool exchange space of the tool spindle device 21 by two separation shutters. This makes it possible to prevent each device from being affected by coolant or chips. Further, by closing only one separation shutter, the space including the tool exchange space can be expanded to the machining space for one of the turrets and the tool spindle device 21.
  • the work transport device 14 transfers the work W to and from the left and right processing devices 11L, 11R, and each device for carrying in, discharging, inspecting, etc. the work.
  • the left and right processing devices 11L, 11R and each device that transfers the workpiece W are examples of counterpart devices of the present disclosure.
  • the machine tool 1 includes a stocker device 9 as one of the partner devices. As shown in FIG. 1, the stocker device 9 includes a plurality of pallets 10 on which workpieces W can be stacked, and replaces the pallets 10 at the working position based on the control of the control device 15.
  • the workpiece conveyance device 14 receives the workpiece W before processing and delivers the workpiece W after processing to and from the pallet 10 at the working position. Details of the workpiece conveyance device 14 will be described later.
  • the operation panel 3 is provided on the front surface of the device cover 2, and includes a touch panel 3A and an operation device 3B.
  • the operating device 3B includes, for example, operating switches, push buttons, dials, display lamps, and the like.
  • the operation panel 3 receives operation inputs from the user on the touch panel 3A and the operation device 3B, and outputs a signal corresponding to the received operation inputs to the control device 15. Further, the operation panel 3 changes the display content of the touch panel 3A and the lighting state of the display lamp of the operation device 3B based on the control of the control device 15. Furthermore, a pendant 8 for operating the machine tool 1 can be hung below the center of the device cover 2.
  • the control device 15 of the machine tool 1 is a processing device mainly composed of a computer, and includes a CPU 15A and a storage device 15B.
  • the storage device 15B includes, for example, RAM, ROM, flash memory, and the like.
  • the control device 15 is electrically connected to each device (the left processing device 11L, the workpiece transfer device 14, etc.) and can control each device.
  • Various control programs 16 are stored in the storage device 15B.
  • the control program 16 includes, for example, an NC program that controls the operation of the left and right processing devices 11L and 11R in processing a workpiece, a program that controls the operation of the workpiece conveyance device 14, and a ladder circuit program that processes various signals. It includes programs, etc.
  • control program 16 is associated with, for example, the XYZ coordinates of the transfer position where the work transfer device 14 executes the transfer of the workpiece W, the name of the process in which the work is performed at the transfer position, identification information for identifying the process, etc. is memorized.
  • the coordinates in each of the XYZ directions will be referred to as the X coordinate, Y coordinate, and Z coordinate. This coordinate system is for convenience of explanation and can be changed as appropriate.
  • the setting of each coordinate is not limited to the above-described setting, and for example, the left-right direction (Z direction) may be set as the X coordinate, the front-back direction as the Y coordinate, and the up-down direction (X direction) as the Z coordinate.
  • correction formula data 19 is stored in the storage device 15B.
  • the correction formula data 19 stores a plurality of correction formulas for correcting the XYZ coordinates of the transfer position of the workpiece W of the workpiece transport device 14. Details of the correction formula will be described later.
  • the workpiece conveyance device 14 is, for example, a gantry-type conveyance device, and is capable of moving the gripped workpiece W in three directions, XYZ directions. Note that FIG. 1 illustrates in one figure the state of the workpiece conveyance device 14 that moves to a plurality of positions.
  • the machine tool 1 includes a turret-shaped frame structure 31 in which beams are connected to front, rear, left and right columns that are erected to match the width of the bed 22.
  • Each device on the bed 22 such as the tool spindle device 21, the automatic tool changer 25, and the workpiece transfer device 14 are covered on the front side by a device cover 2 supported by a frame structure 31.
  • the workpiece conveyance device 14 includes a rail stand 32 and a traveling table 33.
  • the rail stand 32 is provided on the frame structure 31 and on the front side of the apparatus.
  • Two running rails 34 parallel to the Z direction and one running rack 35 are provided on the rail stand 32.
  • the traveling table 33 is slidable along the traveling rail 34.
  • a traveling motor 37 is fixed to the traveling table 33.
  • the traveling table 33 can be moved in the Z direction by a pinion fixed to the rotating shaft of the traveling motor 37 meshing with the traveling rack 35.
  • the control device 15 can move the workpiece conveyance device 14 to any position in the Z direction by controlling the travel motor 37.
  • a slide table 39 is provided on the top surface of the traveling table 33 so as to be slidable in the Y direction.
  • a rack for moving in the Y direction is provided on the side surface of the slide table 39.
  • a front and rear motor 41 is fixed to the traveling table 33.
  • a pinion fixed to the rotating shaft of the front and rear motor 41 is meshed with a rack of the slide base 39.
  • the control device 15 can move the slide base 39 to any position in the Y-axis direction (front-back direction) by controlling the front-back motor 41 .
  • the slide table 39 protrudes forward from the frame structure 31, and is provided with an elevating arm 43 that moves up and down at its tip.
  • a support column 45 equipped with a lifting rail is fixed to the front end of the slide table 39 in a posture parallel to the X direction.
  • a lifting arm 43 is provided in front of the support column 45.
  • the lifting arm 43 is movable in the X direction along the lifting rail of the support column 45.
  • a lifting motor 47 is provided at the top of the support column 45.
  • a pulley is fixed to the rotating shaft of the lifting motor 47.
  • a belt is stretched between the pulley of the lifting motor 47 and a pulley pivotally supported at the lower part of the support column 45.
  • the lifting arm 43 is connected to the belt, and its position in the X direction is changed according to the driving of the lifting motor 47.
  • the control device 15 can change the position of the lifting arm 43 in the X-axis direction (vertical direction) by controlling the lifting motor 47.
  • a head 51 for gripping the work W is provided at the lower end 43A of the lifting arm 43. Therefore, the control device 15 can move the head 51 to any position in the XYZ directions by controlling the traveling motor 37, the front-rear motor 41, and the lifting motor 47.
  • the head 51 is attached to the rear side surface of the lower end portion 43A, and is arranged at a position on the rear side with respect to the lifting arm 43.
  • FIG. 5 shows a perspective view of the lifting arm 43 and head 51.
  • the head 51 has two gripping parts, a first gripping part 52 and a second gripping part 53.
  • the second grip part 53 has the same configuration as the first grip part 52. Therefore, in the following description, description of the second grip part 53 will be omitted as appropriate.
  • the head 51 includes a support member 56, a first claw member 57, and a second claw member 58.
  • the support member 56 is attached to the rear of the lower end portion 43A of the lifting arm 43.
  • the support member 56 has a substantially rectangular plate shape with a predetermined thickness.
  • a first gripping portion 52 and a second gripping portion 53 are provided on each surface of the support member 56 that faces each other in the thickness direction (direction from the left front to the right back in FIG. 5).
  • the support member 56 is rotatably attached to the lower end portion 43A.
  • the control device 15 rotates the head 51 around a rotation axis 62 (see FIGS.
  • the head 51 rotates, for example, in the rotation direction 61 (clockwise or counterclockwise) by 90 degrees in response to the drive of the turning motor.
  • the head 51 has a turning position (two turning positions including a 180 degree reversed position) in which each of the first and second gripping parts 52 and 53 is directed to both sides in the Z direction (left and right sides), and a second turning position.
  • the first and second gripping parts 52 and 53 are rotated to a total of four rotational positions (two rotational positions including a 180 degree inverted position) in which each of the first and second gripping parts 52 and 53 is directed to both sides in the X direction (both upper and lower sides). do.
  • the control device 15 sets the head 51 to the first rotation position RP1.
  • the control device 15 controls the first gripping part 52 to face downward.
  • the head 51 is rotated to the fourth rotation position RP4.
  • the rotation angle and pivot position of the head 51 described above are merely examples.
  • the head 51 may be configured to rotate at intervals of an angle larger than 90 degrees (such as 180 degrees), or at intervals of a small angle (such as 45 degrees), or may be configured to rotate at an arbitrary rotation angle.
  • three first claw members 57 can be attached to the first grip part 52.
  • Each of the three first claw members 57 has, for example, the same shape and is attached at a position shifted by 120 degrees in the circumferential direction.
  • the three first claw members 57 are removably attached to the support member 56, and can be replaced with a different type of first claw member 57 depending on the type of work W or the like.
  • the three first claw members 57 slide (open and close) in the radial direction in accordance with the drive of a hydraulic cylinder (not shown) provided in the head 51.
  • the control device 15 closes the three first claw members 57 to clamp the workpiece W, or opens the three first claw members 57 to release the clamping by driving the hydraulic cylinder.
  • the second gripping portion 53 is capable of attaching and detaching, for example, three second claw members 58, and can open and close the three second claw members 58.
  • the control device 15 executes processing on the workpiece W based on the control program 16.
  • the workpiece W to be processed is transported from the stocker device 9 to the left spindle device 12L and the right spindle device 12L by the workpiece transfer device 14, for example.
  • the control device 15 executes predetermined machining using the left and right turrets 13L, 13R and the tool spindle device 21.
  • the control device 15 receives the processed workpiece W from the left spindle device 12L or the like to the workpiece transfer device 14, and transfers it to the stocker device 9.
  • the XYZ coordinates of the transfer position which is the position of the head 51 that transfers the work W between the work transfer device 14 and each partner device, are set.
  • the control device 15 places the head 51 at the delivery position (XYZ coordinates) set in this NC program, turns the head 51 to a predetermined turning position, and transfers the workpiece W between the head 51 and the partner device.
  • the machine tool 1 is capable of setting a reference position, which is a reference for setting a delivery position, using a contact detection device.
  • the machine tool 1 of this embodiment receives input values such as the weight and length of the workpiece W to be machined, sets the delivery position based on the reference position and length, and uses the correction formula based on the weight and length.
  • the set delivery position is corrected based on the correction formula of data 19.
  • the left spindle device 12L is employed as a partner device and the workpiece W is transferred from the first gripping portion 52 of the head 51 to the left spindle device 12L.
  • the setting of the delivery position, etc. can be performed in the same manner for other delivery positions.
  • the upper diagram shows the state of the left spindle device 12L and the head 51 when setting the reference position
  • the lower diagram shows the state of the left spindle device 12L and the head 51 when the workpiece is transferred.
  • a master work 63 is attached to the left spindle device 12L when setting the reference position. This master work 63 is used as a member brought into contact with the contact detection device 65 when setting the reference position P1, and is also used as a member for checking misalignment of the main spindle during centering work of the main spindle.
  • the master work 63 includes, for example, a disc-shaped clamped part 63A and a substantially cylindrical convex part 63B protruding from the center of the clamped part 63A. Note that the shape of the master work 63 shown in FIG. 6 is an example.
  • the left spindle device 12L is capable of attaching a plurality of (for example, three) child claws 67 that can hold the workpiece W or the master workpiece 63, for example.
  • Each of the plurality of child claws 67 has, for example, the same shape, and is attached at a position shifted in the circumferential direction by a predetermined rotation angle (for example, 120 degrees). Further, the plurality of child claws 67 move in the radial direction based on the drive of a drive source (such as a hydraulic cylinder) provided in the left spindle device 12L, and grip the workpiece W and the master workpiece 63.
  • a drive source such as a hydraulic cylinder
  • the member that holds the workpiece W and the master workpiece 63 is not limited to the claw members such as the child claws 67, but may be other members such as a collet chuck.
  • the master work 63 is held between the plurality of child claws 67.
  • the user operates the operation panel 3 to open the child claws 67 and seats the master work 63 on the left spindle device 12L.
  • the user operates the operation panel 3 to close the sub-claws 67 and causes the sub-claws 67 to clamp the clamped portion 63A of the master work 63.
  • the master work 63 is placed in contact with the abutment portion 67A formed on the child pawl 67, and is restricted from moving toward the base end side (left side in FIG. 6) of the left spindle device 12L.
  • the centers of the pinched portion 63A and the convex portion 63B are on the main shaft 69. That is, when the master work 63 is placed at the correct position for measurement, movement toward the proximal end is restricted, and the center of rotation is on the main shaft 69.
  • the work of placing the master work 63 on the left spindle device 12L may be automatically performed using the head 51 of the work transfer device 14.
  • the control device 15 causes the head 51 to grip the master work 63 placed in the stocker device 9, transports the master work 63 to the left spindle device 12L, and transfers the master work 63 from the head 51 to the left spindle device 12L. Masterwork 63 may also be handed over to 12L.
  • the user When the user installs the master work 63 on the left spindle device 12L, the user causes the contact detection device 65 to be held by the first gripping portion 52 of the head 51.
  • the operation of holding the contact detection device 65 between the heads 51 may be carried out by the user operating the operation panel 3 similarly to the master work 63, or the contact detection device 65 may be placed in the stocker device 9, work station, etc. Alternatively, the head 51 may automatically grab it.
  • the first claw member 57 has a different shape when setting the reference position (upper figure) and when transferring the workpiece (lower figure).
  • the first claw member 57 is preferably changed to one suitable for holding the contact detection device 65 and the workpiece W, but the same type of first claw member 57 is used when setting the reference position and when transferring the workpiece. It's okay.
  • the contact detection device 65 is, for example, a touch probe, and when the tip of the stylus 65A comes into contact with another member, it transmits a contact detection signal indicating the occurrence of contact via wireless communication.
  • the control device 15 includes a wireless device 18 that can communicate wirelessly with the contact detection device 65.
  • the control device 15 is capable of receiving a contact detection signal SI from the contact detection device 65 held by the first claw member 57 of the head 51 via wireless communication.
  • the contact detection method in the contact detection device 65 is not particularly limited, but a movable contact method, a pressure sensor method, an optical sensor method, etc. can be adopted.
  • the contact detection device of the present disclosure is not limited to a touch probe, and may use a push button switch having a movable contact or a pressure sensor.
  • the method of transmitting the contact detection signal SI to the control device 15 is not limited to wireless communication, but may be a method using infrared rays or electromagnetic induction. Further, the contact detection signal SI may be transmitted by wired communication.
  • the control device 15 places the head 51 at a predetermined measurement start position P2 (see FIG. 6).
  • This measurement start position P2 is a position where the head 51 is placed when starting measurement of the reference position P1. For example, if the head 51 is placed at the measurement start position P2 in FIG. 6 by performing centering work etc. in advance, the X coordinate in the X direction and the Y coordinate in the Y direction of the head 51 at the measurement start position P2 are This coincides with the XY coordinates of the main axis 69 of 12L.
  • the control device 15 brings the stylus 65A of the contact detection device 65 into contact with a plurality of locations on the convex portion 63B of the master work 63 based on the user's operation instruction, detects the center position of the convex portion 63B, The amount of deviation from the main shaft 69 is corrected and centering is performed.
  • the control device 15 moves the head 51 in the Z direction and sets the Z coordinate in the Z direction based on the detection by the contact detection device 65.
  • the control device 15 can use the XY coordinates of the main axis as the XY coordinates. Therefore, the control device 15 sets the XY coordinates of the main shaft 69 (XY coordinates of the measurement start position P2) determined by performing the centering operation as the XY coordinates of the reference position P1.
  • the control device 15 When the head 51 is placed at the measurement start position P2, the control device 15 keeps the XY coordinates constant and moves the head 51 toward the left spindle device 12L along a direction parallel to the Z direction (from the measurement start position P2 in FIG. 6). (see arrow). The control device 15 controls the travel motor 37 to move the head 51 in a direction parallel to the Z direction.
  • the contact detection device 65 transmits a contact detection signal SI when the stylus 65A contacts the surface of the convex portion 63B on the head 51 side. Upon acquiring the contact detection signal SI from the contact detection device 65, the control device 15 sets the Z coordinate of the reference position P1.
  • the control device 15 corrects the delay time necessary for transmitting the contact detection signal SI from the contact detection device 65 to the control device 15 with respect to the time when the contact detection signal SI is acquired, and Calculate the output time when is output. Then, the control device 15 sets the Z coordinate where the head 51 was placed at the output time as the Z coordinate of the reference position P1.
  • the Z coordinate of the head 51 can be detected based on the position information of the traveling motor 37 described above. Note that the control device 15 does not need to perform the above-described transmission time delay correction.
  • the control device 15 may set the Z coordinate of the head 51 at the time when the contact detection signal SI is input as the Z coordinate of the reference position P1.
  • the control device 15 sets, for example, the distance along the Z direction from the origin position P3 to the reference position P1 shown in FIG. 6 as the reference distance L1.
  • This origin position P3 is a reference position (origin) for determining the delivery position.
  • the origin position P3 may be set at a position other than the left spindle device 12L (such as a predetermined position on the frame structure 31). That is, the origin position P3 is not limited to the position of the left spindle device 12L, but can be set at any position of the machine tool 1.
  • the control device 15 displays on the operation panel 3 that the reference position setting process is completed.
  • the user confirms the completion indication, the user removes the contact detection device 65 from the head 51, removes the master work 63 from the left spindle device 12L, and replaces the first claw member 57 with one suitable for the workpiece W to be machined.
  • the control device 15 receives, for example, input values necessary for the setting of the delivery position and the correction formula on a predetermined setting screen or a screen for accepting a start instruction before starting processing of the workpiece W.
  • FIG. 7 shows an example of the input value reception screen 73. As shown in FIG. 7, the control device 15 receives information such as the position name, the weight of the workpiece W, the length of the workpiece W, the turning position, and whether or not there is a transfer as input values. Note that the input values shown in FIG. 7 are just an example.
  • the control device 15 sets the position names NO1 to NO6 as the names of the delivery positions for these six deliveries, and identifies the delivery positions.
  • the head 51 receives the workpiece W from the stocker device 9 to the first gripping section 52 at position number NO1, and transfers the workpiece W from the first gripping section 52 to the left spindle device 12L at position number NO2.
  • the head 51 receives the work W after the first machining process from the left spindle device 12L to the first gripping section 52 at NO3, and delivers the work W from the first gripping section 52 to the right spindle device 12R at NO4. Then, the head 51 receives the workpiece W after the second machining process from the right spindle device 12R at NO5, and delivers the workpiece W to the stocker device 9 at NO6.
  • input value names 75 for explaining each input value are displayed. Further, below each input value name 75, an input field 76 is provided for inputting each input value for each position name (delivery position).
  • the top position name NO1 is a delivery position where the unprocessed workpiece W is delivered from the stocker device 9 to the first gripping section 52. Therefore, the user inputs the weight of the unprocessed work W as the input value weight X1, and inputs the length of the unprocessed work W as the length Y1 in the input field 76. For example, when inputting the weight X2 and length Y2 of No.
  • the user inputs the weight X2 that has become lighter and the length Y2 that has become shorter due to the first processing step.
  • the user inputs the weight X3, which is further reduced by the second processing step, and the length Y3, which is further reduced by the second processing step.
  • the input fields 76 for the weight and length of the workpiece W of the second gripping part 53 are not set (blank). There is.
  • the control device 15 identifies, for example, the above-described first to fourth turning positions RP1 to RP4 as "RP1 to RP4.”
  • the user selects the fourth rotation position RP4, in which the first grip part 52 is directed downward, as the rotation position with position name NO1.
  • the head 51 receives the workpiece W from the stocker device 9. Therefore, the user selects and inputs information indicating receipt into the input field 76 as information on whether the position name No. 1 is delivered or not.
  • the control device 15 stores the input value on the reception screen 73 in the storage device 15B, and uses it to correct the delivery position, which will be described later.
  • the control device 15 discards the information received on the reception screen 73.
  • the method for acquiring input values is not limited to the above-described method of inputting them using the operation panel 3, and for example, a setting file containing input values may be read into the control device 15.
  • the control device 15 receives the length L2 (see FIG. 6) of the unprocessed workpiece W as the length Y1 of the workpiece W having the position name NO2.
  • the user may input, for example, a value on the drawing (design) of the unprocessed workpiece W, or a value obtained by actually measuring the workpiece W before processing.
  • the control device 15 uses the received length L2 of the workpiece W to set the delivery position of position name NO2. For example, as shown in the lower diagram of FIG.
  • the control device 15 calculates a designed position P5, which is the designed position of the head 51 during delivery, based on the length L2 of the received workpiece W.
  • the designed position P5 is, for example, a calculated position taking into consideration the designed length of each member, and does not include an error in the Z direction due to an assembly error of the members.
  • the workpiece W transferred from the first gripping part 52 comes into contact with the abutting part 67A of the sub-claws 67 and is seated, and is held between the plural sub-claws 67.
  • the XY coordinates of the designed position P5 have been adjusted, for example, by centering work, and therefore are the same coordinates as the reference position P1.
  • the distance L4 is the distance to the work W held by the sub-jaw 67 of the left spindle device 12L, and can be set in advance according to the structure of the sub-jaw 67, etc.
  • the distance L5 is, for example, the distance from the end of the workpiece W held by the first claw member 57 on the support member 56 side to the center of the head 51, and can be set in advance according to the structure of the head 51 and the like.
  • the control device 15 calculates a correction distance L6 that is the difference between the distance L3 and the reference distance L1 calculated at the time of setting the reference position.
  • assembly errors occur in the workpiece conveyance device 14, the left spindle device 12L, and the like, which are unique to the devices.
  • the control device 15 sets the delivery position of the head 51 using this reference distance L1 as a reference, thereby setting the delivery position with the error corrected. Specifically, as shown in FIG. 6, for example, the control device 15 sets a position obtained by adding a correction distance L6 to the reference distance L1 as the Z coordinate of the delivery position P6 in the Z direction.
  • the delivery position P6 is located on the right side of the reference position P1, but the positional relationship is changed depending on the length of the contact detection device 65 and the workpiece W. Further, the control device 15 sets the same values as the main axis 69 as the XY coordinates of the delivery position P6. In this way, the control device 15 sets the delivery position P6 based on the input length L2 of the workpiece W.
  • the control device 15 corrects the delivery position P6 set by the above-described process using the correction value calculated from the correction formula.
  • the control device 15 inputs each input value received on the reception screen 73 into a correction formula for correcting the XYZ coordinates, and calculates a correction value.
  • the first equation (B11 to C11) on the front side is a correction equation whose value is reflected when the workpiece W is gripped by both the first and second gripping parts 52 and 53
  • the first equation on the rear side Equations 2 (B21 to C21) are correction equations whose values are reflected when the workpiece W is gripped by one of the first and second gripping parts 52 and 53.
  • the variable A11 is a value that is changed depending on the state of the head 51 (the presence or absence of a workpiece W in each of the first and second gripping parts 52 and 53, etc.).
  • the control device 15 changes the variable A11 on the reception screen 73 depending on whether or not values are input into the input fields 76 for the weight and length of the workpiece W at each position.
  • the control device 15 determines that the workpiece W is gripped by the first gripping part 52 at that position.
  • the control device 15 determines that the workpiece W is gripped by the second gripping part 53 at that position. to decide.
  • the control device 15 sets the variable A11 according to the determination result of the gripping of the workpiece W.
  • Variables B11, B12, B21, and B22 are values that are changed depending on the input weight and length of the workpiece W, and are used to correct the inclination of the head 51 (referred to as correction (1)) and the length of the workpiece W. This is a variable that reflects a value that takes into account the correction of the difference caused by (referred to as correction (2)).
  • the variables C11 and C21 are values that are changed according to the input weight and length of the work W, and are values that reflect values that take into account correction of deformation due to moments (referred to as correction (3)). As shown in FIG.
  • the applicant places a contact detection device 65 on the first gripping part 52 and a measurement weight 83 on the second gripping part 53, or the first and second gripping parts 52, An experiment was conducted in which measurement weights 83 were placed on both of the 53.
  • the applicant succeeded in deriving the above correction formula by measuring the amount of change in the XYZ direction of the head 51 due to the weight of the measuring weight 83 using the contact detection device 65. Therefore, the above-mentioned correction formulas and variables are formulas representing the amount of change in the position of the head 51 according to the weight and length of the workpiece W, and the amount of change in each direction obtained from experiments.
  • the control device 15 derives a correction value for the delivery position P6 from the correction formula and the weight and length of the workpiece W to be processed. Below, the relationship between the experimental results and the correction formula will be explained. Note that FIG. 8 omits illustration of the first claw member 57.
  • correction (1) of the X coordinate (vertical coordinate) will be explained.
  • the workpiece W is held between the three child claws 67 while in contact with (seated on) the abutting portion 67A.
  • the correction formula described above corresponds to such a method of installing the workpiece W. More specifically, in the case of transfer from the head 51, the correction formula corrects the amount of change in the position of the head 51 that changes depending on the weight of the work W, etc., so that the center 82 at the tip of the work W is The variable is set to be at the center of the area surrounded by the three child claws 67 above.
  • the center 82 is the center of the front end side surface (circular surface) of the cylindrical workpiece W.
  • the control device 15 causes the child claws 67 to grip the workpiece W. Thereby, interference between the child claw 67 and the workpiece W can be avoided, and the workpiece W can be seated satisfactorily on the abutting portion 67A.
  • the head 51 For example, in an experiment using the contact detection device 65, assuming a state where only the second gripping part 53 grips the workpiece W, and attaching a weight 83 to the second gripping part 53, the head 51 The heavier the weight 83 of 53 becomes, the more it leans in the direction of arrow 85 shown in FIG. For example, the applicant changed the weight of the weight 83 to bring the stylus 65A of the contact detection device 65 held on the head 51 tilted by the weight 83 into contact with the center of the convex portion 63B, thereby changing the X coordinate of the head 51. The difference (amount of change) was confirmed. Then, variables B11, B12, etc.
  • the correction value of the correction formula for example, when the workpiece W is held in the second gripping part 53 and the workpiece W is received in the first gripping part 52, the upward inclination of the head 51 can be corrected. Similarly, the X coordinate can be corrected downward. As a result, the center of the front end side (head 51 side) surface of the workpiece W held by the left spindle device 12L can be made to coincide with the center of the three first claw members 57 of the first gripping section 52. Conversely, as shown in FIG.
  • the above-mentioned correction (2) is also taken into consideration in the correction formula.
  • the longer the axial length L2 of the workpiece W held by the head 51 the greater the amount of change that occurs in the center 82 in accordance with the above-mentioned inclination.
  • the length L2 becomes longer.
  • the X coordinate of the center 82 of the adjustment target changes upward. Therefore, the amount of deviation of the X coordinate that occurs at the center 82 due to the inclination increases as the length L2 of the workpiece W becomes longer.
  • the variables B11, B12, B21, B22, etc. in the correction formula are set to correct the error caused by the length L2 of the workpiece W.
  • the longer the length L2 of the work W the further the center 82 shifts downward. Therefore, when the values are reflected in the variables B11, B12, B21, B22, etc., the longer the length L2 is, the more coefficients are set to relatively increase the amount of correction for upwardly correcting the X coordinate. ing. Further, when the head 51 tilts upward as shown in FIG.
  • the longer the length L2 of the work W the more downward the X coordinate of the head 51 that receives the work W held by the left spindle device 12L is corrected.
  • the workpiece W is held in both the first and second gripping parts 52 and 53 and the workpiece W in the second gripping part 53 is heavier than the workpiece W in the first gripping part 52, the workpiece W is held in the first gripping part 52.
  • the workpiece W thus tilted upward.
  • the X coordinate of the head 51 is adjusted so that the center 82 of the workpiece W held by the first gripping section 52 coincides with the center of the left spindle device 12L. Correct further downward.
  • the user can input the length Y1 before machining, the length Y2 after the first machining process, and the length Y3 after the second machining process on the reception screen 73 in FIG. tilt correction can be performed.
  • the above correction (3) is also taken into consideration in the correction formula.
  • a moment torque that attempts to rotate the head 51
  • this moment becomes larger as the weight of the workpiece W becomes heavier.
  • the moment generated in the workpiece W increases, for example, as the length L2 becomes longer and as the distance 93 from the center of rotation (delivery position P6 in FIG. 9) to the center of gravity 91 of the workpiece W becomes longer. Therefore, the variables C11 and C21 of the correction formula are set with coefficients and the like that correct the deviation due to this moment.
  • the variables C11 and C21 correct the X coordinate upward as the weight of the held work W becomes heavier and the length thereof becomes longer. relatively large amount of correction.
  • the variables C11 and C21 are, for example, when the workpiece W is held by the second gripping part 53 and the workpiece W is received by the first gripping part 52, the weight of the workpiece W held by the second gripping part 53 becomes heavy. As the length becomes longer, the amount of correction for downwardly correcting the X coordinate is relatively increased. Thereby, the user can correct the error caused by the moment by inputting the weights X1, X2, X3 before and after processing and the lengths Y1, Y2, Y3 on the reception screen 73 in FIG.
  • variable (A11) the value of the work W of the first and second gripping parts 52, 53. Adjustments will be made depending on the presence or absence.
  • correction can be performed in the Y direction (front-back direction) by setting a correction formula in the same manner as in the X direction.
  • a correction formula For example, in the case of correction (1), when the workpiece W is gripped by one or both of the first and second gripping parts, the head 51 moves downward with the lower end part 43A as a fulcrum, as shown by the arrow 95 in FIG. lean towards. As a result, the Y coordinate changes toward the lower end portion 43A (in the direction of arrow 97 in FIG. 5). The amount of change (error) in this Y coordinate increases as the weight of the workpiece W becomes heavier. Therefore, in the Y coordinate correction formula, a variable is set that increases the amount of correction for correcting the Y coordinate in the direction away from the lower end portion 43A (in the opposite direction to the arrow 97) as the weight of the workpiece W becomes heavier.
  • a correction formula can be set and correction can be performed in the same way as in the X direction.
  • correction (1) for example, in the case shown in FIG. 9, the heavier the workpiece W in the first gripping section 52, the more the workpiece W tilts downward.
  • the center 82 is located further away from the convex portion 63B as the inclination increases. Therefore, in the Z coordinate correction formula, for example, in the case of FIG. 9, a variable is set that increases the amount of correction for correcting the Z coordinate to the left as the weight of the workpiece W becomes heavier.
  • the above-mentioned correction details are just an example.
  • variables may be set that take into account the moment of correction (3).
  • the correction value of the YZ coordinates may be increased.
  • the distance 93 to the center of gravity 91 of the workpiece W may be input as the input value in FIG. 7, and a correction value corresponding to the center of gravity 91 and the distance 93 to the center of gravity 91 may be calculated as the variables C11 and C21.
  • the center 82 shown in FIG. 9 becomes a position further away from the convex portion 63B as the workpiece W becomes heavier and the inclination becomes larger.
  • the amount of change (separation distance) caused by this inclination increases as the length L2 of the workpiece W becomes longer. That is, even at the same rotation angle, the longer the workpiece W is, the greater the amount of change in the Z coordinate before and after rotation. Therefore, in the Z coordinate correction formula, for example, the longer the length L2 of the work W, the larger the correction amount for correcting the Z coordinate to the left in the state shown in FIG. 9.
  • the control device 15 sets, for example, in the NC program, the delivery position P6 corrected with the correction value calculated using the above-described correction formula, and controls the position at which the head 51 is arranged. Thereby, it is possible to set the delivery position P6 in which errors due to the weight and length of the workpiece W are corrected, and the delivery of the workpiece W can be executed with high precision.
  • the control device 15 places the head 51 holding the workpiece W at the corrected transfer position P6, for example.
  • the center 82 of the workpiece W coincides with the centers 82 of the three child claws 67.
  • the control device 15 controls the left spindle device 12L to cause the child claws 67 to grip the workpiece W (see FIG. 6). After releasing the chuck of the first claw member 57 and retracting the head 51, the control device 15 rotates the left spindle device 12L to start machining.
  • the control device 15 of this embodiment is capable of calculation using a correction formula.
  • This correction formula is calculated by substituting the values of the weight and length L2 of the workpiece W held by the first claw member 57 into variables, so that the weight and length L2 of the workpiece W held by the head 51 can be calculated according to the weight and length L2 of the workpiece W. It is possible to calculate the amount of change in position occurring in the workpiece W as a correction value. Then, the control device 15 calculates a correction value based on the weight and length L2 of the workpiece W obtained from the user and a correction formula, and corrects the delivery position P6 with the correction value.
  • the XYZ coordinates of the workpiece W which are affected by the weight and length L2 of the workpiece W, can be changed by substituting the values into the correction formula, calculating the correction value, and correcting the position of the head 51. Can be corrected to an appropriate position.
  • the correction formula of this embodiment can calculate a correction value for correcting the coordinates of the head 51 in the XY directions.
  • the XY directions are directions perpendicular to the axial direction of the workpiece W held by the left spindle device 12L. Thereby, correction is performed using the orthogonal direction as the adjustment direction, and the center 82 of the workpiece W can be positioned on the main shaft 69 of the left main shaft device 12L in the XY direction. The workpiece W can be transferred smoothly.
  • variable A11 indicating whether or not the work W is held in each of the first and second claw members 57 and 58 is set in the correction equation.
  • the control device 15 obtains information indicating whether or not each of the first and second claw members 57, 58 holds a workpiece W, and sets a variable A11. Specifically, the control device 15 determines the presence or absence of the workpiece W with respect to the first and second gripping parts 52 and 53, depending on whether or not values are input in the input fields 76 for the weight and length of the workpiece W. is determined and variable A11 is set.
  • the control device 15 corrects the inclination of the head 51 due to the weight of the workpiece W held by at least one of the first and second gripping parts 52 and 53 based on the correction formula in which the variable A11 is set. Set. Thereby, in the head 51 including a plurality of gripping parts, it is possible to correct the tilt error caused by the gripped workpiece W. Interference between the workpiece W and the other device can be suppressed.
  • the correction formula corrects the transfer position P6 when transferring the workpiece W from the head 51 to the left spindle device 12L to a transfer position P6 where the center 82 at the tip of the workpiece W held by the head 51 is on the main spindle 69.
  • Variables A11, B11, B12, B21, B22, C11, and C21 are set for calculating correction values. This makes it possible to match the center 82 of the tip of the workpiece W with the centers of the three child claws 67 using the calculated correction value.
  • the left main spindle device 12L on the receiving side can hold the workpiece W well by the child claws 67.
  • the first and second claw members 57 and 58 are provided at opposing positions in the thickness direction of the support member 56.
  • the control device 15 determines the transfer position of the head 51 in the vertical direction based on a correction formula. Correct P6.
  • the head 51 corrects the delivery position P6 to a lower position as the workpiece W of the second claw member 58 becomes heavier. According to this, in the head 51 that includes the first and second claw members 57 and 58 on both sides of the support member 56, the workpiece W can be held by the second claw member 58 on the opposite side to the side that receives the workpiece W.
  • the control device 15 brings the contact detection device 65 held by the head 51 into contact with the master work 63 of the left spindle device 12L, and based on the acquisition of the contact detection signal SI of the contact detection device 65, the reference of the head 51 at the time of contact.
  • Set position P1 This makes it possible to set the reference position P1 that takes into account errors in assembly accuracy of components such as the head 51. Further, in setting the reference position P1, there is no need to provide a sensor or the like in the partner device. Then, the control device 15 corrects the set delivery position P6 from this reference position P1 using the correction value of the correction formula. Thereby, it is possible to set the delivery position P6 that corrects not only the amount of change due to weight and length but also the assembly error of the parts. The workpiece W can be transferred with higher accuracy.
  • the applicant's experiments have shown that the amount of change in the head 51 with respect to the XYZ directions in which the head 51 is movable, and the amount of change in the head 51 due to the weight of the measuring weight 83 attached to the head 51. , was measured in advance based on the position of the head 51 when the contact detection signal SI was output from the contact detection device 65 held by the first claw member 57.
  • the correction formula is a formula derived from the relationship between the measured amount of change and the weight of the weight 83.
  • FIG. 10 shows, as an example, a case where the work W is transferred between the head 51 and the stocker device 9.
  • the pallet 10 in FIG. 10 is placed at the working position of the stocker device 9.
  • the pallet 10 shown in FIG. The pallet 10 of the stocker device 9 is provided with a plurality of positioning pins 10A.
  • the work W placed on the upper surface of the pallet 10 is placed with its axial direction aligned with the up-down direction by a plurality of positioning pins 10A.
  • the head 51 transfers the workpiece W to and from the pallet 10, for example, at the fourth rotation position RP4 with the first gripping part 52 facing downward.
  • the control device 15 corrects the X coordinate in the X direction when setting the delivery position P6 using the reference position P1 and the length of the workpiece W.
  • the control device 15 uses the contact detection device 65 held by the head 51 as a reference in the The position P1 can be set, and the reference distance L1 in the X direction can be set.
  • the control device 15 receives, for example, the length of the unprocessed work W as the length for receiving the work W from the pallet 10 to the head 51.
  • the control device 15 calculates the distance L3 and the correction distance L6 in the X direction based on the received length, and sets the delivery position P6.
  • the control device 15 can adjust the delivery position P6 using the correction value calculated using the correction formula, similar to the above-mentioned left spindle device 12L.
  • the workpiece W can be corrected to an appropriate position according to its weight and length.
  • the stocker device 9 is an example of a counterpart device and a placing stand.
  • the left and right spindle devices 12L and 12R are examples of a mating device and a spindle device.
  • the workpiece transfer device 14 is an example of an orthogonal robot.
  • the first claw member 57 is an example of a first holding member.
  • the second claw member 58 is an example of a second holding member.
  • the X direction and the Y direction are examples of adjustment directions that are perpendicular to the axial direction of the workpiece W held by the counterpart device.
  • Variable A11 is an example of a work state variable.
  • the control device 15 acquires the weight and length L2 of the workpiece W on the reception screen 73 in FIG. 7 (an example of the acquisition process of the present disclosure).
  • the control device 15 sets the delivery position P6 based on the acquired weight and length L2 of the workpiece W and the correction formula (an example of the setting process of the present disclosure).
  • an appropriate delivery position P6 can be set according to the weight and length L2 of the workpiece W using the correction formula.
  • the delivery position P6 can be set more quickly by calculating the correction formula.
  • the same reference position P1 and reference distance L1 can be used even for different types of workpieces W. Even if the types of workpieces W are different, the same reference position P1 can basically be used by simply changing the distance between the counterpart device and the head 51.
  • the present disclosure is not limited to the above embodiments, and that various improvements and changes can be made without departing from the spirit of the present disclosure.
  • the values of the weight and length of the workpiece W input by the user are substituted into the correction formula, the correction values are calculated, and the XYZ coordinates of the delivery position P6 are corrected.
  • the delivery position P6 may be set using a method other than the correction formula.
  • the control device 15 may include a database in the storage device 15B in which the weight and length of the workpiece W and the XYZ coordinates of the delivery position P6 corresponding thereto are set.
  • the machine tool 1 may obtain the corresponding XYZ coordinates from the database based on the weight and length of the workpiece W obtained by the touch panel 3A or the like, and set the delivery position P6. Also in this case, an appropriate delivery position P6 can be set according to the weight and length of the workpiece W using the database.
  • correction values for each coordinate may be set in the database.
  • the control device 15 may detect correction values from the database according to the weight and length of the workpiece W obtained from the user, and correct the delivery position P6 set based on the reference position P1. Also in this case, an appropriate delivery position P6 can be set according to the weight and length of the workpiece W using the database.
  • control device 15 may inquire of the correction formula, the corrected XYZ coordinates, correction values, etc. to a local network server or a server of the vendor of the machine tool 1 via the network. For example, the control device 15 transmits the weight and length values of the workpiece W obtained from the user to the server via the network, obtains the corrected XYZ coordinates and correction values, and sets the delivery position P6. It's okay.
  • the machine tool 1 may be configured to include (permanently installed) the contact detection device 65.
  • the contact detection device 65 may be permanently installed at a stand where the workpiece W is placed or a station where a tool is placed.
  • the control device 15 may pick up the contact detection device 65 using the workpiece transport device 14 and perform the measurement when measurement or the like is necessary.
  • a contact detection device 165 may be attached to the head 51, as shown by the broken line in FIG.
  • the contact detection device 165 may be configured, for example, to be able to extend and retract the stylus 65A, and may be configured to project the stylus 65A further forward than the first claw member 57 during measurement under the control of the control device 15.
  • the contact detection device 165 may have a configuration in which the stylus 65A is housed within the support member 56 when measurement is not performed.
  • the machine tool 1 may include the contact detection device 165 as a part of the device.
  • the configuration of the head 51 in the above embodiment is merely an example.
  • the second gripping part 53 has the same structure as the first gripping part 52, it may have a different structure.
  • the number of second claw members 58 may be greater than the number of first claw members 57.
  • the first and second gripping parts 52 and 53 are provided at positions rotated by 180 degrees, the present invention is not limited thereto.
  • the second gripping part 53 may be provided at a position rotated by 90 degrees from the first gripping part 52.
  • the head 51 may include only the first gripping portion 52 and may not include the second gripping portion 53.
  • the reference position P1 may be set by bringing the contact detection device 65 into contact with the center of the head 51 side surface of the left spindle device 12L (the center surrounded by the plurality of child claws 67, the position on the main spindle 69). . Therefore, in the above embodiment, the master work 63 is used as the member of the partner device with which the contact detection device 65 comes into contact, but the invention is not limited to this. For example, when the left spindle device 12L is provided with a stopper for seating the workpiece W and gripping the workpiece W between it and the child claw 67, the member with which the contact detection device 65 comes into contact may be a stopper.
  • the member with which the contact detection device 65 comes into contact may be the main claw.
  • the chuck of the left spindle device 12L is a collet chuck
  • the member with which the contact detection device 65 comes into contact may be a collet chuck.
  • the counterpart devices are not limited to the left and right spindle devices 12L, 12R, and the stocker device 9, but include, for example, a work reversing device that reverses the direction of the work W, and a workpiece W that is placed for the user to check after processing.
  • the machine tool 1 may also be a temporary storage stand for discharging workpieces W, or a discharge chute for discharging defective workpieces W.
  • partner devices left and right spindle devices 12L, 12R, stocker device 9
  • partner devices only one partner device (for example, one main spindle device) is provided. It is also possible to have a configuration with only one).
  • the control device 15 may execute the reference position setting process for each workpiece W of a different type (for each setup change). Further, the control device 15 may correct only one of the XYZ directions with respect to the delivery position P6 using a correction formula. The correction formula does not need to include the variable A11.
  • separate correction formulas may be prepared depending on whether or not each of the first and second gripping parts 52 and 53 holds the workpiece W. For example, when the workpiece W is not held by both gripping parts, when the workpiece W is held by only the first gripping part 52, when the workpiece W is held by only the second gripping part 53, the workpiece W is held by both gripping parts. Four patterns of correction formulas may be prepared for each case. Then, the control device 15 may select the correction formula to be used depending on the holding state of the workpiece W.
  • the left and right processing devices 11L and 11R are not limited to lathes with two opposing axes, but may be lathes with two parallel axes. Furthermore, various configurations can be adopted as the left and right processing devices 11L and 11R, such as a horizontal lathe, a front lathe, a vertical lathe, a machining center, a milling machine, and a drilling machine.

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JPS61281304A (ja) * 1984-12-19 1986-12-11 Hitachi Constr Mach Co Ltd 柔構造作業機
JPH03213241A (ja) * 1990-01-17 1991-09-18 Murata Mach Ltd ワーク搬送方法
JP2006231431A (ja) * 2005-02-22 2006-09-07 Kondo Seisakusho:Kk 搬送装置の制振制御方法

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