WO2023188048A1 - Manufacturing plant - Google Patents

Abstract

A manufacturing plant 10, provided with processing lines 110, 112, 114 including a table module 600 and a tool module 500 separably connected via an interface, comprises: a plurality of self-traveling modules including at least one self-traveling tool module and at least one self-traveling table module; processing areas 12, 14 in which the processing lines are installed and which process a workpiece; energy supply devices 120 for supplying energy to the tool modules or table modules in the processing areas; and a station area having at least one station from among material stations 70, 80 which are provided adjacent to each other outside the processing areas and store workpieces, a tool station 50 for storing a tool, a fixture station 60 for housing and retaining a plurality of fixtures, a scrap processing station 100 for processing scraps, maintenance stations 90, 40 for performing maintenance of the self-traveling modules, and a spare module station 20 in which a backup self-traveling module stands by, the self-traveling modules moving between the processing areas and the station area.

Description

Manufacturing plant

The present invention relates to a manufacturing plant equipped with a reconfigurable processing line that includes a tool module and a table module that are separably coupled via an interface.

Patent Document 1 describes, as a general-purpose cell constituting a production system, a base unit that supports the minimum robot necessary for processing a workpiece, a parts supply unit that supplies parts of the workpiece to the robot, and a base unit that extends outside the base unit. It is described that one general-purpose cell is constituted by the processing area provided.

Japanese Patent Application Publication No. 2012-81582

Although Patent Document 1 discloses that a production system is configured by a plurality of general-purpose cells, it does not specifically describe how the production system (processing line) is to be recombined.

The present invention provides a manufacturing plant that can easily and efficiently reconfigure a processing line that includes a tool module and a table module that are separably coupled via an interface to improve productivity. is intended to provide.

According to the present invention, in a manufacturing factory equipped with a processing line including a tool module and a table module that are separably coupled via an interface, at least one self-propellable tool module and at least one self-propellable tool module are provided. a plurality of self-propelled modules including one table module, a processing area where the processing line is installed and processes a workpiece, and an energy supply device that supplies energy to the tool module or the table module within the processing area; A material station that stores workpieces, a tool station that stores a plurality of tools, a fixture station that stores and holds a plurality of fixtures, and a chip treatment that processes chips, which are provided adjacent to the outside of the processing area. a station area having at least one of a station, a maintenance station for maintaining the self-propelled module, a charging station for charging the self-propelled module, and a spare module station for waiting for a spare self-propelled module; A manufacturing plant is provided in which a travel module moves between the processing area and the station area.

According to the invention, in a manufacturing plant equipped with a processing line that includes a tool module and a table module that are separably coupled via an interface, various movable self-propelled modules can be reassembled within the processing area. A self-propelled module transports and transfers the necessary workpieces and tools from a static station area adjacent to the periphery of the machining area, making the reconfigurable machining line more efficient. It becomes operationally possible.

1 is a plan view schematically showing a manufacturing factory according to a preferred embodiment of the present invention. FIG. 2 is a schematic diagram of an energy supply device. FIG. 2 is a schematic diagram of a spare module station. FIG. 2 is a schematic diagram of a battery-equipped module. It is a schematic diagram of a workpiece conveyance module. FIG. 3 is a schematic diagram of a tool change module. FIG. 2 is a schematic diagram of a charging station. FIG. 2 is a schematic plan view of a power supply device of a charging station. 1 is a schematic diagram of a wireless charging system. FIG. 2 is a schematic diagram of a first maintenance station. FIG. 3 is a schematic diagram of a second maintenance station. FIG. 3 is a schematic side view of the tool station. FIG. 3 is a schematic plan view of the tool station. FIG. 2 is a schematic side view of a fixture station. FIG. 15 is a schematic plan view of the fixture station of FIG. 14; FIG. 7 is a schematic side view showing a modification of the fixture station. FIG. 17 is a schematic plan view of the fixture station of FIG. 16; It is a schematic side view of a material station. It is a schematic plan view which shows the modification of a material station. FIG. 2 is a schematic diagram of a swarf processing station. FIG. 2 is a plan view of a processing line consisting of three sets of tool modules and table modules. FIG. 3 is a side view showing the tool module mounted on the drive module together with the drive module. 23 is a front view of the tool module of FIG. 22. FIG. 23 is a plan view of the tool module of FIG. 22; FIG. FIG. 23 is a perspective view of the tool module of FIG. 22; FIG. 2 is a perspective view of a tool module configured to linearly feed a main shaft in three orthogonal axes directions. FIG. 3 is a front view of the first active interface. FIG. 3 is a front view of the second active interface. FIG. 3 is a front view of a second passive interface that corresponds to a second active interface. FIG. 3 is a perspective view showing an example of a drive module. 31 is a side view showing the table module mounted on the drive module of FIG. 30 together with the drive module. FIG. FIG. 32 is a perspective view of the table module of FIG. 31; FIG. 3 is a side cross-sectional view of the tool module shown coupled to the table module. FIG. 3 is a perspective view of the table module shown in closed mode. 37 is a perspective view of the table module of FIG. 36 from another angle; FIG. It is a top view of a table module. FIG. 3 is a front view of the first passive interface. FIG. 6 is a front view of the third active interface. FIG. 6 is a front view of the third passive interface. FIG. 3 is a front view of the second active interface. FIG. 6 is a front view of the second passive interface.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.
Referring to FIG. 1, a manufacturing plant 10 has at least one processing area and a station area including a plurality of stations arranged around or at the edges of the processing area. More specifically, in this embodiment shown as an example, the manufacturing factory 10 has first and second processing areas 12 and 14 as processing areas, a spare module station 20, a charging station 30, and a first and second processing area as station areas. It includes two maintenance stations 90, 40, a tool station 50, a fixture station 60, first and second material stations 70, 80, and a chip handling station 100.

Reconfigurable processing lines 110, 112, 114 including a plurality of self-propelled modules are arranged in the first and second processing areas 12, 14. The self-propelled module can include a tool module and a table module. FIG. 21 shows, as an example of the processing lines 110, 112, 114, a processing line 1100 consisting of three coupled tool module 500 and table module 600 sets. The tool module and table module that make up the processing line 1100 have a control device (not shown) that can communicate wirelessly with a processing system control device (not shown) that is a higher-level control device installed in the control center 16. The processing line 1100 operates as one processing system under the control of a processing system control device. Wireless communication can typically be a wireless LAN. Wired communication may be used instead of wireless communication.

Referring to FIGS. 22 to 25, the tool module 500 includes a fixed base 504 that is placed and fixed on the top surface of the drive module 560. A pivot base 506 is attached to the upper surface of the fixed base 504 so as to be pivotable about a vertical rotation axis O _BS (B axis). The tool module 500 has a longitudinal center axis O _S1 extending in the horizontal longitudinal direction that intersects perpendicularly to the rotation axis O _BS and a transverse direction that intersects perpendicularly to both the rotation axis O _BS and the longitudinal center axis O _S1 . It has a central axis O _S2 .

A hollow main shaft cover 502 defining a substantially rectangular parallelepiped space is disposed on the upper surface of the swing base 506. A tool magazine 522 that stores a plurality of tools T is disposed in the upper part of the front surface of the spindle cover 502. The tool T can be stored and held in the tool magazine 522 by being attached to a two-sided constraint type tool holder conforming to the HSK standard, or a tool holder having a shank shape of 7/24 taper or 1/10 taper. . In this case, the tool magazine 522 has a plurality of gripping claws on the outer periphery that engage with the circumferential groove (not shown) of the tool holder, and includes a magazine base that is rotatably provided around the Z axis, and a magazine base that is rotatably provided around the Z axis. A magazine drive motor (not shown) may be included to rotate the base. By rotating the magazine base, the tool T to be replaced can be indexed to the replacement position, the main shaft 512 can be brought close to the tool T placed at the replacement position, and the tool T can be mounted on the main shaft 512.

The main shaft cover 502 has an open end face on the front side of the tool module 500. The main shaft cover 502 has a signal light 509 arranged on the opposite side. The signal light 509 may be arranged on the back side of the main shaft cover 502. A cabinet 524 may be provided at the rear of the tool module 500 to store solenoid valves and filters for pneumatic equipment and hydraulic equipment, and chillers for cooling motors. 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 main shaft cover 502.

The tool module 500 includes a main shaft 512 on the tip of which a tool is mounted. The main shaft 512 is rotatably supported by the main shaft head 510 around the central axis O _S . 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 by an A-axis rotation drive device 514 around an axis parallel to the X-axis. In this embodiment, the A-axis rotation drive device 514 includes a servo motor (not shown) that rotates the spindle head 510 around an axis (not shown) parallel to the X-axis.

In the present embodiment, the A-axis base 508 is supported by a parallel link mechanism so as to be movable in three orthogonal directions of the X, Y, and Z axes. The parallel link mechanism includes six rod members 515, 516, 517, 518, 519, and 520. The rod members 515, 516, 517, 518, 519, and 520 can be formed by telescopic direct-acting servo motors.

In this embodiment, a pair of first rod members 515 and 516 are coupled to the upper end of the A-axis base 508 at one end of each. More specifically, the rod members 515, 516 are rotatably coupled at one end of each to the upper end of the A-axis base 508 or a portion adjacent to the upper end, for example, by a knuckle joint with two degrees of freedom. . The other ends of the first rod members 515, 516 are rotatably coupled to the first Z slider 530, for example, by a knuckle joint with two degrees of freedom.

The first Z slider 530 is capable of reciprocating in the horizontal back-and-forth direction or the Z-axis direction (direction perpendicular to the paper surface of FIG. 23). In this embodiment, the first Z slider 530 is reciprocated in the Z-axis direction by a first Z-axis linear motor. In this embodiment, the first Z-axis linear motor includes a stator (not shown) extending in the Z-axis direction fixed to the ceiling of the spindle cover 502, and a movable motor fixed to the first Z slider 530. child (not shown).

A pair of second rod members 517, 518 are rotatably attached at one end of each, e.g., by a knuckle joint with two degrees of freedom, to one side edge of the A-axis base 508, in this embodiment, the tool module 500. It is connected to the right side edge (right side in FIG. 23) when viewed from the front. The other ends of the second linear actuators 517 and 518 are rotatably coupled to the second Z slider 532, for example, by a knuckle joint with two degrees of freedom.

The second Z slider 532 is capable of reciprocating in the horizontal back-and-forth direction or the Z-axis direction (direction perpendicular to the paper surface of FIG. 23). In this embodiment, the second Z slider 532 is reciprocated in the Z-axis direction by a second Z-axis linear motor. In this embodiment, the second Z-axis linear motor has a stator (not shown) that extends in the Z-axis direction and is fixed to the inner surface of the right side wall of the spindle cover 502 (the right side wall when viewed from the front of the tool module 500). ) and a mover (not shown) fixed to the second Z slider 532.

A pair of third rod members 519, 520 are rotatably attached at one end of each, for example by a knuckle joint with two degrees of freedom, to the other side edge of the A-axis base 508, in this embodiment, the tool module 500. It is connected to the left side edge (left side in FIG. 23) when viewed from the front. The other end of the third linear actuator (not shown) is rotatably coupled to the third Z slider 534, for example, by a knuckle joint with two degrees of freedom.

The third Z slider 534 is capable of reciprocating in the horizontal back-and-forth direction or in the Z-axis direction (direction perpendicular to the paper surface of FIG. 25). In this embodiment, the third Z slider 534 is reciprocated in the Z-axis direction by a third Z-axis linear motor. In this embodiment, the third Z-axis linear motor has a stator (not shown) that extends in the Z-axis direction and is fixed to the inner surface of the left side wall of the spindle cover 502 (the left side wall when viewed from the front of the tool module 500). ) and a mover (not shown) fixed to the third Z slider 534.

Before the tool module 500 is coupled to the table module 600, the spindle head 510 is disposed within the spindle cover 502. After the tool module 500 and table module 600 are combined and a machining process or a workpiece conveyance process is started, the spindle head 510 protrudes forward in the Z-axis direction from the front opening 502a of the spindle cover 502.

In this way, the main shaft 512 includes the A-axis base 508, the first to third pairs of rod members 515, 516:517, 518:519, 520, and the first to third Z sliders 530, 532, which constitute a parallel link mechanism. , 534 so as to be able to reciprocate in the three orthogonal axes directions of X, Y, and Z.

Note that in the embodiments described above, the spindle head that rotatably supports the main shaft of the tool module is supported movably in three orthogonal axes directions of X, Y, and Z by a parallel link mechanism. It is not limited to this. For example, as shown in FIG. 26, the spindle head may be supported by a linear feed shaft device in the directions of three orthogonal axes X, Y, and Z.

Referring to FIG. 26, the tool module 1500 includes a base part 1502 placed on the drive module 560, a swing base 1504 fixed to the upper surface of the base part 1502, and a swing base 1504 attached to the swing base 1504 so as to be able to reciprocate in the X-axis direction. It is provided with a column or an X slider 1506, a Y slider 1508 attached to the front surface of the X slider 1506 so as to be movable reciprocally in the Y-axis direction, and a spindle head 1510 attached to the Y slider so as to be movable reciprocally in the Z-axis direction. The main shaft 1512 is rotatably supported by the main shaft head 1510 around a central axis O _S in the Z-axis direction. The pivot base 1504, the X slider 1506, the Y slider 1508, and the spindle head 1510 are surrounded by a cover 1516. Further, a tool magazine 1514 is disposed within the cover 1516 and above the spindle head 1510.

The tool module 500 is equipped with a first active interface 800 in the front part as a coupling part used for coupling with the table module. The first active interface 800 may be coupled to a first passive interface 820, described below. Referring to FIG. 27, a first active interface 800 has a flat substrate 802. As shown in FIG. An opening 802a is formed in the substrate 802 through which a chip evacuation device (not shown) passes.

The first active interface 800 includes various functional devices disposed on a substrate 802. The functional device includes a multi-connector 804. Multi-connector 804 is arranged in the center adjacent to the upper edge of board 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. It includes at least one fluid connector 804f, 804g for connecting a conduit (not shown) for passing a working fluid such as pressurized air or hydraulic oil for driving a hydraulic cylinder or a fluid such as a coolant.

The first active interface 800 further includes a plurality of couplers for mechanically coupling the tool module 500 to a table module 600, which will be described below. In this embodiment, the coupler includes at least one retractable coupler. In this embodiment, the retractable couplers include two retractable couplers 806a, 806b. The two retractable couplers 806a and 806b are arranged at the center of the substrate 802 adjacent to both left and right edges, respectively. The coupler further includes a plurality of cone clamps with positioning features. This embodiment includes four cone clamps 808a, 808b, 808c, 808d located at each corner 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 to determine whether the tool module 500 and table module 600 are fully coupled. In this embodiment, the contact sensor includes two contact sensors 810a, 810b arranged diagonally on the substrate 802. Two contact sensors 810a, 810b are arranged on the substrate 802 inside a pair of cone clamps 808a, 808d arranged diagonally.

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

The sensor device further includes a non-contact sensor, in particular an optical sensor. In this embodiment, the optical sensor includes a camera 814. Camera 814 is preferably oriented such that its optical axis is perpendicular to substrate 802. In this embodiment, the camera 814 is arranged between the multi-connector 804 and the upper edge of the opening 802a. Camera 814 may be placed below opening 802a. The non-contact sensor may further include a laser sensor, such as a laser displacement sensor. The sensor device may further include an RFID (Radio Frequency Identifier) recording an identification code and an RFID reader to identify the module.

The tool module 500 may include one or more types of interfaces in addition to the first active interface 800. For example, in addition to the first active interface 800, the tool module 500 can include a second active interface 870 as shown in FIG. The second active interface 870 can include a multi-connector 874 attached to a planar substrate 872. The multi-connector 874 is arranged adjacent to the center of the upper edge of the board 872. The multi-connector 874 shown as an example includes 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 for driving an air cylinder or a hydraulic cylinder. It includes at least one fluid connector 874f, 874g for connecting a conduit (not shown) for carrying a working fluid such as pressurized air or oil, or a fluid such as a coolant. Second active interface 870 can further include camera 814.

In addition to the first active interface 800, the tool module 500 can also include a second passive interface 860 (FIG. 29), which corresponds to the second active interface 870. The second passive interface 860 can include a multi-connector 864 attached to a planar substrate 862. The multi-connector 864 is a multi-connector corresponding to the multi-connector 874 of the second active interface 870, and includes at least one power connector 864a, 864b, 864c, 864h, 864i for connecting a power line, and a signal line for connecting a signal line. data connectors 864d and 864e for connecting the data connectors 864d and 864e, and at least one fluid conduit (not shown) for passing a working fluid such as pressurized air or oil that drives an air cylinder or a hydraulic cylinder, or a fluid such as a coolant. Includes connectors 864f and 864g. The second passive interface 860 can include an object 866 to be imaged by the camera 814 of the second active interface 870 . Imaged object 866 may be an identification code representing tool module 500 .

Referring to FIG. 30, the drive module 560 includes a control device (not shown) capable of wireless communication with a processing system control device that is a higher-level control device disposed in the control center 16. Together with the table module 600 and the table module 600, the processing system operates as one processing system under the control of the processing system control device. Wireless communication can typically be a wireless LAN. Thus, the drive module 560 forms one self-propelled truck.

The drive module 560 has a hollow, generally rectangular parallelepiped-shaped base portion 562. Wheels 564 are rotatably attached to the four corners of the base portion 562. Wheels 564 can be formed by conventional tire and wheel combinations, but are preferably formed by mecanum wheels. A mecanum wheel is a wheel that does not turn by a steering operation that tilts the wheel itself with respect to the traveling direction like a normal wheel, but turns by using a rotation difference between the wheels. By controlling the difference in rotation of the wheels, it is possible not only to move linearly in the direction of rotation of the wheel like a normal wheel, but also to make super-turns and parallel movement in all directions. Wheel 564 may be formed by an omniwheel.

The drive module 560 includes a drive motor (not shown) for rotating each of the four wheels 564 independently. The drive motor may be disposed within the base portion 562, but is preferably an in-wheel motor (not shown) disposed within each wheel 564.

The drive module 560 is equipped with area sensors 598 arranged at the four corners. More specifically, two area sensors 598 are arranged on the front surface of the base section 562, and two area sensors 598 are arranged on the rear surface of the base section 562. The four area sensors 598 form a generally circular sensing area around the drive module 560. Area sensor 598 detects the presence, shape, and position (distance, direction) of an object within the detection area. The area sensor 598 can be a laser sensor, in particular a lidar (Light Detection and Ranging) sensor. Lidar sensors measure the scattered light of pulsed laser irradiation and can analyze the distance to a distant object and the properties of that object. To provide a three-dimensional driving space sensor that can grasp the situation in real time and three-dimensionally. Furthermore, a 3D LiDAR sensor may be used as the laser sensor.

Referring to FIGS. 31-36, a table module to which tool module 500 is coupled is illustrated. The table module of this embodiment, which is a modification of the table module 200, is formed from a table module 600 and a drive module 560. The table module 600 is mounted on the top surface 562a of the drive module 560, specifically 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 a vertical central axis _OT . When combined with the tool module 500, the table module 600 has a longitudinal center axis O _T1 that coincides with the longitudinal center axis O _S1 of the tool module 500, a vertical rotation axis O _BT , and a longitudinal center axis O BT. It has a transverse central axis O _T2 that perpendicularly intersects both O _T1 .

The rotary table 630 has a mounting surface 630a made of a flat surface on which a workpiece (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. The base portion 620 has a boss hole 622 that is formed around the rotation axis O _BT and receives the shaft portion 632 of the rotary table 630 . The shaft portion 632 is rotatably supported in the boss hole 622 by a bearing 634.

The table module 600 can include a servo motor as a drive source that rotationally drives the rotary table 630. In this embodiment, the servo motor includes a stator 636 fixed to the inner circumferential surface of the boss hole 622 of the base portion 620, and a stator 636 fixed to the outer circumferential surface of the shaft portion 632 of the rotary table 630 so as to face the stator 636. A rotor 638 is provided.

A chip discharge passage 626 is formed in the base portion 620 . The chip discharge passage 626 extends along the longitudinal center axis O _T1 of the table module 600 and a horizontally extending center axis (chip conveyor axis) O _CC inclined with respect to the transverse center axis O _T1 . ing. A chip discharge passage 626 passes through the base portion 620 along the chip conveyor axis O _CC . Furthermore, the base portion 620 has a chip discharge hole 624 that opens on its upper surface. The bottom of the chip evacuation hole 624 extends to a chip evacuation passage 626 to collect and direct chips generated during machining to the chip evacuation 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 direction of the longitudinal central axis O _T1 . The receiving part 626a is open on the side surface facing the tool module 500 in the base part 620, and when the tool module 500 is combined with the table module 600, the longitudinal direction of the tool module 500 is opened in the screw conveyor of the chip discharging device 552. A forwardly projecting portion is received along the central axis O _S1 of the direction.

Note that if the chip discharge device is a belt conveyor instead of a screw conveyor, the chip discharge passage 626 does not need to include the receiving portion 626a. Further, in the case where the chip discharge device is a belt conveyor 551, when the tool module 500 is coupled to the table module 600, the tip of the belt conveyor 551 is arranged above the chip discharge hole 624, as shown in FIG.

A chip discharge device 618 is disposed within the chip discharge passage 626 . The chip evacuation device 618 can be formed by a belt conveyor 628 extending along the chip conveyor axis _Occ . The belt conveyor 628 has one end portion (upstream end portion) (not shown) disposed near the side surface of the base portion 620, and the other end portion (downstream end portion) (not shown) of the chip discharge device 618. ) protrudes from the opposite side of the base portion 620 along the chip conveyor axis O _CC . In the illustrated embodiment, the upstream end portion 628a of the belt conveyor 628 projects slightly from the side surface of the base portion 620. A downstream end portion 628b of the belt conveyor 628 is a lift-up portion that is lifted upward.

The table module 600 may further include a movable cover assembly 602 attached to the top surface of the base portion 620. The movable cover assembly 602 can be a cover that can be opened and closed about a vertical axis of rotation (not shown) on the top surface of the base portion 620. 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 are movable independently in the circumferential direction. Actuators 609 of the first to third movable covers 604 to 608 are disposed within an actuator cover (not shown).

The first, second, and third movable covers 604, 606, and 608 have side surfaces 604a, 606a, and 608a formed from a portion of a cylindrical surface that curves along the circumference centered on the rotation axis of the cover. 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 O _BT , and the third movable cover 608 is located inside the first and second movable covers 604 and 606. It is located in

The first and second movable covers 604 and 606 have rollers 616 and 617 that protrude radially outward at their lower ends. The rollers 616, 617 are provided rotatably about an axis extending in the radial direction with respect to the rotation axis _OBT . The table module 600 has a cover rail 615 extending along a circumference centered on the rotation axis _OBT . The rollers 616 and 617 are placed on the upper end of the cover rail 615, so that the first and second movable covers 604 and 606 are movably supported along the cover rail 615. While the first and second movable covers 604, 606 move, the rollers 616, 617 roll along the cover rails 615. The table module 600 further includes a cover rail (not shown) for a third movable cover 608 and a cover for the third movable cover 608 disposed at the lower end of the third movable cover 608. It includes rollers (not shown) that roll along the rails. A cover rail for the third movable cover 608 is arranged inside the third movable cover 608.

The table module 600 further includes a first passive interface 820 (FIG. 37) that corresponds to the first active interface 800 of the tool module 500. The first passive interface 820 has a flat substrate 822 attached to the base portion 620 . More specifically, the substrate 822 is fixed to the side of the base portion 620 facing the tool module 500 to be coupled.

Referring to FIG. 37, the substrate 822 is formed with an opening 822a through which the chip evacuation device 552 passes. First passive interface 820 includes various functional devices disposed on substrate 822. The functional device includes a multi-connector 824 that is coupled to multi-connector 804 of first active interface 800 . The multi-connector 824 is arranged adjacent to the center of the upper edge of the board 822. The multi-connector 824 shown as an example includes 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 driving an air cylinder or a hydraulic cylinder. It includes at least one fluid connector 824f, 824g for connecting a conduit (not shown) for carrying a working fluid such as pressurized air or oil, or a fluid such as a coolant.

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 couplers include two retraction couplers 826a, 826b corresponding to the retraction couplers 806a, 806b of the first active interface 800. The retracting couplers 826a and 826b are arranged adjacent to the center of both left and right edges of the board 822. The coupler further includes four cone clamps 828a, 828b, 828c, 828d corresponding to cone clamps 808a, 808b, 808c, 808d of first active interface 800. Cone clamps 828a, 828b, 828c, 828d are located at each corner of 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, 830b are arranged at positions facing the contact sensors 810a, 810b when the first active interface 800 and the first passive interface 820 face each other. , are arranged inside a pair of cone clamps 828a, 828b arranged at diagonal positions.

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

Table module 600 may include one or more types of interfaces in addition to first passive interface 820. For example, in addition to the first passive interface 820, the table module 600 can include a third active interface 850 as shown in FIG. The third active interface 850 has a flat substrate 852 attached to the base portion 620 . The substrate 852 is formed with an opening 852a through which the chip discharge device 618 (belt conveyor 628) passes. A third active interface 850 is secured to the side of the base portion 620 to allow an upstream end portion (not shown) of the belt conveyor 628 to pass through the opening 852a.

The third active interface 850 includes various functional devices disposed on a substrate 852. The functional device includes a multi-connector 854 similar to multi-connector 804 of first active interface 800 . The multi-connector 854 is arranged adjacent to the center of the upper edge of the board 852. The multi-connector 854 shown as an example includes power connectors 854a, 854b, 854c, 854h, 854i that connect power lines, data connectors 854d and 854e that connect signal lines, and pressurized air and pressure oil that drive air cylinders and hydraulic cylinders. It includes at least one fluid connector 854f, 854g for connecting a conduit (not shown) for passing a fluid such as a working fluid or a coolant.

In this embodiment, the functional device includes a camera 856. Camera 856 is preferably oriented such that its optical axis is perpendicular to 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 placed below the opening 852a. The functional device may further include a laser sensor, for example a lidar (Light Detection and Ranging) sensor.

In addition to the first passive interface 820 and the third active interface 850, the table module 600 can include a third passive interface 840 as shown in FIG. The third passive interface 840 is a companion interface to the third active interface 850, and is fixed to two opposing sides of the base portion 620 along the chip conveyor axis O _CC . The third passive interface 840 has a flat substrate 842 attached to the base portion 620. The substrate 842 is formed with an opening 842a through which the chip discharge device 618 (belt conveyor 628) passes. A third passive interface 840 is located on the opposite side of the base portion 620 along the chip conveyor axis O _CC from the third active interface 850 to allow the downstream end portion 628b of the belt conveyor 628 to pass through the opening 842a. Fixed to the side. A third passive interface 840 may additionally be mounted on the side of the base portion 620 at a 45° angle to the chip conveyor axis O _CC .

The third passive interface 840 may include various functional devices disposed on the substrate 842. The functional device includes a multi-connector 844 similar to multi-connector 824 of first passive interface 820 . The multi-connector 844 is disposed adjacent to the center of the upper edge of the board 842. The multi-connector 844 shown as an example includes power connectors 844a, 844b, 844c, 844h, 844i for connecting power lines, data connectors 844d, 844e for connecting signal lines, and pressurized air or pressure oil for driving air cylinders or hydraulic cylinders. It includes at least one fluid connector 844f, 844g for connecting a conduit (not shown) for carrying a fluid such as a working fluid or a coolant.

The third passive interface 840 further includes an object 846 to be imaged by the camera 856 of the third active interface 850. In this embodiment, the imaged object is a recognition code representing the table module 600 similar to the imaged object 834 of the first passive interface 820 .

In the processing line 1100, first, the third table module 600-3 (the rightmost table module in FIG. 21) is moved and fixed at a predetermined position. Next, the second table module 600-2 is coupled to this third table module 600-3, and the first table module 600-1 is coupled to the second table module 600-2. In this way, when combining two table modules 600, one table module 600 is fixed, and this fixed table module 600 (stationary side table module) is connected to the other table module 600 (moving side table module). ) to combine the two.

The moving table module then approaches the stationary table module along the chip conveyor axis _Occ with its third active interface 850 facing the stationary table module's third passive interface 840. When mating, the downstream end portion 628b of the chip evacuation device of the moving table module enters the chip evacuation passage 626 of the base portion 620 of the stationary table module along the chip conveyor axis _Occ , and It is located 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 third active interface 850 of the moving table module to the third passive interface 840 of the stationary table module. After coupling, the movable table module is fixed to the floor by bringing the shoe 572 of the stand assembly 570 of the movable table module into contact with the floor.

Next, one corresponding tool module 500-1, 500-2, 500-3 is coupled to each of the three table modules 600-1, 600-2, 600-3 coupled to each other. Each of the tool modules 500-1, 500-2, and 500-3 has its longitudinal center axis O _S1 aligned with the longitudinal center axis O _T1 of each of the table modules 600-1, 600-2, and 600-3. The first active interface 800 is aligned with each of the table modules 600-1, 600-2, 600-3 along the central axes O _S1 , O _T1 so as to coincide with the first active interface 800 . , 600-3 to a first passive interface 820.

A first active interface 800 of each of the tool modules 500-1, 500-2, 500-3 is coupled to a first passive interface 820 of the corresponding table module 600-1, 600-2, 600-3. Then, the chip evacuation devices 552 of the tool modules 500-1, 500-2, and 500-3 move forward (in the direction toward the table module 600) along the longitudinal center axis O _T1 and move toward the table module 600. The leading end portion is arranged above the chip discharge device 618 (belt conveyor 628) of the table modules 600-1, 600-2, and 600-3.

In this way, a reconfigurable processing line, for example the processing line 1100, is constructed within the first and second processing areas 12, 14. The processing lines constructed in each of the first and second processing areas 12 and 14 are not limited to the processing line 1100 described above. A machining line can include more or less than three tool modules 500 and table modules 600, depending on the machining process to be performed.

One or more energy supply devices 120 are installed in the processing area. In this example, as an example, two energy supply devices 120 are installed in the first processing area 12, and two energy supply devices 120 are installed in the second processing area 14.

Referring to FIG. 2, an example of an energy supply device is shown. The energy supply device 120 includes an auxiliary device 122 installed upright on the floor of the first processing area 12 or the second processing area 14 and connected to a pressurized air source (not shown) such as factory service air. and a control device 124 connected to a power source (not shown), such as factory power. The auxiliary equipment 122 can include an air dryer that dries pressurized air, a filter that filters pressurized air, and a solenoid valve that controls supply and cutoff of pressurized air. The control device 124 can include an inverter that boosts the power from the power source, a regulator that controls the current output by the energy supply device 120, and a breaker that cuts off the current output by the energy supply device 120.

The energy supply device 120 includes a connector (multi-connector) 120a attached to the front surface. Thus, the energy supply device 120 can supply power and pressurized air to the processing lines 110 , 112 , 114 connected to the energy supply 120 via the multi-connector 124 .

The table module 600-3 shown in FIG. 21 is coupled to the energy supply device 120, and power, electric signals, working fluid, and coolant are supplied from the table module 600-3 to the table modules 600-2 and 600-1. Modules 600-3, 600-2, 600-1 supply power, electrical signals, and/or fluids, such as working fluid or coolant, to tool modules 500-3, 500-2, 500-1.

Referring to FIG. 3, the spare module station 20 is a compartment for storing or arranging spare modules for the purpose of reconfiguring a processing line or replacing a failed module. A part of the manufacturing plant 10 can be defined as a spare module station 20.

A plurality of self-propelled modules are stored or arranged in the spare module station 20. The plurality of self-propelled modules include a tool module 22, a table module 24, and a self-propelled auxiliary module 26. The tool module 22 can be, for example, the tool module 500 or 1500 mounted on the drive module 560 described above. The table module 24 can be, for example, the table module 600 mounted on the drive module 560 described above.

Like the tool module 500 and the table module 600, the self-propelled auxiliary module 26 includes a control device (not shown) that can communicate wirelessly with a processing system control device that is a higher-level control device provided in the control center 16. It operates together with the tool module 500 and the table module 600 as one machining system under the control of the machining system controller. The processing system control device communicates with an operation panel and a control device within the processing system, and can also be operated from a terminal outside the control center, such as a mobile terminal connected via a network.

The self-propelled auxiliary module 26 is a self-propelled module that can be self-propelled under the processing system control device, and as described later, can include multiple types of modules with various functions. Referring to FIG. 4, a battery-mounted module 130 is illustrated as an example of the self-propelled auxiliary module 26. The battery mounted module 130 includes, for example, a control device 134 and a battery 136 mounted on a self-propelled vehicle. The self-propelled vehicle 132 includes a coupler 138. The coupler 138 can be disposed on one side of the self-propelled vehicle 132. Coupler 138 can be, for example, second active interface 870. The battery-powered module 130 can thus power a free-propelled module 300 with a coupler 302 , such as a second passive interface 860 , that can be coupled to the coupler 138 .

The battery-equipped module 130 may include an auxiliary device 132 for supplying pressurized air, such as an air compressor, an air dryer, a filter, or a solenoid valve. In this case, the battery-equipped module 130 can supply the self-propelled module 300 with pressurized air in addition to electric power. The battery may also be a fuel cell with a hydrogen storage system.

The self-propelled auxiliary module 26 can also include a workpiece transport module 140. The workpiece transfer module 140 can include a manipulator 144 mounted on a self-propelled vehicle 142, as shown in FIG. In FIG. 5, the self-propelled module 60 is a table module 600. The self-propelled vehicle 142 can have a work stocker 146 that stores one or more works W. The workpiece W can include an unprocessed workpiece (raw material) in addition to a processed workpiece. In addition, in this specification, the work before processing may be used as a raw material, and the processed work may be used as a work. The manipulator 144 can be, for example, a vertical articulated robot arm having a hand 144a at its tip. The self-propelled vehicle 142 includes a coupler 141. The coupler 141 can be disposed on one side of the self-propelled vehicle 142. Coupler 146 can be, for example, second active interface 870.

When the workpiece transfer module 140 is coupled to the coupler (second passive interface 860 ) 62 of the self-propelled module 60 by the coupler 141 , the control device 148 of the workpiece transfer module 140 connects to the control device 62 of the self-propelled module 60 . connected to. The workpiece transport module 140 transports and transfers the workpiece W between first and second material stations 70 and 80, which will be described later, and a table module 600.

The self-propelled auxiliary module 26 may also include a tool change module 150. The tool exchange module 150 can include a tool magazine 154 mounted on a self-propelled vehicle 152, as shown in FIG. The tool magazine 154 includes a support 154b erected on the top surface of the self-propelled vehicle 152, an annular tool support 154c rotatably attached to the support 154b, and a plurality of grippers 154a attached to the tool support 154c. , and a tool T is gripped by each of the grippers 154a.

The self-propelled vehicle 152 further includes a control device 156 and a coupler 158. The coupler 158 can be disposed on one side of the self-propelled vehicle 152. Coupler 158 can be, for example, second active interface 870. The tool exchange module 150 can supply tools needed by the self-propelled module 310, typically the tool module 500, and can receive tools no longer needed by the tool module 500, such as broken tools. When the tool change module 150 is coupled to the coupler (second passive interface 860 ) 312 of the self-propelled module 310 by the coupler 158 , the controller 156 of the tool change module 150 connects to the controller 603 of the self-propelled module 310 . connected to.

The charging station 30 can be placed adjacent to the spare module station 20. The charging station 30 is a section for charging the battery mounted on the self-propelled module. A portion within the manufacturing plant 10, preferably adjacent to the spare module station 20, may be defined as a charging station 30.

The charging station 30 can be provided with one or more power supply devices 32 (FIG. 7). The power supply device 32 includes a control device 34 connected to a power source (not shown) such as factory power. The control device 34 can include an inverter that boosts the power from the power source, a regulator that controls the current output by the power supply device 32, and a breaker that cuts off the current that the power supply device 32 outputs.

The power supply device 32 further includes a coupler 36. Coupler 36 can be, for example, second passive interface 860. By coupling to the coupler (second active interface 870) 568 of the drive module 560 carrying a self-propelled module, such as the tool tool module 500, the battery 566 of the drive module 560 can be charged.

Although the power supply device 32 is illustrated as having one coupler 36 in FIG. 7, the power supply device 32 may include a plurality of couplers 36. The power supply device 160 shown in FIG. 8 as an example has six connectors 162. The power supply device 160 has a stand 164 fixed to the floor of the charging station 30. The stand 164 has a plurality of vertical sides, six sides in the example shown in FIG. 8, and a coupler 162 is disposed on each side. Coupler 162 may be a second passive interface 860.

Additionally, the charging station 30 may include a wireless charging system. Referring to FIG. 9, an example of a wireless charging system is shown. The wireless charging system includes a wireless power transmitter 172, a wireless charging receiver 174, a battery 176 connected to the wireless charging receiver 174, a power supply 166 that supplies power to the wireless power transmitter 172, and a controller 168 that controls the power supply 166. be able to.

The wireless power transmitter 172 can be embedded in the floor of the first processing area 12 and/or the second processing area 14 of the manufacturing plant 10. For example, the wireless power supply transmitter 172 connects the tool module 500, the table module 600, the self-propelled auxiliary modules 130, 140, 150, etc. in the vicinity of the energy supply device 120 of the first processing area 12 and/or the second processing area 14. self-propelled modules can be buried in the floor where they can be placed. Power supply 166 and controller 168 may be located within charging station 30 .

The wireless charging receiver 174 can be placed on the bottom surface of the drive module of the self-propelled module 170, such as the tool module 500, table module 600, self-propelled auxiliary module 130, 140, 150, etc. By arranging the self-propelled module 170 so that the wireless charging receiver 174 faces the wireless power transmitter 172, the wireless power transmitter 172 and the wireless charging receiver 174 can be connected to each other via wireless communication, and the wireless charging receiver 174 can be connected wirelessly. The wireless charging receiver 174 is connected to the power transmitter 172, and the wireless charging receiver 174 transmits information such as the difference between the required amount of received power, a power transmission stop request, the power being received, and the charging rate of the mobile device, and based on the information, , a control device 168 controls the power supply device 166 to control the voltage, current, and frequency of the alternating current supplied to the wireless power supply transmitter 172. Thus, the battery 176 of the self-propelled module is charged through the induced magnetic field generated between the wireless power transmitter 172 and the wireless charging receiver 174.

The first maintenance station 90 is a section where regular maintenance of the self-propelled module 180 is performed. A portion of manufacturing plant 10 may be defined as first maintenance station 90 . The first maintenance station 90 may include a cover that surrounds a predetermined space within the manufacturing plant 10.

Periodic maintenance performed at the first maintenance station 90 is performed by storing condensate generated from water and oil vapor contained in compressed air such as service air of the manufacturing plant 10 to which the self-propelled module 230 is supplied. Replacing the drain tank, replacing the filter of the mist collector that collects the mist of cutting oil generated during cutting, replenishing the cutting oil that is supplied to the workpiece W in mist for cutting, and removing foreign objects from compressed air. Cleaning operations may include replacing filters for removal, replacing grease cartridges filled with lubricating grease, and removing chips from self-propelled module 230 using a vacuum prior to maintenance operations.

In order to carry out such periodic maintenance, the first maintenance station 90, as shown in FIG. A storage shelf 92 is provided for holding regularly replaced parts 96 such as grease cartridges.

In order to replace regularly replaced parts 96 between self-propelled module 180 and storage shelf 92, first maintenance station 90 includes a manipulator 98 and a control device 91 that controls manipulator 98. The manipulator 98 can preferably be a vertical articulated robot arm having a hand 98a as an end effector at its tip. Further, the end effector may include multiple types of end effectors 94 suitable for gripping each regularly replaced part 96. Additionally, the end effector may include a vacuum end effector (not shown) that applies a vacuum to the self-propelled module 180. Each end effector 94 can be housed in a dedicated storage device (not shown) or storage shelf 92.

The control device 91 of the first maintenance station 90 wirelessly communicates with the control device 182 of the self-propelled module 180 and receives the ID of the self-propelled module 180. The control device 182 of the self-propelled module 180 stores maintenance information related to maintenance performed on the self-propelled module 180 in the past. The control device 91 of the first maintenance station 90 performs necessary normal or periodic maintenance based on the maintenance information of the self-propelled module 180.

A part of the manufacturing plant 10 can be defined as the second maintenance station 40. The second maintenance station 40 may include a cover that surrounds a predetermined space within the manufacturing plant 10.

The second maintenance station 40 is a section for diagnosing the state of the self-propelled module. In FIG. 11, a tool module 500 is shown as an example of the self-propelled module 210 to be subjected to the diagnostic test at the second maintenance station 40, but the self-propelled module diagnosed by the second maintenance station 40 is The tool module 500 or 1500. The diagnostic tests performed at the second maintenance station 40 include vibration measurements, rotation accuracy measurements, and runout accuracy measurements of the spindles 512, 1512 of the tool modules 500, 1500. The diagnostic test includes positioning accuracy measurement (three-dimensional positioning accuracy measurement or spatial accuracy measurement) of the X-axis, Y-axis, Z-axis, A-axis, and B-axis feed axes of the tool modules 500 and 1500, and tool accuracy measurement of the spindles 512 and 1512. It may also include clamping force measurements.

To perform such diagnostic tests, the second maintenance station 40 includes a plurality of instruments or diagnostic tools 48a, 48b, 48c held in an instrument rack 46, as shown in FIG. It includes a measuring instrument stand 44 on which a measuring instrument 48d to be used is placed, and a control device 40a having a diagnostic program for automatically executing a diagnostic test. The measuring instruments include, for example, an acceleration pickup that measures the vibration of the main shafts 512 and 1512, a non-contact precision displacement meter that measures the rotation accuracy of the main shafts 512 and 1512, and a contact or non-contact type that measures the runout accuracy of the main shafts 512 and 1512. It can include a contact displacement meter and a three-dimensional sensor for measuring the positioning accuracy of the feed axis.

The second maintenance station 40 may include a diagnostic tool that attaches to the tip of the spindle 512, 1512 to perform diagnostic tests. The diagnostic tool includes a reference ball (not shown) for measuring the rotation accuracy of the spindles 512, 1512, a test bar (not shown) for measuring the runout accuracy of the spindles 512, 1512, and a positioning accuracy of the feed axis. A ball bar (not shown) may be included for measurements. Such a diagnostic tool may be mounted in a tool holder (not shown) that attaches the tool to the spindle 512, 1512 of the tool module 500 or 1500, rather than the instrument rack 46 shown in FIG. The diagnostic tool magazine (not shown) may have a gripper (not shown) for holding the diagnostic tool.

To perform diagnostic tests on the tool module 500, 1500, the second maintenance station 40 includes a coupler 45 that couples to the active interface 800 of the tool module 500, 1500. The coupling 45 of the second maintenance station 40 can be formed by a passive interface 860, for example.

As shown in FIG. 11, when the coupler 212 of the self-propelled module 210 is coupled with the coupler 45 of the second maintenance station 40, the control device 501 of the self-propelled module 210 connects to the control device 40a of the second maintenance station 40. connected to. The control device 501 of the self-propelled module 210 stores a diagnostic test history related to the results of diagnostic tests performed on the self-propelled module 210 in the past. The results of the executed diagnostic test are output from the control device 40a of the second maintenance station 40 to the control device 501 of the self-propelled module 210, and stored in the control device 501 of the self-propelled module 210 as a diagnostic test history. The diagnostic test results may be displayed on a control panel (not shown) of the second maintenance station 40. You can also set a threshold and issue a warning to request maintenance when the diagnostic result exceeds the threshold. Furthermore, the diagnostic results can also be sent to the processing system controller via the network.

The tool station 50 is a compartment for storing and holding spare tools in order to replace the tools when the tools are damaged or when the machining line is reconfigured. A portion of manufacturing plant 10 may be defined as a tool station 50 . Preferably, the tool station 50 includes a cover that surrounds a predetermined space within the manufacturing plant 10.

As shown in FIG. 12, the tool station 50 includes a tool rack 52 that holds a plurality of tools T, a manipulator 54, and a coupler 58 that is coupled to a coupler 192 of a self-propelled module 190 that is coupled to the tool station 50. , and a control device 56 that controls the manipulator 54. In this example, the manipulator 54 is formed from a vertical articulated robot arm having a hand 54a at its tip. Manipulator 54 transports tools between a self-propelled module 190 coupled to tool station 50 and tool rack 52 . Further, as shown in FIG. 12, the tool T may be replaced by the manipulator 54 while being placed on the tool stand 53.

In FIG. 12, the self-propelled module 190 is a tool module 500, and the tool station 50 is connected to a first active interface 800 of the tool module 500, which is configured by a coupler 192 of the self-propelled module 190, as a coupler 58. 1 passive interface 820.

When the coupler 192 of the self-propelled module 190 is coupled to the coupler 58 of the tool station 50, the controller 56 controls the self-propelled module 190 through the controller 194 of the self-propelled module 190. The tool change process is executed by a tool change program included in the control device 56 of the tool station 50. The controller 56 of the tool station 50 communicates with the controller 194 of the coupled self-propelled module 190 and receives the ID of the self-propelled module 190 . The control device 56 identifies the self-propelled module 190 based on the ID of the self-propelled module 190, and executes a tool exchange program suitable for the self-propelled module 190. Moreover, the communication can also be wireless communication.

For example, in FIGS. 12 and 13, the self-propelled module 190 is the tool module 500, and when the tool exchange program is executed, the tool magazine 196 of the self-propelled module 190 (the tool magazine 522 of the tool module 500) stores the tool to be replaced. Determine T to the tool exchange position. Next, the manipulator 54 grasps the indexed tool T, removes it from the tool magazine 196, and mounts it in a predetermined position on the tool rack 52. Next, the manipulator 54 removes the new tool T to be installed in the tool magazine 196 from the tool rack 52 and installs it in a predetermined position in the tool magazine 196.

The tool station 50 can also include a tool loader TL, as shown in FIG. 13. When the operator places a predetermined tool T on the tool loader TL and performs a tool storage operation through the operation panel (not shown) of the tool station 50, the manipulator 54 loads the tool T on the tool loader TL into the tool rack 52. Attach it in place. Further, when the operator performs a tool unloading operation through the operating panel of the tool station 50, the manipulator 54 transports the tool T to be unloaded from the tool station 50 from the tool rack 52 to the tool loader TL. The tools T to be delivered may be transferred directly from the tool magazine 196 of the self-propelled module 190 coupled to the tool station 50 to the tool loader TL.

When the operator stores the tool T into the tool station 50 via the tool loader TL, the operator can input the tool number assigned to the tool T into the control device 56 of the tool station 50. Alternatively, if the tool is assigned an RFID or two-dimensional code, the tool number can be entered automatically. The control device 56 of the tool station 50 mounts the tool T in a vacant position on the tool rack 52. At this time, the tool number of the tool T and its position on the tool rack 52 can be stored in association with each other.

The fixture station 60 is a compartment for storing and holding various fixtures. The fixture is a jig or fixture for fixing the workpiece W to the table. There are various types of fixtures depending on the shape and dimensions of the work W. The fixture station 60 stores and holds spare fixtures for replacing the fixtures when reconfiguring the processing line. A portion of the manufacturing plant 10 may be defined as a fixture station 60. Preferably, the fixture station 60 includes a cover that surrounds a predetermined space within the manufacturing factory 10.

As shown in FIGS. 14 and 15, the fixture station 60 includes a fixture rack 62 that holds a plurality of fixtures WF, a manipulator 64 as a fixture exchange device, and a self-propelled module coupled to the fixture station 60. A coupler 68 that couples to the coupler 202 of 200 and a control device 66 that controls the manipulator 64 are provided. In this example, the manipulator 64 is formed from a vertical articulated robot arm having a hand 64a at its tip. The manipulator 64 transports the fixture WF between the self-propelled module 200 coupled to the fixture station 60 and the fixture rack 62. The fixture WF can be fixed at a predetermined position on the upper surface of the pallet P in advance.

14 and 15, the free-propelled module 200 is a table module 600, and the fixture station 60 has a first passive interface 820, as a coupler 68, coupled to a first passive interface 820 as a coupler 202 of the free-propelled module 200. It can be formed by an active interface 800.

When the coupler 202 of the self-propelled module 200 is coupled to the coupler 68 of the fixture station 60, the control device 66 controls the self-propelled module 200 through the control device 204 of the self-propelled module 200. The fixture exchange process is executed by a fixture exchange program included in the control device 66 of the fixture station 60. The controller 66 of the fixture station 60 communicates with the controller 204 of the coupled free-running module 200 and receives the ID of the free-running module 200 . The control device 66 specifies the self-propelled module 200 based on the ID of the self-propelled module 200, and executes a fixture exchange program that is suitable for it. Moreover, the communication can also be wireless communication.

For example, in FIGS. 14 and 15, the self-propelled module 200 is a table module 600, and when the fixture exchange program is executed, the manipulator 64 moves onto the table 206 of the self-propelled module 200 (rotary table 630 of the table module 600). grip the fixture WF or pallet P, and remove the fixture WF and the pallet P from the table 206. A pallet fixing device (not shown) for grasping and fixing the pallet P can be provided on the table 206. The manipulator 64 places the fixture WF removed from the table 206 together with the pallet P at a predetermined position on the fixture rack 62.

The fixture station 60 can also include a fixture loader WFL. When the operator places a predetermined fixture WF on the fixture loader WFL and operates the fixture through the operation panel (not shown) of the fixture station 60, the manipulator 64 moves the fixture on the fixture loader WFL. Place the WF at a predetermined position on the fixture rack 62. Further, when the operator performs a fixture unloading operation through the operation panel of the fixture station 60, the manipulator 64 transports the fixture WF to be unloaded from the fixture station 60 from the fixture rack 62 to the fixture loader WFL. . The fixture WF to be delivered may be directly transported from the table 206 of the self-propelled module 200 coupled to the fixture station 60 to the fixture loader WFL.

When loading the fixture WF into the fixture station 60 via the fixture loader WFL, the operator can input the fixture number assigned to the fixture WF into the control device 66 of the fixture station 60. The control device 66 of the fixture station 60 mounts the fixture WF in a vacant position of the fixture rack 62. At that time, the fixture number of the fixture WF and the position on the fixture rack 62 can be stored in association with each other.

In the embodiment of FIGS. 14 and 15, the manipulator 64 is formed from a vertically articulated robot arm, but the invention is not limited thereto and may be other types of robots. For example, referring to FIGS. 16 and 17, the manipulator 64' of the fixture station 60 is formed by a cylindrical coordinate robot.

The manipulator 64' includes a column 61 that is rotatably provided around a vertical axis O _wfs , a linear guide 63 that extends horizontally and that is attached to the column 61, and an arm 65 that is attached so that it can move forward and backward along the linear guide 63. , a hand 67 attached to the tip of the arm 65, a support 61, and a drive device (not shown) for driving the arm 65.

16 and 17, the fixture station 60 includes a fixture rack 62 that arranges a plurality of fixtures WF on a circumference around a vertical axis O _wfs , and a fixture loader WFL. The fixture loader WFL can also arrange the fixtures WF on the same circumference as the fixture rack 62.
Fixture station 60 of FIGS. 16 and 17 also operates similarly to fixture station 60 of FIGS. 14 and 15.

The first material station 70 is a section for storing and storing unprocessed workpieces W. A portion of manufacturing plant 10 may be defined as first material station 70 . A predetermined area or space may be defined as the first material station 70 by drawing a line on the floor of the manufacturing factory 10 or by using a partition wall. The first material station 70 may include a cover that surrounds a predetermined space within the manufacturing plant 10.

The second material station 80 is a section for storing and storing processed workpieces W. A portion of the manufacturing plant 10 may be defined as a second material station 80. A predetermined area or space may be defined as the second material station 80 by drawing a line on the floor of the manufacturing factory 10 or by using a partition wall.

The first and second material stations 70, 80 are preferably arranged adjacent to each other. By arranging the first and second material stations 70 and 80 adjacent to each other, one self-propelled transport vehicle 220 transports the processed workpiece W to the second material station 80 and then returns the processed workpiece W to the second material station 80. It becomes possible to efficiently transport the processed workpiece W from the first material station 70 to the processing line.

As shown in FIG. 18, the first and second material stations 70 and 80 are generally configured similarly, and each includes work racks 72 and 82 on which a plurality of unprocessed workpieces W and processed workpieces W are placed. ing. Unprocessed workpieces W and processed workpieces W are transferred between the first and second material stations 70, 80 and the processing line by a self-propelled transport vehicle 220 controlled by a processing system control device (not shown). It can be placed on a pallet P and transported. In this embodiment, the self-propelled transport vehicle 220 is a self-propelled forklift.

Although the workpieces W may be stacked in bulk on the pallet P, as shown in FIG. The workpieces W may be placed in individual sections.

The chip processing station 100 is a section for performing a pre-compression process for efficiently discharging chips generated during processing of the work W to the outside of the manufacturing factory 10. A portion of the manufacturing plant 10 may be defined as a chip handling station 100. A predetermined area or space may be defined as the chip processing station 100 by drawing a line on the floor of the manufacturing plant 10 or by using a partition wall.

As shown in FIG. 20, the chip processing station 100 is provided with a hopper 102 for the chips transported to the chip processing station 100, and a chip packer 104 for compressing the chips. . The hopper 102 includes a main body having an internal space, a conveyor (not shown) disposed within the main body that transports chips input into the hopper 102 to a chip packer 104, and a hinge or pin 102b. It includes a movable table 102a rotatably attached to the upper end of the main body, and a chute 106 attached to one side of the main body. A chip packer 104 is arranged below the chute 106.

The movable base 102a can be rotated between a horizontal position (not shown) and an inclined position as shown by a rotary actuator (not shown) coaxial with the pin 102b. The chips are stored in a chip container 222 and transported from the processing line to the chip processing station 100 by a self-propelled transport vehicle such as a forklift. When the movable table 112 is in the horizontal position, the chip container 222 containing chips is placed on the movable table 112 together with the chip container 222 .

When the movable table 112a is in the illustrated inclined position, the chips in the chip container 222 fall into the main body of the hopper 112. The chips that have fallen into the body of the hopper 112 are transported by a conveyor toward the chute 116 and fall from the chute 116 into the chip packer 114. The chips that have fallen into the chip packer 114 are compressed by the packer 114. As a result, the chips become one lump, which makes it easier to transport.

In FIG. 1, the second processing area 14 is located more proximally with respect to the spare module station 20 than the first processing area 12. It is therefore advantageous to arrange in the second processing area 14 a processing line whose configuration changes frequently.

10 Manufacturing plant 12 First processing area 14 Second processing area 16 Control center 20 Spare module station 22 Tool module 24 Table module 26 Self-propelled auxiliary module 30 Charging station 32 Power supply device 40 Second maintenance station 50 Tool station 60 Fixture Cha station 70 First material station 80 Second material station 90 First maintenance station 100 Chip processing station 120 Energy supply device 130 Battery-equipped module 140 Workpiece transfer module 150 Tool exchange module 500 Tool module 560 Drive module 600 Table module

Claims (8)

1. In a manufacturing plant equipped with a processing line including a tool module and a table module that are separably coupled via an interface,
   a plurality of self-propelled modules including at least one self-propelled tool module and at least one self-propelled table module;
   a processing area where the processing line is installed and processes the workpiece;
   an energy supply device that supplies energy to the tool module or the table module within the processing area;
   A material station that stores workpieces, a tool station that stores a plurality of tools, a fixture station that stores and holds a plurality of fixtures, and a chip treatment that processes chips, which are provided adjacent to the outside of the processing area. a station area having at least one of a station, a maintenance station for maintaining the self-propelled module, a charging station for charging the self-propelled module, and a spare module station for waiting for a spare self-propelled module;
   Equipped with
   A manufacturing factory characterized in that the self-propelled module moves between the processing area and the station area.
2. One table module is coupled to the energy supply device, another table module is coupled to the table module on the opposite side of the energy supply device, and the energy supply device and the two table modules are aligned on a predetermined axis. 2. The manufacturing plant according to claim 1, wherein the tool modules are arranged side by side along the table, and one tool module is coupled to each of the two table modules.
3. further comprising a self-propelled auxiliary module that is separably coupled to the tool module or the table module via the interface and that transports at least a workpiece or a tool;
   The manufacturing factory according to claim 1, wherein the self-propelled auxiliary module travels between the station and the tool module or table module to deliver tools or workpieces.
4. The manufacturing factory according to claim 1, wherein the energy supply device is fixed to a floor surface and delivers power, fluid, and/or data to the tool module or the table module via an interface.
5. The energy supply device includes a stand fixed to a floor surface and a plurality of interfaces connectable to interfaces of the tool module and/or table module, the plurality of interfaces being arranged on different sides of the stand. The manufacturing factory according to claim 1, wherein:
6. The manufacturing factory according to claim 1, wherein the energy supply device is a battery-equipped self-propelled module that is coupled to the tool module or the table module via an interface and supplies power to the tool module or the table.
7. A plurality of self-propelled modules including the tool module and the work module are equipped with a wireless charging receiver, and receive power for charging in a contactless manner from a wireless power transmitter provided on the floor of the processing area. The manufacturing factory described in 1.
8. The manufacturing factory according to claim 1, wherein the fixture station includes a fixture exchange device for exchanging fixtures that attach workpieces to pallets.

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