WO2023188094A1 - Système de machine-outil et empileur de pièces - Google Patents

Système de machine-outil et empileur de pièces Download PDF

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Publication number
WO2023188094A1
WO2023188094A1 PCT/JP2022/015930 JP2022015930W WO2023188094A1 WO 2023188094 A1 WO2023188094 A1 WO 2023188094A1 JP 2022015930 W JP2022015930 W JP 2022015930W WO 2023188094 A1 WO2023188094 A1 WO 2023188094A1
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WO
WIPO (PCT)
Prior art keywords
workpiece
pallet
information
delivery
machine tool
Prior art date
Application number
PCT/JP2022/015930
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English (en)
Japanese (ja)
Inventor
奈緒美 廣田
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/JP2022/015930 priority Critical patent/WO2023188094A1/fr
Publication of WO2023188094A1 publication Critical patent/WO2023188094A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • 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
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24

Definitions

  • the present disclosure relates to a work stocker that transfers workpieces to be processed with a machine tool.
  • Patent Document 1 listed below describes an automatic processing device that uses an articulated robot to take out a workpiece to be processed from among the workpieces housed in a magazine.
  • the magazine is provided with a plurality of pots.
  • Each pot is provided with a work pallet on which works are set.
  • the work pallet is provided with a bar code for identifying the set workpieces.
  • a barcode reader provided on the robot reads a barcode on a workpiece pallet from which the workpiece is to be taken out.
  • the automatic processing device detects the identification number of the workpiece corresponding to the read barcode based on data stored in advance in which the identification number of the workpiece and the barcode are associated with each other.
  • JP2002-304208A ( Figure 2, Figure 4, Figure 7)
  • the identification information of the workpiece set on the workpiece pallet is determined based on the barcode provided on the workpiece pallet.
  • the workpiece may be accidentally misplaced.
  • an incorrect machining program will be selected based on the barcode of the workpiece pallet, and machining that does not match the type of workpiece will be executed.
  • the present disclosure has been made in view of the above problems, and aims to provide a machine tool system and a work stocker that can detect information about a pallet and a workpiece placed on the pallet.
  • the present specification provides a robot that transports a workpiece, a processing device that processes the workpiece received from the robot, and a plurality of pallets on which the workpieces can be mounted.
  • a work stocker for transferring the workpieces between the pallet and the robot; and a pallet, among the plurality of pallets, disposed at a transfer position where the workpieces are transferred to and from the robot.
  • a delivery pallet an imaging device that takes an image of the workpiece placed on the delivery pallet, and pallet information provided on the delivery pallet based on the image data captured by the imaging device, and the delivery pallet.
  • a machine tool system is disclosed, comprising: a control device that detects workpiece information provided on the workpiece. Further, the content of the present disclosure is not limited to implementation as a machine tool system, but is extremely useful even when implemented as a work stocker that communicates with a machine tool.
  • the imaging device images the delivery pallet placed at the delivery position and the workpieces thereon.
  • the control device detects pallet information and workpiece information based on image data from the imaging device. Thereby, the control device can determine whether or not the type of pallet or workpiece is appropriate based on the detected information.
  • FIG. 1 is a front view of the machine tool system according to the present embodiment.
  • Block diagram of machine tool system The front view of the work stocker.
  • FIG. 7 is a diagram showing an image of image data obtained by capturing the state of FIG. 6; Flowchart of workpiece processing.
  • FIG. 7 is a diagram showing an image of image data obtained by capturing a state different from that shown in FIG. 6; The figure which shows the image of image data of another example. The figure which shows the image of image data of another example.
  • FIG. 1 shows a front view of a machine tool system 10 of this embodiment.
  • FIG. 2 shows a block diagram of the machine tool system 10.
  • the right direction in the machine width direction and horizontal to the device installation surface is the Z direction, and the device installation
  • the forward direction parallel to the surface and perpendicular to the Z direction will be referred to as the Y direction, and 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 arranged on the left side of the machine tool system 10, and the letter “R” will be added to the reference numerals relating to the apparatuses arranged on the right side of the machine tool system 10.
  • the machine tool system 10 includes a machine tool 1 and a work stocker 9.
  • the front side of the machine tool 1 is covered with a device cover 2, and a movable operation panel 3 is provided on the front side 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 a left processing device 11L, a right processing device 11R, a workpiece transfer device 14, and a control device 15 (see FIG. 2).
  • 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 main axis and the orientation of the 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.
  • the left and right processing devices 11L and 11R are so-called opposed two-axis lathes arranged symmetrically. Note that 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.
  • a tool spindle device 21 (see FIG. 2) 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.
  • an automatic tool changer 25 (see FIG.
  • the tool spindle device 21 can exchange tools (spindle head tools) with an automatic tool changer 25.
  • the automatic tool changer 25 includes a tool magazine that stores a plurality of tools. The tool magazine is provided in the upper part of the machine tool 1, and the front side is covered by the tool cover 2A of the device cover 2.
  • the workpiece transport device 14 transfers the workpieces to and from the left and right processing devices 11L, 11R, the workpiece stocker 9, and other devices.
  • the workpiece conveyance device 14 is, for example, a gantry type conveyance device, and includes a head 14A and a slide mechanism 14B, and is capable of moving the workpiece gripped by the head 14A in three directions, XYZ directions.
  • FIG. 1 illustrates in one figure the state of the workpiece conveyance device 14 that moves to a plurality of positions.
  • the slide mechanism 14B includes, for example, a traveling table movable along a rail base along the Z direction.
  • the slide mechanism 14B controls the Z-axis motor under the control of the control device 15, and can move the traveling table to any position in the Z direction.
  • the slide mechanism 14B includes a slide base that is movable in the Y direction with respect to the traveling table.
  • the slide mechanism 14B controls the Y-axis motor under the control of the control device 15, and can move the slide base to any position in the Y direction.
  • the slide mechanism 14B includes a lift rail attached to the front end of the slide base.
  • the slide mechanism 14B controls the X-axis motor under the control of the control device 15, and can move the elevating rail to any position in the X direction.
  • a head 14A is attached to the lower end of the elevating rail. Therefore, the control device 15 can move the head 14A to any position in the XYZ directions by controlling each motor of the XYZ axes.
  • the head 14A includes, for example, two chucks, and each of the two chucks can hold a workpiece. Further, the head 14A is rotatable around a rotation axis parallel to the Y-axis direction. The head 14A rotates under the control of the control device 15 and can exchange the positions of the two chucks. The head 14A exchanges the positions of the two chucks and transfers the workpiece between the left and right spindle devices 12L, 12R and the workpiece stocker 9.
  • the work stocker 9 is a device that supplies unprocessed workpieces or receives processed workpieces.
  • the work stocker 9 transfers the work to and from the head 14A of the work transfer device 14. Details of the work stocker 9 will be described later.
  • "unprocessed" in this application means that it has not yet been processed by the machine tool 1, and even if the work has been processed by a machine tool in the previous process of the machine tool 1, the work cannot be received by the work stocker 9. If it is in a state before being processed by the machine tool 1 to be delivered, it is written as "unprocessed".
  • 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.
  • the control device 15 also includes a communication IF (abbreviation for interface) 15D.
  • the communication IF 15D is connected to the communication IF 31 of the work stocker 9 via the communication cable 27.
  • the communication IF 15D is, for example, a LAN interface, and the communication cable 27 is a LAN cable.
  • the control device 15 transmits and receives image data and control data, which will be described later, to and from the work stocker 9 via the communication IF 15D.
  • the configuration of the communication IF 15D described above is an example.
  • the communication IF 15D may be an interface of a communication standard other than the LAN interface.
  • the communication IF 15D may include a communication IF that transmits and receives image data separately from control data.
  • the communication IF 15D may include, as a communication IF, an interface to which a cable capable of transmitting image data compliant with the Camera Link standard can be connected.
  • communication for connecting the communication IFs 15D and 31 is not limited to wired communication, and may be wireless communication.
  • control programs 16 are stored in the storage device 15B.
  • the control program 16 includes, for example, an NC program that controls the operations of the left and right processing devices 11L and 11R in processing a workpiece, a program that controls the operations of the workpiece transport device 14 and the workpiece stocker 9, and a program that processes various signals. Contains programs for ladder circuits. Further, the control program 16 stores a program for executing a workpiece machining process shown in FIG. 8, which will be described later.
  • an identification information DB (abbreviation for database) 17 is stored in the storage device 15B.
  • the identification information DB 17 stores data such as pallet information 63 and workpiece information 64 (see FIG. 7), which will be described later.
  • processing history information 18 is stored in the storage device 15B.
  • the machining history information 18 stores history information related to a series of machining operations performed on the workpiece by the right-side machining device 11L and the like. Details of the identification information DB 17 and the processing history information 18 will be described later.
  • the work stocker 9 includes, in addition to the communication IF 31 described above, a base 32, a pallet moving device 35 that moves a plurality of pallets 33, a control board 36 (see FIG. 2), and an operation board 36 (see FIG. 2). It includes a device 37 (see FIG. 2) and an imaging device 39.
  • a plurality of pallets 33 are placed on the base 32 of the work stocker 9.
  • Each of the plurality of pallets 33 has, for example, a disk shape, and is capable of stacking a plurality of works on top.
  • the workpiece conveyance device 14 chucks the unprocessed workpiece placed on the pallet 33 with the head 14A, and transfers it to the left spindle device 12L and the right spindle device 12R. Further, the workpiece transfer device 14 receives a processed workpiece that has been processed by the left processing device 11L or the like from the left spindle device 12L or the like to the head 14A, and transfers it to the pallet 33.
  • the plurality of pallets 33 include a pallet 33 (hereinafter referred to as supply pallet 33A) that supplies workpieces to the workpiece conveyance device 14 (machine tool 1), and a pallet 33 (hereinafter referred to as supply pallet 33A) that receives and places the workpieces from the workpiece conveyance device 14.
  • supply pallet 33A a pallet 33 that supplies workpieces to the workpiece conveyance device 14 (machine tool 1)
  • supply pallet 33A a pallet 33 (hereinafter referred to as supply pallet 33A) that receives and places the workpieces from the workpiece conveyance device 14.
  • the discharge pallet 33B is included.
  • the pallet moving device 35 is a device that moves a plurality of pallets 33 in a circular manner.
  • the pallet moving device 35 includes a plurality of running platforms 41, a roller chain 51, sprockets 52, 53, and a moving motor 55.
  • a total of twelve traveling platforms 41 are provided.
  • a pallet 33 can be placed on each of the twelve carriages 41.
  • Each of the plurality of carriages 41 is provided with, for example, three long positioning pins 43.
  • Each of the three positioning pins 43 has a thin cylindrical shape extending in the X direction, and is provided at positions offset from each other by 120 degrees in the circumferential direction about the center 45 of the carriage 41.
  • three slits 47 are formed along the radial direction in each of the plurality of pallets 33.
  • the three slits 47 are formed at positions offset from each other by 120 degrees in the circumferential direction about the center 45.
  • the pallet 33 is placed on the carriage 41 with positioning pins 43 inserted into each of the three slits 47 in the X direction.
  • the pallet 33 is positioned by positioning pins 43 that restrict its movement in the Y direction and the Z direction. Thereby, each of the plurality of pallets 33 can be moved in the X direction along the positioning pins 43 in a horizontal position without causing lateral displacement due to the three positioning pins 43.
  • the user can replace the pallet 33 on the carriage 41.
  • the three positioning pins 43 position (center) the workpiece by contacting the outer peripheral surface of the workpiece placed on the pallet 33.
  • the distance (position in the radial direction) between the three positioning pins 43 and the center 45 can be changed, and the insertion position of the three positioning pins 43 into the slit 47 can be changed. Therefore, by changing the position of the positioning pins 43, it is possible to position the three positioning pins 43 in contact with the outer circumferential surface of workpieces having different radial sizes.
  • the traveling platform 41 may have a configuration in which the positioning pin 43 is fixed in position.
  • a supply pallet 33A and a discharge pallet 33B are placed on each of the twelve traveling platforms 41.
  • the user places a workpiece to be processed by the machine tool 1 on the supply pallet 33A, or sets the supply pallet 33A carrying the workpiece on the carriage 41. Further, the user takes out the workpiece W on the discharge pallet 33B on which processing has been completed, or removes the discharge pallet 33B with the workpiece still on it from the carriage 41. Therefore, in the work stocker 9, the supply pallet 33A and the discharge pallet 33B can be replaced, and there is a possibility that two types of pallets 33 coexist (see FIG. 5). Note that the pallet 33 may be fixed to the carriage 41.
  • the workpiece transport device 14 transfers (supplies or discharges) the workpiece to and from the pallet 33 (hereinafter sometimes referred to as the transfer pallet 33D) placed at the transfer position P1 among the plurality of pallets 33.
  • a portion of the plurality of pallets 33 including the delivery pallet 33D is arranged in a space surrounded by a cover member 49 attached on the base 32.
  • the cover member 49 is, for example, a rectangular parallelepiped box-shaped member, and has a working opening 49A (see FIG. 5) formed in its upper surface.
  • the workpiece conveyance device 14 inserts the head 14A through the work opening 49A, and transfers the workpiece to and from the transfer pallet 33D at the transfer position P1.
  • the delivery position P1 is located at the second position from the front on the right side in front of the work stocker 9.
  • the plurality of carriages 41 are connected to each other by roller chains 51 shown in broken lines in FIG.
  • the roller chain 51 is an endless chain having an elongated oval shape in the Y direction when viewed from above.
  • the roller chain 51 is stretched around sprockets 52 and 53 provided at each end in the Y direction.
  • a moving motor 55 is provided at the rear inside the base 32 .
  • the rear sprocket 52 is connected to the output shaft of the moving motor 55 and rotates as the moving motor 55 is driven.
  • the control board 36 of the work stocker 9 rotates the sprocket 52 by controlling the rotation of the moving motor 55.
  • the roller chain 51 and the sprocket 53 rotate according to the rotation of the sprocket 52, and move the plurality of running platforms 41.
  • the plurality of traveling platforms 41 move simultaneously along an oval course according to the rotation of the roller chain 51.
  • the control board 36 can replace the delivery pallet 33D with the supply pallet 33A or the discharge pallet 33B by controlling the movement motor 55
  • a pallet lifting device 57 is provided at the front inside the base 32.
  • the pallet lifting device 57 includes a drive source such as a motor, and moves the delivery pallet 33D at the delivery position P1 in the X direction.
  • the pallet lifting device 57 is driven under the control of the control board 36 to adjust the height of the delivery pallet 33D, that is, the height of the pallet 33 that transfers the workpiece to and from the head 14A.
  • the work stocker 9 of this embodiment for example, transfers the work between the transfer pallet 33D and the head 14A at the same height in the X direction.
  • a photoelectric sensor 59 is provided on the base 32.
  • the photoelectric sensor 59 outputs a signal with a different signal level depending on, for example, whether a blocking object (workpiece or pallet 33) is present between the light projector and the light receiver.
  • the photoelectric sensors 59 are installed in the X direction according to the height at which the workpiece is transferred. Specifically, the photoelectric sensor 59 can detect the highest workpiece stacked on the delivery pallet 33D, for example, when the delivery pallet 33D is lowered to the lowest position within the range that can be raised and lowered by the pallet lifting device 57. It is installed in a certain position.
  • the uppermost work mentioned here is, for example, the uppermost work when stacked on the delivery pallet 33D to the highest position that can be supported by the positioning pins 43.
  • the control board 36 detects the uppermost workpiece among the plurality of workpieces placed on the delivery pallet 33D using a photoelectric sensor 59 based on the control of the control device 15.
  • the delivery pallet 33D is raised to the position where the delivery pallet 33D is placed.
  • the heights of the supply positions for supplying the workpieces can be made to be the same height.
  • the control board 36 raises the delivery pallet 33D to a position where the photoelectric sensor 59 detects the ejection pallet 33B or the uppermost work on the ejection pallet 33B.
  • the heights of the discharge positions that receive the workpieces can be made to be the same height.
  • the work stocker 9 does not need to include the pallet lifting device 57.
  • the workpiece conveyance device 14 may adjust the height of the supply position and discharge position of the workpiece.
  • the control device 15 receives the work from the delivery pallet 33D (supply pallet 33A) by lowering the head 14A to a position where it can grab the work on the delivery pallet 33D, using image processing or a sensor, for example. Further, the control device 15 may eject the work by lowering the head 14A to a position where the work can be placed on the delivery pallet 33D (discharge pallet 33B), for example.
  • the control board 36 is a device that includes a CPU and the like and controls the operation of the work stocker 9.
  • the control board 36 controls the moving motor 55 and the pallet lifting device 57 based on control data received from the control device 15 of the machine tool 1 via the communication IF 31.
  • the control details of the control device 15 and the control board 36 will be described later.
  • the operating device 37 is a user interface for the work stocker 9, and includes, for example, a touch panel and operating switches. For example, when the user wants to replace the delivery pallet 33D, the user operates the operating device 37 to replace the pallet 33.
  • the imaging device 39 is, for example, a camera equipped with an imaging element such as a CCD or CMOS.
  • the imaging device 39 is attached at a position where it can image the delivery pallet 33D at the delivery position P1 and the workpieces placed on the delivery pallet 33D.
  • the imaging device 39 is attached to the upper right end of the front side of the cover member 49.
  • the imaging device 39 is installed so as to be able to capture an image of the delivery position P1 with its imaging direction directed downward toward the rear.
  • the imaging device 39 is installed at a position where it can image pallet information 63 of the delivery pallet 33D and workpiece information 64 of the workpieces on the delivery pallet 33D, which will be described later.
  • the imaging device 39 captures images based on the control of the control board 36.
  • the control board 36 transmits the captured image data to the control device 15 (machine tool 1) via the communication IF 31. Note that the mounting position of the imaging device 39 described above is an example.
  • FIG. 6 schematically shows a side view of the delivery pallet 33D on which the workpieces are placed.
  • FIG. 7 shows an example of an image represented by image data captured by the imaging device 39 shown in FIG. 6 and 7 show, as an example, a state in which a workpiece W1 is placed on a delivery pallet 33D, and a workpiece W2 having a different shape from the workpiece W1 is placed on top of the workpiece W1.
  • the works W1 and W2 are collectively referred to, they are written as the work W.
  • the number of works W to be placed on the pallet 33 is not limited to two, but may be one or three or more.
  • the plurality of works W placed on the pallet 33 may have the same shape.
  • each of the plurality of pallets 33 is provided with a bracket 61.
  • the bracket 61 is, for example, a plate-shaped rectangular metal plate that protrudes outward in the radial direction from the outer edge of the circular pallet 33 when the pallet 33 is viewed from above.
  • Pallet information 63 is provided on the top surface of the bracket 61.
  • the pallet information 63 is provided at a position that can be imaged by the imaging device 39 when an arbitrary pallet 33 is placed at the delivery position P1. All the pallets 33 have, for example, the same shape, and the brackets 61 and pallet information 63 are attached in the same direction and position. When all the pallets 33 are placed at the delivery position P1, the brackets 61 and pallet information 63 are placed at the same position.
  • the plurality of pallets 33 and brackets 61 may have mutually different shapes, and the pallet information 63 may be attached at different positions.
  • the pallet information 63 is, for example, information indicating whether the pallet 33 on which the pallet information 63 is provided is the supply pallet 33A or the discharge pallet 33B. Note that the information indicated by the pallet information 63 is not limited to information indicating the supply pallet 33A or the discharge pallet 33B.
  • the pallet information 63 may be information indicating a pallet for defective machining on which a defective workpiece is placed.
  • the pallet information 63 may be information indicating the type (size, shape, etc.) of the workpiece W placed on the pallet 33 on which the pallet information 63 is provided.
  • the workpiece W is provided with workpiece information 64 related to the workpiece W.
  • the palette information 63 and workpiece information 64 described above are, for example, a matrix-type two-dimensional code such as a QR code (registered trademark).
  • the pallet information 63 and the workpiece information 64 are not limited to matrix-type two-dimensional codes, but may also be stack-type two-dimensional codes or one-dimensional codes such as barcodes.
  • the palette information 63 and work information 64 may be numbers or characters.
  • the bracket 61 of the supply pallet 33A is provided with the number "1" as the pallet information 63 indicating the supply pallet 33A
  • the bracket 61 of the discharge pallet 33B is provided with the number "2" as the letter indicating the discharge pallet 33B.
  • the palette information 63 may be provided as the palette information 63.
  • the pallet information 63 of the supply pallet 33A and the pallet information 63 of the discharge pallet 33B may be colored in different colors.
  • the bracket 61 of the supply pallet 33A and the bracket of the discharge pallet 33B may be colored in different colors.
  • the palette information 63 and the work information 64 information that is a combination of colors and characters may be used.
  • the pallet information 63 and the workpiece information 64 are provided (engraved) on the metal bracket 61 and the workpiece W, for example, by laser processing.
  • the method for providing the pallet information 63 and the workpiece information 64 is not limited to laser processing, and may be provided by printing such as inkjet printing. Alternatively, a method may be used in which a sticker or paper on which a QR code (registered trademark) or the like is printed is pasted on the bracket 61 or the workpiece W.
  • the work information 64 is, for example, information on the work number indicating the type of the work W.
  • the workpiece W is assigned a different workpiece number depending on the shape of the workpiece W, the contents of the machining process scheduled to be performed on the workpiece W, and the contents of the machining process already performed on the workpiece W. Therefore, for example, the pallet information 63 of the workpiece W1 and the pallet information 63 of the workpiece W2 indicate different workpiece numbers.
  • the control program 16 of the storage device 15B stores a plurality of machining programs (such as NC programs) corresponding to workpiece numbers.
  • the identification information DB 17 stores workpiece numbers and information on machining programs corresponding to the workpiece numbers in association with each other. Based on the workpiece number indicated by the workpiece information 64 and the identification information DB 17, the control device 15 selects and executes a machining program corresponding to the workpiece number.
  • the work information 64 includes identification information that allows the work W to be distinguished from other works W. This identification information is for the purpose of traceability, so that the details of the processing performed on the workpiece W can be stored in the processing history information 18 and traced later based on the identification information. Note that the content of the work information 64 described above is an example.
  • the work information 64 may include only one of the work number and identification information.
  • the workpiece information 64 is provided, for example, in a portion of the outer peripheral surface of the workpiece W that is not to be processed and is not processed by the left and right processing devices 11L, 11R and the tool spindle device 21. Therefore, the workpiece information 64 is provided in a portion that remains unprocessed by cutting or the like even after processing by the machine tool 1 is performed. Thereby, it is possible to confirm, track, etc. the workpiece W after processing based on the workpiece information 64.
  • the portion where the workpiece information 64 is provided may be a portion to be processed by the machine tool 1, that is, a portion that is not subjected to cutting or the like. Even in this case, when the workpiece W is supplied, control based on the workpiece information 64 can be executed, and erroneous processing on the workpiece W can be prevented.
  • the machine tool system 10 includes a laser processing device 7 that processes workpiece information 64 on the workpiece W by laser processing.
  • the laser processing device 7 is arranged adjacent to the workpiece stocker 9 and can communicate with the control device 15 (see FIG. 2).
  • the laser processing device 7 includes, for example, a stage on which the workpiece W is placed, a head that irradiates the workpiece W with a laser beam, an articulated robot that chucks and moves the workpiece W, and the like.
  • the laser processing device 7 receives the workpiece number of the set workpiece W from the user, it acquires a processing program corresponding to the workpiece number from the control device 15 .
  • the laser machining device 7 specifies the portion where the above-described machining is not performed based on the machining program (machining position of the work W, etc.), and processes the work information 64 by laser machining the specified portion that is not to be processed.
  • the laser processing device 7 supplies the processed workpiece W to the supply pallet 33A of the workpiece stocker 9 using the articulated robot. Thereby, it is possible to place the workpiece W in which the workpiece information 64 is provided in the part outside the machining target in the workpiece stocker 9.
  • the machine tool system 10 does not need to include the laser processing device 7.
  • the user may attach a sticker or the like on which the work information 64 is printed to the work W.
  • the imaging device 39 of this embodiment is attached to the work stocker 9, and is attached at a position where it can image the delivery pallet 33D and the works W1 and W2 on the delivery pallet 33D.
  • the position and orientation of the imaging device 39 can be fixed. By fixing the imaging position and range, it is possible to simplify the process of adjusting the focus during imaging and the image processing for detecting the palette information 63 after imaging.
  • the bracket 61 of the pallet 33 protrudes outward from the works W1 and W2 placed on the pallet 33, and arranges the pallet information 63 at a position where it can be imaged by the imaging device 39.
  • the pallet information 63 is placed at the same position.
  • the palette information 63 is arranged at the same position within the imaging range, so that the palette information 63 can be detected from the image data of the imaging device 39 by relatively simple image processing.
  • the control device 15 receives a processing start instruction from the user via the touch panel 3A, the CPU 15A executes a predetermined program included in the control program 16, and starts the process shown in FIG. 8.
  • the device that executes the program may be simply described by the device name.
  • the control device 15 controls the work stocker 9 means "the control device 15 executes a predetermined program on the CPU 15A and controls the work stocker 9.”
  • step (hereinafter simply referred to as "S") 11 the control device 15 determines whether there is a workpiece W on the delivery pallet 33D at the delivery position P1.
  • the control device 15 controls the control board 36 of the work stocker 9 and determines the presence or absence of the work W using the photoelectric sensor 59.
  • the control device 15 changes the vertical position of the delivery pallet 33D by driving the pallet lifting device 57 while acquiring a detection signal from the photoelectric sensor 59. If the control device 15 is able to detect the work W on the pallet 33 based on the detection signal of the photoelectric sensor 59 (S11: YES), it executes S13.
  • the control device 15 detects the presence of a blocking object based on the detection signal of the photoelectric sensor 59 before the transfer pallet 33D is raised to the position where the photoelectric sensor 59 detects the transfer pallet 33D, the control device 15 detects that the workpiece W is present. Then judge.
  • the method for detecting the workpiece W is not limited to the method using the photoelectric sensor 59, but may also be a method using a contact type switch or a method using image processing.
  • the control device 15 executes a change of the delivery pallet 33D (S15).
  • the control device 15 controls the pallet moving device 35 to move all the pallets 33 and replace the delivery pallet 33D.
  • the control device 15 rotates the roller chain 51 clockwise in the plan view shown in FIG. 5, and moves all the pallets 33 by one pallet 33.
  • the control device 15 ends the process shown in FIG.
  • the control device 15 executes the processing from S11 on the new delivery pallet 33D after replacement.
  • the control device 15 for example, until it receives an instruction to stop machining from the user on the touch panel 3A, or until it finishes the process of FIG. 8 for all (12) pallets 33 of the work stocker 9.
  • the process in FIG. 8 is repeatedly executed.
  • the control device 15 causes the imaging device 39 to capture images of the delivery pallet 33D and the work W on the delivery pallet 33D.
  • the control device 15 acquires image data captured by the imaging device 39 from the work stocker 9 .
  • the control device 15 executes image processing on the image data and detects palette information 63 and workpiece information 64 from the image data (S17).
  • the control device 15 sequentially focuses on each of a plurality of QR codes (registered trademark) such as pallet information 63 and workpiece information 64 existing in the imaging range of the imaging device 39, and captures a plurality of image data. do.
  • the control device 15 detects palette information 63 and the like from each image data.
  • the control device 15 may capture only one piece of image data and detect the pallet information 63 and workpiece information 64 all at once from one piece of image data.
  • the control device 15 determines whether the pallet information 63 detected in S17 indicates the supply pallet 33A (S19). When the detected pallet information 63 indicates the supply pallet 33A (S19: YES), the control device 15 executes S21. On the other hand, if the pallet information 63 does not indicate the supply pallet 33A, that is, if it indicates the discharge pallet 33B (S19: NO), the control device 15 executes S15 and replaces the delivery pallet 33D.
  • the control device 15 controls the pallet moving device 35 to replace the delivery pallet 33D placed at the delivery position P1. Thereby, the operation of replacing the delivery pallet 33D with the supply pallet 33A can be executed, and the workpiece W to be processed can be supplied from the supply pallet 33A.
  • the user no longer needs to be careful about where to place supply pallets 33A and discharge pallets 33B. Therefore, the workload of pallet 33 arrangement processing can be reduced.
  • the control device 15 determines whether there is only one piece of workpiece information 64 detected from the image data. When only one workpiece W is placed on the delivery pallet 33D, only one piece of workpiece information 64 is detected. Alternatively, as shown in FIG. 9, for example, even if a plurality of workpieces W are placed on the delivery pallet 33D, if the upper workpiece W2 overlaps the workpiece information 64 of the lower workpiece W1, Only one piece of work information 64 is detected. When the number of detected workpiece information 64 is one (S21: YES), the control device 15 executes a machining program according to the workpiece number indicated by the detected workpiece information 64 (S23).
  • the control device 15 refers to the identification information DB 17, reads out the machining program corresponding to the workpiece number from the control program 16, and executes it.
  • the control device 15 controls the workpiece conveyance device 14 to chuck the workpieces W on the delivery pallet 33D (the uppermost workpieces W in the case of multiple workpieces), and chucks the workpieces W on the delivery pallet 33D, and chucks the workpieces W on the delivery pallet 33D and chucks the workpieces W on the left spindle device 12L or the right spindle device according to the machining program.
  • the workpiece W is placed on 12R, and the workpiece W is processed.
  • the control device 15 starts machining, it determines whether the machining is completed (S25), and continues the determination process until the machining is completed (S25: NO).
  • the storage device 15B stores a plurality of machining programs corresponding to different types of workpieces W.
  • the control device 15 causes the workpiece conveying device 14 to transport the workpiece W for which the workpiece information 64 has been detected based on the image data to the left processing device 11L or the right processing device 11R, and executes the processing program according to the workpiece number indicated by the workpiece information 64. Based on this, the left processing device 11L etc. are controlled to execute processing. This eliminates the need for the user to instruct the machine tool 1 about the workpiece number of the workpiece W to be machined. By simply placing the workpiece W provided with the workpiece information 64 on the supply pallet 33A, the user can cause the workpiece W to undergo a process suitable for the workpiece W. Misplacement of the work W and execution of incorrect machining programs can be suppressed, and the user's work burden can be reduced.
  • the control device 15 updates the processing history information 18.
  • the machining history information 18 stores, for example, information on the machining device that executed the machining, information on the tools used, machining start time, machining end time, and the like.
  • the information on the processing device that executed the processing here refers to information indicating which processing device, the left processing device 11L, the right processing device 11R, or the tool spindle device 21, executed the processing, and the information on the device that executed the processing. This is information indicating the order, etc.
  • the control device 15 associates and stores the machining history information 18 and the workpiece information 64 for which machining has been completed.
  • the machine tool system 10 includes a plurality of processing devices (left processing device 11L, right processing device 11R, tool spindle device 21).
  • the control device 15 executes a series of processing operations on the workpiece W using a plurality of processing devices.
  • the control device 15 stores the history information of the executed machining work in the machining history information 18 in association with the work information 64 of the workpiece W that has been completely machined. Thereby, by storing the workpiece number, workpiece identification information, machining start time, machining details, etc., it is possible to track the workpiece W that has been completely machined later. This makes it possible to trace the workpiece W and enable traceability, such as when a machining defect is noticed later.
  • the control device 15 updates the processing history information 18 (S27), it ends the process shown in FIG. 8. For example, when the processing is completed, the control device 15 discharges the processed workpiece W to the discharge pallet 33B. Similarly to the supply of the work W, the control device 15 places the discharge pallet 33B at the delivery position P1 based on the pallet information 63. The control device 15 controls the work transfer device 14 to receive the processed work W from the left processing device 11L and the like and transfer it to the delivery position P1 of the work stocker 9. Thereby, the discharge pallet 33B can be disposed at the delivery position P1 based on the workpiece information 64 to discharge the workpiece W after processing.
  • the control device 15 replaces the delivery pallet 33D, and executes the process from S11 again on the replaced delivery pallet 33D. Furthermore, since the workpiece W2 may overlap the workpiece information 64 as shown in FIG. 9, the control device 15 repositions the supply pallet 33A after taking out the workpiece W2 at the delivery position P1 and executes imaging. Alternatively, S21 may be executed. Thereby, the lower workpiece W1 can be picked up and processed.
  • the control device 15 executes S29. Note that, for example, if there is no workpiece W on the delivery pallet 33D and no workpiece information 64 can be detected, the control device 15 ends the process of FIG. 8. For example, the control device 15 executes replacement of the delivery pallets 33D, and re-executes the process from S11 on the replaced delivery pallets 33D.
  • the control device 15 executes a machining program according to the workpiece information 64 having the shortest distance from the imaging device 39 among the plurality of pieces of workpiece information 64 detected.
  • the distance between the imaging device 39 and the workpiece information 64 referred to here is, for example, the straight-line distance between the lens of the imaging device 39 and each piece of workpiece information 64.
  • the distance detection method is not particularly limited, the distance may be detected based on the focal length (aberration) of each piece of workpiece information 64, for example.
  • the work stocker 9 may include a distance sensor that measures the distance between the imaging device 39 and the work information 64.
  • the control device 15 executes a machining program according to the workpiece information 64 of the workpiece W2, causes the workpiece transfer device 14 to transport the workpiece W2, and performs machining by the left processing device 11L or the like (S29).
  • the control device 15 detects a plurality of pieces of workpiece information 64 based on the image data (S21: NO), the control device 15 selects the workpiece W2 that has detected the piece of workpiece information 64 having the shortest distance from the imaging device 39. , the workpiece is transported by the workpiece transport device 14 to a processing device such as the left processing device 11L. The control device 15 executes machining on the workpiece W2 using a machining program according to the workpiece number indicated by the workpiece information 64 (S29). Thereby, when a plurality of workpieces W1 and W2 of different types are stacked, it is possible to take out the workpieces in order starting from the top workpiece W2 and perform processing according to the workpiece number. The user can set the work W to be processed on the work stocker 9 without being restricted by the type of work W.
  • the control device 15 updates the processing history information 18 (S27), and ends the process shown in FIG. 8. For example, after the processing of the workpiece W2 is completed (S25: YES), the control device 15 discharges the processed workpiece W2 to the workpiece stocker 9 and performs processing on the remaining workpiece W1 on the delivery pallet 33D. good. Alternatively, the processing from S11 may be executed for another supply pallet 33A. In this manner, the control device 15 of this embodiment can sequentially perform appropriate processing on the workpieces W placed on the delivery pallet 33D.
  • the pallet 33 of this embodiment can place workpieces W1 and W2 of different shapes on one pallet 33. Therefore, the positioning pin 43 arranged on the outside of the workpiece W contacts and positions the workpiece W1 having the largest outer diameter.
  • the center of the workpiece W1 is made to coincide with the center 45 of the pallet 33 (see FIG. 5).
  • the control device 15 may, for example, detect the position of the workpiece W1 having a small outer diameter based on image data captured by the imaging device 39, and adjust the position of the head 14A in the YZ direction.
  • a jig 67 may be used that aligns the center of the workpiece W2 with the smaller outer diameter with the center 45 of the pallet 33 or the center of the workpiece W1 with the largest outer diameter.
  • the jig 67 is a member that includes, for example, a hole inserted into the positioning pin 43 and an arm that pushes the workpiece W from the outside, and urges the workpiece W from the positioning pin 43 toward the center using an elastic member.
  • the number, shape, arrangement, etc. of the workpieces W1, W2, pallets 33, and positioning pins 43 shown in FIGS. 5 to 7 are examples.
  • the workpiece stocker 9 inserts a plurality of positioning pins 43 into the throughhole 71 of each workpiece W1 and W2. It may be inserted and positioned by applying the positioning pin 43 from inside the through hole 71.
  • the three positioning pins 43 contact the through-holes 71 of the workpieces W1 and W2 from the inside to center the workpieces W1 and W2. Let's do it. Even in such a configuration in which the positioning pin 43 is brought into contact with the workpieces W1 and W2 from the inside, it is possible to photograph the workpiece information 64 of the overlapping workpieces W1 and W2, similarly to the above-mentioned configuration in which the positioning pin 43 is brought into contact with the workpieces W1 and W2 from the outside. Further, the number of positioning pins 43 is not limited to three, and may be one, two, or four or more.
  • the plurality of positioning pins 43 are not limited to the same shape, and may have different thicknesses and lengths. Moreover, only one work W may be placed on one pallet 33, or three or more works W may be placed on one pallet 33. Further, a plurality of works W may be placed side by side on one pallet 33. Moreover, the shape of the pallet 33 may be oval or square. Therefore, the configurations of the pallet 33 and the carriage 41 can be changed as appropriate depending on the number, shape, etc. of the workpieces W.
  • the left processing device 11L, the right processing device 11R, and the tool spindle device 21 are examples of processing devices.
  • the work transfer device 14 is an example of a robot.
  • the processing history information 18 is an example of history information.
  • the traveling platform 41 is an example of a mounting member.
  • the imaging device 39 of the workpiece stocker 9 includes a delivery pallet 33D, which is arranged at a delivery position P1 where workpieces W are delivered to and from the workpiece transport device 14 among the plurality of pallets 33; And the work W placed on the delivery pallet 33D is imaged.
  • the control device 15 detects pallet information 63 of the delivery pallet 33D and workpiece information 64 of the work W on the delivery pallet 33D based on the image data captured by the imaging device 39.
  • the control device 15 can detect the pallet information 63 and workpiece information 64 of the delivery pallet 33D. By doing so, appropriate measures such as execution of a machining program depending on the type of workpiece W can be taken. In other words, the user can perform appropriate processing simply by placing the work W on the supply pallet 33A.
  • the control device 15 of the machine tool 1 executes the process shown in FIG. 8, but the control board 36 of the work stocker 9 may execute part or all of the process shown in FIG.
  • the work stocker 9 includes a communication IF 31 capable of communicating with the machine tool 1, a traveling platform 41 to which a plurality of pallets 33 can be attached (an example of the attachment part of the present disclosure), an imaging device 39, and a control board 36.
  • the structure shall be prepared.
  • the control board 36 detects pallet information 63 provided on the delivery pallet 33D and workpiece information 64 provided on the work W on the delivery pallet 33D based on the image data captured by the imaging device 39. , the detected pallet information 63 and workpiece information 64 may be notified to the machine tool 1 via the communication IF 31. Even with such a configuration, the machine tool 1 can perform appropriate processing on the workpiece W at the delivery position P1 based on the pallet information 63 and workpiece information 64 acquired from the control board 36.
  • the imaging device 39 is provided in the work stocker 9, but the invention is not limited thereto.
  • the workpiece stocker 9 may be provided in the head 14A of the workpiece transport device 14. Then, the control device 15 may move the head 14A of the workpiece conveyance device 14 to take an image of the delivery pallet 33D and the like at the delivery position P1 with the imaging device 39.
  • the imaging device 39 was fixed to the cover member 49 of the work stocker 9, but it may be configured to be movable.
  • the work stocker 9 may have a configuration in which a plurality of carriages 41 (pallets 33) are fixedly placed on the base 32 without moving the carriages 41 (pallets 33).
  • the work stocker 9 may include a camera movement mechanism that moves the imaging device 39 in the Z direction or the Y direction.
  • the work stocker 9 may control the camera moving mechanism to move the imaging device 39 to above the pallet 33 that transfers the work W to and from the work transport device 14 to take an image.
  • the next position where the workpiece W is supplied or discharged from the workpiece transport device 14 is the delivery position P1, and the pallet 33 at the delivery position P1 becomes the delivery pallet 33D.
  • the work stocker 9 does not need to include the pallet moving device 35.
  • the pallet 33 may have a configuration in which only one workpiece W can be placed thereon. Further, the work information 64 may be provided on the upper surface of the pallet 33. In this case, the pallet 33 does not need to include the bracket 61.
  • the pallet 33 is formed to have a larger diameter than the largest diameter workpiece W among the workpieces W that can be placed thereon.
  • the pallet 33 may have a configuration in which, when a workpiece W with the maximum diameter is placed, the pallet information 63 is provided on a portion exposed outside of the workpiece W with the maximum diameter.
  • the direction in which the pallet 33 is imaged is not limited to the direction in which the workpiece W or the delivery pallet 33D is imaged from above, but may be in the direction in which the workpiece W etc. is imaged from the side or from below.
  • the positions and orientations of the pallet information 63 and workpiece information 64 may be changed as appropriate.
  • the work stocker 9 has the supply pallet 33A and the discharge pallet 33B mixedly arranged in one device, but may have a structure in which only the supply pallet 33A is arranged. That is, the work stocker 9 may be a supply-only work stocker that supplies unprocessed workpieces W and does not receive processed workpieces W.
  • the machine tool system 10 may include a discharge device or the like that discharges the work W after processing, separately from the work stocker 9. Further, even if the work stocker 9 is used only for supply, the image capturing device 39 can capture images of the pallet information 63 and the work information 64, and processing can be executed according to each piece of information. Specifically, as the pallet information 63, information on the size of the work W divided into groups such as large, medium, and small is set. For example, the control device 15 can reduce the number of tool exchanges by executing machining in the order of large, medium, and small groups.
  • the control device 15 controls the pallet moving device 35 based on the pallet information 63 of the imaging result, preferentially arranges the pallet 33 provided with the "large" pallet information 63 at the delivery position P1, and changes the processing order. It may be controlled. Further, the user no longer needs to check the supply pallet 33A and the discharge pallet 33B, and only needs to place the work W to be processed on any pallet 33 of the work stocker 9. Further, the head 14A may be configured to include only one chuck. Further, the machine tool 1 may have a configuration in which the machining history information 18 is not recorded. Further, the robot in the present disclosure is not limited to the above-described gantry type loader, but may be an articulated robot.
  • 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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Abstract

L'invention concerne un système de machine-outil et un empileur de pièces avec lesquels il est possible de détecter des informations concernant une palette et une pièce positionnée sur la palette.　Ce système de machine-outil comprend : un robot pour transporter une pièce; un dispositif de traitement pour traiter la pièce reçue en provenance du robot; un empileur de pièces ayant une pluralité de palettes sur lesquelles la pièce peut être positionnée, l'empileur de pièces transférant la pièce entre l'une des palettes et le robot; un dispositif d'imagerie pour prendre une image d'une palette de transfert disposée à une position de transfert où la pièce est transférée vers et depuis le robot, parmi la pluralité de palettes, et prendre également une image de la pièce positionnée sur la palette de transfert; et un dispositif de commande pour détecter des informations de palette fournies à la palette de transfert, et des informations de pièce fournies à la pièce sur la palette de transfert, sur la base de données d'image capturées par le dispositif d'imagerie.
PCT/JP2022/015930 2022-03-30 2022-03-30 Système de machine-outil et empileur de pièces WO2023188094A1 (fr)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002304208A (ja) * 2001-04-04 2002-10-18 Fuji Seiki Kk 自動加工装置
JP2012091268A (ja) * 2010-10-27 2012-05-17 Murata Machinery Ltd 搬送装置およびこれを用いた加工システム
JP2016132073A (ja) * 2015-01-21 2016-07-25 富士機械製造株式会社 自動加工システム
WO2019077676A1 (fr) * 2017-10-17 2019-04-25 株式会社Ｆｕｊｉ Appareil d'outil d'usinage

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002304208A (ja) * 2001-04-04 2002-10-18 Fuji Seiki Kk 自動加工装置
JP2012091268A (ja) * 2010-10-27 2012-05-17 Murata Machinery Ltd 搬送装置およびこれを用いた加工システム
JP2016132073A (ja) * 2015-01-21 2016-07-25 富士機械製造株式会社 自動加工システム
WO2019077676A1 (fr) * 2017-10-17 2019-04-25 株式会社Ｆｕｊｉ Appareil d'outil d'usinage

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