JP7315407B2 - 工作機械 - Google Patents
工作機械 Download PDFInfo
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- JP7315407B2 JP7315407B2 JP2019144867A JP2019144867A JP7315407B2 JP 7315407 B2 JP7315407 B2 JP 7315407B2 JP 2019144867 A JP2019144867 A JP 2019144867A JP 2019144867 A JP2019144867 A JP 2019144867A JP 7315407 B2 JP7315407 B2 JP 7315407B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/048—Multiple gripper units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/046—Handling workpieces or 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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
- B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
- B23Q1/5468—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed parallelly by a single rotating pair
- B23Q1/5481—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed parallelly by a single rotating pair followed parallelly by a single rotating pair
-
- 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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/10—Arrangements for cooling or lubricating tools or work
-
- 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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- 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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155418—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers the grippers moving together
-
- 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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
- B23Q2003/155428—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable about a common axis
-
- 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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155453—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers including different gripper configurations for holding differently-configured 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
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Machine Tool Units (AREA)
- Auxiliary Devices For Machine Tools (AREA)
- Machine Tool Sensing Apparatuses (AREA)
- Feeding Of Workpieces (AREA)
- Turning (AREA)
Description
本発明のさらに他の実施形態では、前記第一エンドエフェクタは、前記先端のリンクに、第一の平行関節を介して接続されており、前記第二エンドエフェクタは、前記先端のリンクに、第二の平行関節を介して接続されている。
Claims (5)
- 1以上の工具を保持する刃物台であり、第一軸に平行な方向、及び前記第一軸に直交する第二軸に平行な方向に直進移動する刃物台と、
前記第二軸に平行な軸回りに回転可能にワークを保持するワーク主軸装置と、
加工室内に設けられ、複数の関節と、前記関節を連結する複数のリンクとを有する機内ロボットと、
を備え、前記機内ロボットの前記複数の関節は、
前記第二軸に平行な軸回りに回転する基礎関節と、
前記基礎関節の回転軸に直交する単一の直交軸と平行な軸回りに回転し、前記基礎関節よりも先端側に配置された複数の平行関節と、
を備え、前記基礎関節の回転軸は、前記ワーク主軸装置の回転軸とずれており、
前記機内ロボットは、前記基礎関節を回転させることで、前記複数の平行関節の回転軸が前記第一軸及び前記第二軸に直交する第三軸と平行になる第一工具追従姿勢と、前記第一工具追従姿勢に対して前記基礎関節を180度回転した第二工具追従姿勢とに変化可能で、前記複数のリンクのうちの先端のリンク以外のリンクは、前記機内ロボットが前記第一工具追従姿勢と前記第二工具追従姿勢のいずれの場合にも、前記刃物台及び前記刃物台に保持される前記工具と干渉しない位置に取り付けられ、
前記先端のリンクの先端は前記直交軸と平行な方向に分岐されてそれぞれに第一エンドエフェクタ及び第二エンドエフェクタが着脱自在に取り付けられ、
前記第一工具追従姿勢及び前記第二工具追従姿勢で前記第一エンドエフェクタと前記第二エンドエフェクタを使い分ける
ことを特徴とする工作機械。 - 前記先端のリンクとそれに隣接するリンクの接合部分において、前記先端のリンクおよびそれに隣接するリンクの一方のリンクの接合部が前記直交軸と平行な軸方向かつ他方のリンク側に向かって突出し、これにより、当該隣接する2つのリンクを前記直交軸と平行な軸方向に重ねたときに隙間が生じ、
前記第一エンドエフェクタと前記第二エンドエフェクタの少なくとも1つは、前記隣接する2つのリンクを重ねたときの前記隙間を通過し得るような高さに設定される
ことを特徴とする請求項1に記載の工作機械。 - 前記第一エンドエフェクタと前記第二エンドエフェクタの少なくとも1つは、ハンド、ローラ、流体ノズルのいずれかである
ことを特徴とする請求項1に記載の工作機械。 - 前記第一エンドエフェクタ及び前記第二エンドエフェクタは、互いに異なる機能を有し、
前記第一工具追従姿勢及び前記第二工具追従姿勢で前記第一エンドエフェクタと前記第二エンドエフェクタとがそれぞれ有する前記異なる機能を使い分ける
ことを特徴とする請求項1に記載の工作機械。 - 前記第一エンドエフェクタは、前記先端のリンクに、第一の平行関節を介して接続されており、
前記第二エンドエフェクタは、前記先端のリンクに、第二の平行関節を介して接続されている
ことを特徴とする請求項1に記載の工作機械。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019144867A JP7315407B2 (ja) | 2019-08-06 | 2019-08-06 | 工作機械 |
DE102020120338.1A DE102020120338A1 (de) | 2019-08-06 | 2020-07-31 | Werkzeugmaschine |
CN202010768740.5A CN112338616A (zh) | 2019-08-06 | 2020-08-03 | 机床 |
US16/986,773 US20210039212A1 (en) | 2019-08-06 | 2020-08-06 | Machine tool |
Applications Claiming Priority (1)
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JP2019144867A JP7315407B2 (ja) | 2019-08-06 | 2019-08-06 | 工作機械 |
Publications (2)
Publication Number | Publication Date |
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JP2021024047A JP2021024047A (ja) | 2021-02-22 |
JP7315407B2 true JP7315407B2 (ja) | 2023-07-26 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2019144867A Active JP7315407B2 (ja) | 2019-08-06 | 2019-08-06 | 工作機械 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20210039212A1 (ja) |
JP (1) | JP7315407B2 (ja) |
CN (1) | CN112338616A (ja) |
DE (1) | DE102020120338A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7300358B2 (ja) * | 2019-09-24 | 2023-06-29 | オークマ株式会社 | 工具刃先計測装置及び工作機械 |
CN114851233B (zh) * | 2022-06-06 | 2023-11-24 | 北京理工大学 | 一种用于工业机器人加工的末端执行装置及其执行方法 |
DE102022119894A1 (de) | 2022-08-08 | 2024-02-08 | Mag Ias Gmbh | Mess-Lünette, damit ausgestattete Dreh-Fräs-Maschine sowie Verfahren zu ihrem Betrieb |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5966589B2 (ja) | 2012-05-14 | 2016-08-10 | 株式会社Ihi | 低圧ループegr装置 |
JP6141478B2 (ja) | 2011-01-04 | 2017-06-07 | アドバンスト・エナジー・インダストリーズ・インコーポレイテッドAdvanced Energy Industries, Inc. | プラズマ処理負荷へのシステムレベルの電力送達 |
JP2017202547A (ja) | 2016-05-11 | 2017-11-16 | オークマ株式会社 | 工作機械 |
JP2017213658A (ja) | 2016-06-01 | 2017-12-07 | オークマ株式会社 | 工作機械 |
Family Cites Families (13)
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US3259958A (en) * | 1965-10-22 | 1966-07-12 | Jerome H Lemelson | Automatic production machine |
JPS5966589U (ja) * | 1982-10-27 | 1984-05-04 | 株式会社大隈鐵工所 | ロボツト用ハンド |
JPS6141478U (ja) * | 1984-08-10 | 1986-03-17 | 日産自動車株式会社 | クランプ装置 |
JPS61214943A (ja) * | 1985-03-15 | 1986-09-24 | Mitsubishi Electric Corp | 産業用ロボツトのハンド装置 |
JP4850299B1 (ja) * | 2010-07-08 | 2012-01-11 | 日本省力機械株式会社 | ワーク加工装置 |
CN103639471B (zh) * | 2013-12-05 | 2016-01-20 | 郑州大学 | 机器人制孔末端执行器 |
JP6423209B2 (ja) * | 2014-09-08 | 2018-11-14 | Dmg森精機株式会社 | 工作機械 |
CN105328697B (zh) * | 2015-11-12 | 2018-04-06 | 深圳职业技术学院 | 一种模块化六自由度机械手及其控制方法 |
JP6735149B2 (ja) * | 2016-05-11 | 2020-08-05 | オークマ株式会社 | 工作機械 |
JP6787688B2 (ja) * | 2016-05-16 | 2020-11-18 | オークマ株式会社 | 工作機械 |
JP6756539B2 (ja) * | 2016-08-04 | 2020-09-16 | オークマ株式会社 | 工作機械 |
JP7188880B2 (ja) * | 2017-12-05 | 2022-12-13 | オークマ株式会社 | 工作機械 |
CN109396863A (zh) * | 2018-09-18 | 2019-03-01 | 武汉华中数控股份有限公司 | 切削加工智能制造生产线及其工作方法 |
-
2019
- 2019-08-06 JP JP2019144867A patent/JP7315407B2/ja active Active
-
2020
- 2020-07-31 DE DE102020120338.1A patent/DE102020120338A1/de active Pending
- 2020-08-03 CN CN202010768740.5A patent/CN112338616A/zh active Pending
- 2020-08-06 US US16/986,773 patent/US20210039212A1/en active Granted
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6141478B2 (ja) | 2011-01-04 | 2017-06-07 | アドバンスト・エナジー・インダストリーズ・インコーポレイテッドAdvanced Energy Industries, Inc. | プラズマ処理負荷へのシステムレベルの電力送達 |
JP5966589B2 (ja) | 2012-05-14 | 2016-08-10 | 株式会社Ihi | 低圧ループegr装置 |
JP2017202547A (ja) | 2016-05-11 | 2017-11-16 | オークマ株式会社 | 工作機械 |
JP2017213658A (ja) | 2016-06-01 | 2017-12-07 | オークマ株式会社 | 工作機械 |
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Publication number | Publication date |
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US20210039212A1 (en) | 2021-02-11 |
DE102020120338A1 (de) | 2021-02-11 |
CN112338616A (zh) | 2021-02-09 |
JP2021024047A (ja) | 2021-02-22 |
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