JP2006334700A - Machining system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a machining system capable of considerably shortening a term of work by simplifying the structures of machine tools, reducing the number of auxiliary devices required for each of the machine tools, reducing the number of parts, and facilitating manufacturing and assembling work. <P>SOLUTION: The first to fourth traveling rails 21 to 24 are laid among the plurality of machine tools 15 to 17. The first to forth robots 25 to 28 are mounted to be travelable on the traveling rails 21 to 24. A tool magazine 29 to be used in common by each of the machine tools 15 to 17, a hand keeping device 30 for keeping a robot hand and a maintenance equipment keeping device 31 are disposed on sides of the first to fourth traveling rails 21 to 24. The constitutions of the machine tools 15 to 17 are made simple using only spindle device and work supporting mechanism for machining a workpiece. By the first to fourth robots 25 to 28, a carrying-in/out work of the workpiece and a replacing work of a tool are performed. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a machining system including a plurality of machine tools.

  Generally, in a machining system that performs a plurality of types of machining on a workpiece, a plurality of machine tools are arranged along a workpiece conveyance line. Some machine tools are multi-functionalized for the purpose of shortening the machining time and perform complex machining of workpieces. Each machine tool is equipped with a tool magazine storing a large number of tools, and each machine tool is also equipped with a tool mounted on the spindle of the spindle device and a tool changer for exchanging the tools stored in the tool magazine. ing.

In addition, the work loading and unloading work between each machine tool is such that the work machined by a transfer that conveys the work all at once or an independent conveyance device arranged at an intermediate position of each machine tool is conveyed to the next process as needed. It was. (Patent Document 1 discloses a configuration in which a transfer arm is provided in the middle of each machine.)
Furthermore, when changing the machining posture of a workpiece during or during workpiece conveyance, a workpiece reversing device is installed in the workpiece conveyance device, or an index table or tilt table is incorporated in the workpiece support mechanism of the machine tool. Are driven by a drive source provided in each machine tool.

Each machine tool is provided with a lubricating oil supply device to supply lubricating oil to each moving part. Further, each machine tool is provided with a coolant supply device so as to supply coolant to a workpiece processing portion. Similarly, each machine tool is provided with a chip processing device for processing chips generated from the workpiece.
Japanese Patent Laid-Open No. 11-114783

  However, in the conventional machining system, a tool magazine, a tool changer, a workpiece transfer device, a lubricant supply device, a coolant supply device, a workpiece reversing drive device, and a chip collection device are mounted on each machine tool. As a result, the number of parts increases, manufacturing and assembling work takes much time, and there is a problem that the cost cannot be reduced.

  The present invention provides a machining system that simplifies the structure of a machine tool, reduces the number of auxiliary devices required for each machine tool, reduces the number of parts, facilitates manufacturing and assembly operations, and reduces costs. It is to provide.

  In order to solve the above-described problems, the invention according to claim 1 is a machining system including a plurality of machine tools, wherein a transfer line is disposed between the machine tools and is shared by the machine tools. One or more auxiliary devices including at least the tool magazine among the tool magazine, the maintenance device storage device and the lubricant storage device are collectively arranged as auxiliary devices, and workpieces are carried into and out of the machine tool on the transfer line. The gist is that a robot that performs the work to be carried out and the work to carry in and out the equipment between the auxiliary device and the machine tool is mounted.

  According to a second aspect of the present invention, in the first aspect, the tip of the robot arm of the robot has a plurality of types of robot hands, such as a tool changing jig, a workpiece gripping jig, a cleaning air supply device, and an oil supply device. A door opening / closing jig, a chip collecting jig, a camera, a workpiece inspection instrument, and a tool mounting accuracy detector, which are configured to be equipped with a kind of robot hand including at least a tool changing jig, and around the transfer line. In summary, the robot hand storage devices for storing the robot hands are collectively arranged.

  A gist of a third aspect of the present invention is that, in the second aspect, a holder for mounting the plurality of types of robot hands is configured to be connectable to a tip portion of a robot arm of the robot.

  According to a fourth aspect of the present invention, in any one of the first to third aspects, the work support mechanism of the machine tool includes a tilt table mounted so as to be reciprocally tiltable with respect to the bed, and an upper surface of the tilt table. It is constituted by a clamp mechanism that clamps a supported workpiece, and the power for operating the tilt table is configured to be supplied by a rotary drive unit as a robot hand attached to the robot. .

  According to a fifth aspect of the present invention, in the fourth aspect of the present invention, the bed is provided with an index table that is turnable in the horizontal direction, the tilt table is supported on the table, and the power for operating the index table is The gist of the invention is that it is configured to be supplied by a rotary drive unit as a robot hand attached to the robot.

  According to a sixth aspect of the present invention, the main spindle device of the machine tool according to any one of the first to fifth aspects includes a clamping mechanism that performs a clamping operation of a tool holder attached to the main spindle, and an unclamping operation. The gist of the invention is that an unclamping mechanism is provided, and both of the mechanisms are configured to be operated by a tool attaching / detaching operation by a robot hand of the robot.

  According to a seventh aspect of the present invention, in any one of the first to sixth aspects, a coolant supply device as an auxiliary device is collectively arranged around the transfer line, and is connected to each machine tool through a pipe. The gist is that the coolant is supplied.

  According to the first aspect of the present invention, at least the tool magazine, the maintenance device storage device, and the lubricating oil storage device are provided as auxiliary devices shared by the machine tools by arranging a transfer line between the machine tools. One or more auxiliary devices including a tool magazine are arranged in a centralized manner, and a work for carrying work in and out of a machine tool and a work for carrying in and out equipment between the auxiliary device and the machine tool are arranged on the transfer line. Equipped with a robot to perform. For this reason, the structure of the machine tool can be simplified, the number of auxiliary devices for each machine tool can be reduced, the number of parts can be reduced, manufacturing and assembling operations can be easily performed, and the construction period can be greatly shortened.

According to the second aspect of the present invention, various robot hands can be collected and stored in one place in the robot hand storage device.
According to the third aspect of the present invention, various robot hands can be collectively attached to the tip of the robot arm of the robot, and the work efficiency can be improved.

  According to the fourth aspect of the present invention, since it is not necessary to provide each machine tool with a power source for operating the tilt table, the structure of the machine tool can be further simplified and the cost can be further reduced. .

  In the invention according to claim 5, since it is not necessary to provide each machine tool with a power source for operating the index table, the structure of the machine tool can be further simplified and the cost can be further reduced. .

  According to a sixth aspect of the present invention, either one of a clamping mechanism that performs a clamping operation of a tool holder provided on a spindle and an unclamping mechanism that performs an unclamping operation is activated by a tool attaching / detaching operation by a robot hand of a robot. Since it comprised so, the clamping operation | movement or unclamping operation | movement of a tool holder can be performed reliably.

  According to the seventh aspect of the present invention, since the coolant supply devices are arranged in an integrated manner, the structure of the machine tool can be simplified as compared with a configuration in which each machine tool is provided with a coolant supply device.

Hereinafter, an embodiment of a processing system embodying the present invention will be described with reference to FIGS.
As shown in FIG. 1, the machining system 11 of this embodiment schematically shows a plurality of workpieces provided in the machining line 14 in the intermediate process after transferring the workpiece from the machining line 12 in the previous process to the delivery table 13. The workpiece is processed by the machine tools 15, 16, and 17 (for example, three machines), and then the workpiece is moved to the subsequent process line 19 via the delivery table 18, and another workpiece is processed. This is embodied in a single-line serial line.

Next, a schematic configuration of the workpiece processing line 14 in the intermediate process will be described.
Between the upstream workpiece transfer table 13 and the downstream workpiece transfer table 18, first to fourth travel rails 21 to 24 are positioned between the machine tools 15 and 16 and the machine tool 17. Are laid parallel to each other. The first to fourth robots 25 to 28 for performing various operations are mounted on the travel rails 21 to 24 so as to be able to reciprocate so as to avoid interference with each other.

  In the vicinity of the machine tool 16 and the traveling rail 21, a tool magazine 29 is disposed as a common auxiliary device for storing all kinds of tools used in the machine tools 15 to 17. In the vicinity of the fourth traveling rail 24 and the machine tool 17, a robot hand storage device 30 for storing various robot hands attached to the first to fourth robots 25 to 28 is disposed. In this specification, the robot hand means a general term for devices that perform various operations. In the vicinity of the fourth traveling rail 24, a maintenance device that is mounted on the first to fourth robots 25 to 28 and stores various maintenance devices as a robot hand for performing maintenance of each machine tool. A storage device 31 is provided. Further, a chip collection tray 34 for storing the collected chips is disposed between the machine tool 17 and the maintenance equipment storage device 31. Between the machine tool 15 and the machine tool 16, a coolant supply device 32 and a lubricating oil storage device 33 are disposed.

  Fixed piping (not shown) for supplying coolant from the coolant supply device 32 to each of the machine tools 15 to 17 is provided, and coolant is applied to the workpiece being processed by opening an on-off valve (not shown) as necessary. It comes to be supplied.

Therefore, the configurations of the machine tools 15 to 17, the robots 25 to 28, the tool magazine 29, the hand storage device 30, and the maintenance device storage device 31 will be sequentially described.
(Machine tools 15-17)
Since each machine tool 15-17 is comprised similarly, the one machine tool 15 is demonstrated based on FIG.2 and FIG.3. As shown in FIG. 3, an X-axis column 37 is mounted on the bed 35 via an X-axis guide drive mechanism 36 so as to be able to reciprocate in the X-axis (paper surface orthogonal) direction. A Y-axis saddle 39 is supported on the front surface (left side surface in FIG. 3) of the X-axis column 37 via a Y-axis guide drive mechanism 38 so as to be reciprocable in the Y-axis (vertical) direction. A Z-axis saddle 41 is attached to the Y-axis saddle 39 through a Z-axis guide drive mechanism 40 so as to be able to reciprocate in the Z-axis (left and right) direction. A spindle device 42 is mounted on the Z-axis saddle 41, and a clamp mechanism (not shown) that clamps a tool holder 45 that holds the tool 44 is provided on the spindle 43 of the spindle device 42.

  A work support mechanism 51 that supports the work W is provided on the front side (left side in FIG. 3) of the bed 35. The work support mechanism 51 includes an index table 52 that is pivoted horizontally around the vertical axis O1 on the upper surface of the bed 35, and a pair of left and right bearings 53, as shown in FIG. 54, and a tilt table 55 rotated around the horizontal axis O2. On the upper surface of the tilt table 55, a clamp mechanism 56 for clamping the supported workpiece W is provided.

  An operation shaft 57 for turning the index table 52 is mounted on the front surface of the bed 35 so as to protrude forward. An operation shaft 58 for tilting the tilt table 55 is mounted on the index table 52 so as to protrude forward. When the operation shaft 57 or the operation shaft 58 is rotated, the index table 52 or the tilt table 55 is turned or tilted by a gear mechanism (not shown). The drive source for turning the index table 52 and the drive source for tilting the tilt table 55 are not provided in each of the machine tools 15 to 17 and are attached to the tip of the robot hand mounting unit 76 described later. It is rotated by a rotary drive unit 82 (see FIG. 4).

  As shown in FIGS. 2 and 3, the bed 35, the X-axis column 37, the Y-axis saddle 39, the Z-axis saddle 41, the work support mechanism 51, and the like are shielded by a protective cover 61. As shown in FIG. 5, an opening 61 b is formed in the front plate 61 a of the protective cover 61 and is opened and closed by a door 63 that is guided and moved by a pair of upper and lower guide rails 62. The handle 64 of the door 63 is opened and closed by a door opening / closing jig 89 (see FIG. 8) attached to the tip of a hand mounting unit 76 described later.

  On the other hand, an oil supply device 85 (see FIG. 8) having an oil supply nozzle can be attached to the tip of the hand mounting unit 76, and the lubricating oil is supplied to a necessary part of the machine tool by the oil supply nozzle. Yes. The lubricating oil storage device 33 replenishes the lubricating device 85 with lubricating oil.

(robot)
As shown in FIG. 6, the robots 25 to 28 guided and moved by the traveling rails 21 to 24 are configured in the same manner, so the first robot 25 will be described.

  As shown in FIG. 6, a traveling carriage 71 constituting the first robot 25 is configured to travel along the traveling rail 21. In this embodiment, a linear motor is used as the travel drive mechanism. A robot control interface 72 is attached to the traveling carriage 71. A turning table 73 is attached to the traveling carriage 71, and a first robot arm 74 is attached to the turning table 73 so as to be rotatable in the vertical direction. A second robot arm 75 is mounted on the first robot arm 74 so as to be pivotable in the vertical direction, and a hand mounting unit 76 is mounted on the tip of the second robot arm 75 so as to be pivotable in the vertical direction. Has been. The hand mounting unit 76 is provided with a mounting portion 77 configured to be capable of selectively mounting various robot hands. A shaft portion 78a of a holder gripper 78 as a fixture for gripping the tool holder 45 is detachably mounted in the mounting hole 77a of the mounting portion 77. The holder gripping tool 78 includes a first gripping portion 78b that grips the tool holder 45 as a fixture that holds the used tool 44, and a second gripping portion 78c that grips the tool holder 45 that holds the new tool 44. I have.

The spindle device 42 shown in FIG. 7 is provided with a known clamping mechanism (not shown) that performs a clamping operation of a tool holder 45 attached to the spindle 43 and an unclamping mechanism (not shown) that performs an unclamping operation. Both the mechanisms are configured to be switched by the attaching / detaching operation of the tool holder 45 by the robot hand of the robot. Although this specific configuration is omitted, for example, a configuration in which a clamp switch or an unclamp switch provided on the spindle device 42 is operated by the holder gripper 78, or a control signal from the robot control device is transmitted to the control device of the machine tool. There is a configuration with an electrical signal to be transmitted. The first holder 78b holds the tool holder 45 and removes the tool holder 45 from the main shaft 43. Thereafter, the tool holder 45 held by the second holding portion 78 c is attached to the main shaft 43.
(Tool magazine 29, hand storage device 30 and maintenance device storage device 31)
In the tool magazine 29, although not shown, all tools used in the machine tools 15 to 17 are stored together with a tool holder.

  As shown in FIG. 8, the robot hand storage device 30 includes the holder gripping tool 78 as various equipment, a workpiece gripping jig 81, a rotation drive unit 82, a cleaning air supply device 84 including an air injection nozzle, A fueling device 85 having a fueling nozzle, a door opening / closing jig 89 and a chip collecting jig 90 are stored. As shown in FIG. 9, the maintenance device storage device 31 stores a camera 86 as various equipment, a detection rod 87 for inspecting a machining hole of the workpiece W, a tool attachment accuracy detector 88 and the like as a workpiece inspection instrument. Yes.

  In addition to the holder gripping tool 78, any one of the various robot hands shown in FIGS. 8 and 9 is selected and mounted in the mounting hole 77a of the mounting portion 77 shown in FIG. ing.

Next, the operation of the machining system configured as described above will be described.
In an initial state of the intermediate process line 14 before the start of machining, the tool holder 45 is not mounted on the spindle 43 of the machine tools 15 to 17, and the first to fourth robots 25 to 28 are in a standby position ( 1 is stopped at the right end positions of the first to fourth travel rails 21 to 24 in FIG. 1, and each mounting portion 77 is in an empty state.

  In this initial state, when the workpiece W that has been processed on the processing line 12 side in the previous process is loaded onto the delivery table 13, the machine tools 15 to 17 and the first machine tools 15 to 17 and the first are set based on a program preset in a control device (not shown). Based on various operation signals sequentially output to the robot control interface 72 of the first to fourth robots 25 to 28, the machine tools 15 to 17 and the first to fourth robots 25 to 28 of the processing line 14 are operated. The workpiece W is processed as follows.

  First, for example, the first robot 25 is moved to a position corresponding to the hand storage device 30, and a door opening / closing jig 89 is mounted on the mounting portion 77. The robot 25 opens the closed door 63 of the protective cover 61 of the machine tools 15 to 17.

  Next, the second robot 26 is similarly moved to a position corresponding to the robot hand storage device 30, and the workpiece gripping jig 81 is mounted on the mounting portion 77. The workpiece W on the upper surface of the delivery table 13 is gripped by the second robot 26 and is carried onto the tilt table 55 of the workpiece support mechanism 51 of the machine tools 15-17. The loaded work W is clamped by the clamp mechanism 56.

  After the workpiece W is loaded into each of the machine tools 15 to 17, the third robot 27 is moved to a position corresponding to the hand storage device 30, and the holder gripping tool 78 is mounted on the mounting portion 77. The third robot 27 is moved to a position corresponding to the tool magazine 29, and the tool holder 45 holding the tool 44 used for processing the workpiece W is mounted on the second gripping portion 78 c of the holder gripping tool 78. The third robot 27 is moved to a position corresponding to the machine tool 15, for example, and the tool holder 45 is mounted on the empty spindle 43. Thereafter, the main shaft 43 clamps the tool holder 45. This operation is performed on each of the machine tools 15 to 17, and the tool holder 45 is mounted.

  As described above, after the work W is loaded into each of the machine tools 15 to 17 and the tool holder 45 is mounted, each machine is opened by the first robot 25 having the door opening / closing jig 89. The doors 63 are sequentially closed. Next, the machining of the workpiece W of each of the machine tools 15 to 17 is started, and the workpiece W is machined.

  If it is necessary to change the posture of the workpiece W supported by the workpiece support mechanism 51 during the processing operation of the workpiece W, the door 63 is opened by the first robot 25, and the second to fourth The rotary drive unit 82 of the robot hand storage device 30 is mounted on the mounting portion 77 of each of the robots 26 to 28, and this is fitted to the operation shaft 57 or the operation shaft 58 of each machine tool 15 to 17, and the index table 52 is turned. Or tilting the tilt table 55. Thereafter, the door 63 is closed and the machining of the workpiece W is resumed.

  In this manner, after the processing of the workpiece W is completed, the second to fourth robots 26 to 28 are moved to positions corresponding to the robot hand storage device 30 and are stored in the mounting portion 77. The air supply device 84 is attached. Then, the second to fourth robots 26 to 28 are moved to positions corresponding to the machine tools 15 to 17, and chips generated by machining the workpiece W by injecting air from the cleaning air supply device 84 are converted into the main shaft 43. And removed from the workpiece W.

  When the door 63 is opened by the door opening / closing jig 89 of the first robot 25 and an abnormal signal is input to the robot control interface 72 from the control device of the machine tool, the second to fourth robots 26 to 28 are mounted. A camera 86 is attached to the unit 77, and, for example, the workpiece W is imaged and the processing state is confirmed. Further, a detection rod 87 is mounted on the mounting portions 77 of the second to fourth robots 26 to 28 to detect the processing accuracy of the processing hole of the workpiece W. Also in these cases, the robots 26 to 28 turn or tilt the index table 52 or the tilt table 55 as necessary, and the posture of the workpiece W is changed. Further, a tool attachment accuracy detector 88 is attached to the attachment portions 77 of the second to fourth robots 26 to 28 to detect the attachment accuracy of the tool 44 of the tool holder 45.

  Next, after the processed workpiece W mounted on the workpiece support mechanism 51 is released from the clamped state of the clamp mechanism 56, the workpiece is mounted on the mounting portions 77 of the second to fourth robots 26 to 28. It is gripped by the jig 81 and carried out to the delivery table 18.

  Chips deposited on the upper surface of the bed 35 are removed as follows. That is, the second to fourth robots 26 to 28 are moved to positions corresponding to the robot hand storage device 30, and the chip collection jig 90 is mounted on the mounting portion 77. Thereafter, the second to fourth robots 26 to 28 are moved to the machine tools 15 to 17, and chips are collected by the chip collection jig 90. Further, the second to fourth robots 26 to 28 are moved to the chip collection tray 34 and the chips are stored in the chip collection tray 34.

  Before the workpiece is machined, the oil supply device 85 of the robot hand storage device 30 is attached to the hand mounting unit 76 of the second to fourth robots 26 to 28, and then the oil supply nozzle of the oil supply device 85 is applied to the machine tools 15-17. Lubricating oil is replenished.

According to the processing system of the above embodiment, the following effects can be obtained.
(1) In the above embodiment, the spindle device 42 for processing the workpiece W is mounted on each of the machine tools 15 to 17 and the workpiece support mechanism 51 for supporting the workpiece W is provided. The clamp mechanism 56 is provided. Further, the tool magazine 29, the hand storage device 30 and the maintenance device storage device 31 necessary for each of the machine tools 15 to 17 are shared and arranged in one place. As a result, the construction of the machine tools 15 to 17 can be simplified, the number of installation locations of auxiliary devices can be reduced, the number of parts can be reduced, manufacturing and assembling can be easily performed, and the construction work period of the machining system can be greatly increased. Can be shortened.

  (2) In the embodiment described above, the operation shafts 57 and 58 are provided on the index table 52 and the tilt table 55 of the work support mechanism 51, and the rotation is mounted on the mounting portions 77 of the second to fourth robots 26 to 28, for example. The drive unit 82 is rotated. For this reason, since it is not necessary to provide a dedicated drive mechanism for each machine tool, the configuration of each machine tool can be simplified, manufacturing can be facilitated, and cost can be reduced.

  (3) In the above-described embodiment, an oil supply device 85 (see FIG. 8) having an oil supply nozzle can be attached to the tip of the hand mounting unit 76, and the lubricating oil is supplied to a necessary part of the machine tool by the oil supply nozzle. It was made to be. For this reason, it is not necessary to provide a dedicated lubricating oil supply mechanism for each machine tool, the configuration of each machine tool can be simplified, manufacturing can be facilitated, and cost can be reduced.

  (4) In the above-described embodiment, a clamp mechanism that performs the clamping operation of the tool holder 45 attached to the spindle 43 and the unclamping mechanism that performs the unclamping operation are provided on the spindle device 42 of the machine tool. It was configured to be actuated by a robot hand. For this reason, the clamping operation | movement or unclamping operation | movement of the tool holder 45 can be performed reliably.

In addition, you may change the said embodiment as follows.
As shown in FIG. 10, a holder 95 is mounted on the mounting portion 77 of the hand mounting unit 76, and the first gripping portion 78b and the second gripping portion 78c of the holder gripping tool 78 are mounted on the holder 95, and a workpiece gripping jig. 81, a rotation drive unit 82, a cleaning air supply device 84, and a camera 86 may be mounted. In addition, although not shown in the holder 95, a detection rod 87 (see FIG. 9) and a tool attachment accuracy detector 88 (see FIG. 9) for inspecting a machining hole of the workpiece W may be mounted. You may be able to wear the equipment.

  As shown in FIG. 11, the machining system may be embodied as a parallel island type line in which the machining lines 12, the machining lines 14, and the machining lines 19 are alternately arranged on the left and right with respect to the conveyance direction of the workpiece W.

A concentration sensor that detects the coolant concentration may be stored in the maintenance device storage device 31 to detect the coolant concentration of the coolant supply device 32.
The index table 52 of the work support mechanism 51 may be omitted.

  ○ For the robot arm hand mounting unit 76, a kind of equipment including at least a tool changing jig for a workpiece gripping tool, a tool changing jig, a cleaning air supply device, a fueling device, a camera and a workpiece inspection tool. You may comprise so that mounting | wearing is possible.

  As the auxiliary device, a machining system having a tool magazine, a maintenance device storage device, and a lubricating oil storage device in which at least one kind of auxiliary device including a tool magazine is selected may be embodied.

  As a machine tool, a grinding machine, a milling machine, a wire saw, or a laser processing machine may be used in addition to the drilling machine. In these cases as well, necessary auxiliary equipment is arranged in a concentrated manner.

1 is a schematic plan view showing an embodiment of a machining system according to the present invention. Front sectional view of a machine tool. The right sectional view of a machine tool. The perspective view which shows the action | operation mechanism of the index table of a workpiece | work support mechanism. The perspective view of a protective cover. The perspective view of a robot. The perspective view which shows the relationship between a main shaft apparatus and a holder holding tool. FIG. 3 is a schematic plan view of the robot hand storage device. FIG. 3 is a schematic plan view of a maintenance device storage device. The perspective view which shows another example which mounted | wore the common holder with the mounting part. The schematic plan view showing another example of the processing system.

Explanation of symbols

  W ... Workpiece, 11 ... Machining system, 15-17 ... Machine tool, 25-28 ... Robot, 29 ... Tool magazine, 30 ... Robot hand storage device, 31 ... Maintenance equipment storage device, 32 ... Coolant supply device, 33 ... Lubrication Oil storage device, 35 ... bed, 42 ... spindle device, 43 ... spindle, 44 ... tool, 45 ... tool holder, 51 ... work support mechanism, 52 ... index table, 55 ... tilt table, 56 ... clamp mechanism, 81 ... work Gripping jig, 82 ... rotation drive unit, 84 ... cleaning air supply device, 85 ... oil supply device, 86 ... camera, 88 ... tool attachment accuracy detector, 89 ... door opening / closing jig, 90 ... chip for collecting chips 95. Holder.

Claims (7)

In a machining system including a plurality of machine tools, a transfer line is disposed between the machine tools, and a tool magazine, a maintenance device storage device, and a lubricating oil storage device are used as auxiliary devices shared by the machine tools. One or more auxiliary devices including at least the tool magazine are gathered and arranged, and an operation for carrying workpieces into and out of a machine tool and loading / unloading of equipment between the auxiliary device and the machine tool are arranged on the transfer line. A machining system featuring a robot that performs work. 2. The robot arm according to claim 1, wherein the robot arm has a tip portion as a plurality of types of robot hands, a tool changing jig, a workpiece gripping jig, a cleaning air supply device, a fueling device, a door opening / closing jig, and a chip collection. A robot hand that can be mounted with a kind of robot hand including at least a tool changing jig among a jig, a camera, a workpiece inspection instrument, and a tool attachment accuracy detector, and stores the robot hand around the transfer line A processing system characterized in that storage devices are centrally arranged. The processing system according to claim 2, wherein a holder for mounting the plurality of types of robot hands is connectable to a tip portion of a robot arm of the robot. The work support mechanism of the machine tool according to claim 1, wherein the work support mechanism of the machine tool is a tilt table mounted so as to be reciprocally tiltable with respect to the bed, and a clamp mechanism that clamps the work supported on the upper surface of the tilt table. And the power for operating the tilt table is supplied by a rotation drive unit as a robot hand attached to the robot. 5. The bed according to claim 4, wherein the bed is provided with an index table so as to be turnable in the horizontal direction, the tilt table is supported on the table, and the power for operating the index table is a robot hand attached to the robot. A processing system configured to be supplied by a rotary drive unit. The spindle device of the machine tool according to any one of claims 1 to 5, wherein a clamp mechanism that performs a clamping operation of a tool holder attached to the spindle and an unclamping mechanism that performs an unclamping operation are provided, Both mechanisms are configured such that either one is actuated by the attaching / detaching operation of the tool by the robot hand of the robot. In any 1 item | term of the Claims 1-6, the coolant supply apparatus as an auxiliary | assistant apparatus is collectively arrange | positioned around the said conveyance line, and it is comprised so that coolant may be supplied to each machine tool through piping. A processing system characterized by

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