Patent Description:
With regard to a conventional machining system, for example, <CIT> (PTL <NUM>) discloses a machining system including: a machining apparatus having a door that is closed while machining is performed and that is opened while machining is not performed; a robot provided to be movable into and out of the machining apparatus through the door and serving to replace an object to be machined and/or a tool; and a robot controller that controls the robot.

The robot controller can control opening and closing of the door and also synchronously controls the robot and the door in accordance with the position and the posture of the robot and the position of the door. For example, the robot controller starts the operation of the robot to move into the machining apparatus before the door reaches an opened position, or starts the operation to close the door before the retraction operation of the robot completes. <CIT> (PTL <NUM>) describes a machine tool system. The machine tool system of PTL <NUM> includes a machine tool with an openable door configured to block an opening of a cover surrounding the machine tool and a door driving unit configured to open and close the door. Further, PTL <NUM> relates to a work exchange device configured to exchange a work disposed in the cover.

As disclosed in the above-mentioned PTL <NUM>, a machining system has been known that uses a robot to convey an object to be conveyed such as a workpiece into and out of a machining apparatus having a door that automatically performs opening and closing operations. Such a machining system requires driving of an actuator in order to automatically open and close the door, thereby resulting in poor energy saving performance.

Thus, an object of the present invention is to solve the above-described problem and to provide a machining system that is improved in energy saving performance.

The above object is achieved according to the features of the independent claim. The dependent claims relate to advantageous embodiments of the invention.

According to the present invention, a machining system that is improved in energy saving performance can be provided.

The embodiments of the present invention will be hereinafter described with reference to the accompanying drawings. In the accompanying drawings referred to below, the same or corresponding members will be denoted by the same reference characters.

<FIG> is a top view showing a machining system according to the first embodiment of the present invention. Referring to <FIG>, a machining system <NUM> according to the present embodiment includes a machine tool <NUM> and a conveyance unit <NUM>.

Machine tool <NUM> machines a workpiece. Machine tool <NUM> is a numerically control (NC) machine tool performing various operations for workpiece machining that are automated by numerical control by a computer. Conveyance unit <NUM> is provided adjacent to machine tool <NUM>. Conveyance unit <NUM> is a device for conveying a workpiece, which is an object to be conveyed, with respect to (into and out of) machine tool <NUM>.

In the present embodiment, a vertical machining center 100A is provided as machine tool <NUM>. Vertical machining center 100A includes a spindle <NUM>, a table <NUM>, a cover body <NUM>, a door portion <NUM>, an actuator <NUM>, a controller <NUM>, and an operation panel <NUM>.

Spindle <NUM> is provided to be movable inside a machining area <NUM> for a workpiece. Spindle <NUM> is provided to be movable in a Z-axis direction parallel to the vertical direction. Spindle <NUM> is provided to be rotatable by motor driving around a central axis <NUM> parallel to the Z-axis. Spindle <NUM> is equipped with a clamp mechanism for detachably holding various tools.

Table <NUM> is provided to be movable inside machining area <NUM>. Table <NUM> is provided to be movable in a plane (an X-Y plane) including: an X-axis direction (the right-left direction) parallel to the horizontal direction; and a Y-axis direction (the front-rear direction) parallel to the horizontal direction and orthogonal to the X-axis direction. On table <NUM>, a workpiece mounting jig (not shown) for detachably holding a workpiece is provided.

Cover body <NUM>, which is also called a splash guard, forms an outer appearance of vertical machining center 100A and defines machining area <NUM>. Cover body <NUM> has an opening <NUM>. Opening <NUM> is provided to open from the front surface to the upper surface of cover body <NUM> and is in communication with machining area <NUM>.

Door portion <NUM> is provided in opening <NUM>. Door portion <NUM> is provided to be slidable in the horizontal direction. Door portion <NUM> is provided to be slidable in the X-axis direction. When door portion <NUM> performs the opening and closing operations, opening <NUM> is brought into an opened state and a closed state accordingly. When door portion <NUM> is in the closed state, door portion <NUM> defines machining area <NUM> together with cover body <NUM>. Door portion <NUM> is equipped with a transparent window (not shown) through which an operator can see the interior of machining area <NUM>.

The operation of door portion <NUM> that is performed when the opening area of opening <NUM> increases is referred to as an "opening operation". The operation of door portion <NUM> that slides to the left in <FIG> corresponds to the "opening operation". The operation of door portion <NUM> that is performed when the opening area of opening <NUM> decreases is referred to as a "closing operation". The operation of door portion <NUM> that slides to the right in <FIG> corresponds to the "closing operation".

Actuator <NUM> is provided in cover body <NUM>. Actuator <NUM> is connected to door portion <NUM>. Actuator <NUM> is driven to cause door portion <NUM> to perform the opening and closing operations. The type of actuator <NUM> is not particularly limited, but may be a linear motion-type servo motor by way of example. Actuator <NUM> can stop door portion <NUM> at an arbitrary position.

Controller <NUM> controls vertical machining center 100A. Controller <NUM> is installed in vertical machining center 100A and serves as a control panel through which various operations in vertical machining center 100A are controlled. Controller <NUM> controls actuator <NUM>. Controller <NUM> further controls a robot arm <NUM> in conveyance unit <NUM>.

Operation panel <NUM> is configured in such a manner that various devices required to operate and adjust vertical machining center 100A are collectively arranged thereon. Operation panel <NUM> is provided on the front surface of cover body <NUM>. Operation panel <NUM> is provided adjacent to opening <NUM>. Operation panel <NUM> corresponds to an input unit through which a control program for actuator <NUM> is input.

<FIG> is a perspective view showing a conveyance unit in <FIG>. Referring to <FIG> and <FIG>, conveyance unit <NUM> includes a robot arm <NUM>, a workpiece mounting portion <NUM>, and a guard body <NUM>.

Robot arm <NUM> is provided adjacent to vertical machining center 100A in the Y-axis direction. Robot arm <NUM> is provided to face opening <NUM> (door portion <NUM> in the closed state). Robot arm <NUM> operates through opening <NUM> to convey a workpiece between machining area <NUM> and an external area outside this machining area <NUM>. Robot arm <NUM> has a workpiece gripping portion (not shown) capable of gripping a workpiece. Robot arm <NUM> is a multi-joint robot having a plurality of axes (typically, six axes) that can be controlled independently of each other.

Workpiece mounting portion <NUM> is provided adjacent to robot arm <NUM>. Workpiece mounting portion <NUM> is provided in an operation region of robot arm <NUM>. Workpiece mounting portion <NUM> is provided on the opposite side of opening <NUM> (door portion <NUM> in the closed state) with robot arm <NUM> interposed therebetween. Opening <NUM> (door portion <NUM> in the closed state), robot arm <NUM>, and workpiece mounting portion <NUM> are arranged in this order in the Y-axis direction.

Workpiece mounting portion <NUM> is configured such that a plurality of workpieces can be mounted thereon. By way of example, workpiece mounting portion <NUM> is formed of a plate member that is provided with a plurality of holes into which the respective workpieces can be inserted.

Guard body <NUM> is provided to surround robot arm <NUM> in the external area. Guard body <NUM> is provided to further surround workpiece mounting portion <NUM>. Guard body <NUM> is provided to isolate the operation region of robot arm <NUM> from the operator in the external area. Guard body <NUM> is formed of a fence that surrounds robot arm <NUM> and workpiece mounting portion <NUM> from both sides in the X-axis direction and from one side in the Y-axis direction. Opening <NUM> of guard body <NUM> that is opened on the other side in the Y-axis direction faces opening <NUM> of cover body <NUM>.

Opening <NUM> has a facing region <NUM> and a non-facing region <NUM>. Facing region <NUM> faces guard body <NUM>. Facing region <NUM> faces opening <NUM> of guard body <NUM> in the Y-axis direction. The space inside guard body <NUM> in which robot arm <NUM> and workpiece mounting portion <NUM> are disposed is in communication with machining area <NUM> through facing region <NUM> of opening <NUM>.

Non-facing region <NUM> does not face guard body <NUM>. Non-facing region <NUM> is provided adjacent to facing region <NUM> in the X-axis direction. The space outside guard body <NUM> in the external area is in communication with machining area <NUM> through non-facing region <NUM> of opening <NUM>.

<FIG> is a top view showing the machining system in which the door portion is positioned at the second position. <FIG> is a top view showing the machining system in which the door portion is positioned at the third position.

Referring to <FIG> and <FIG>, door portion <NUM> is driven by actuator <NUM> to perform the opening and closing operations between: the first position at which opening <NUM> is closed as shown in <FIG>; and the second position at which opening <NUM> is opened as shown in <FIG>.

When door portion <NUM> is positioned at the first position, the opening area of opening <NUM> is zero. Opening <NUM> is closed by door portion <NUM>, thereby blocking machining area <NUM> from the external area. When the workpiece is machined in machining area <NUM>, door portion <NUM> is positioned at the first position. The first position is located at one slide end of door portion <NUM> in the X-axis direction.

When door portion <NUM> is positioned at the second position, the opening area of opening <NUM> is Sa. Opening area Sa of opening <NUM> is the maximum value of the opening area of door portion <NUM> that changes in accordance with the opening and closing operations. When door portion <NUM> is positioned at the second position, opening <NUM> is in a fully opened state. The second position is located at the other slide end of door portion <NUM> in the X-axis direction.

Referring to <FIG>, controller <NUM> (see <FIG>) controls actuator <NUM> such that door portion <NUM> is positioned at the third position when robot arm <NUM> conveys a workpiece.

Referring to <FIG>, <FIG>, and <FIG>, when door portion <NUM> is positioned at the third position, the opening area of opening <NUM> is Sb. Opening area Sb of opening <NUM> opened when door portion <NUM> is positioned at the third position is smaller than opening area Sa of opening <NUM> opened when door portion <NUM> is positioned at the second position (Sb < Sa).

When door portion <NUM> is positioned at the third position, opening <NUM> is in a half-opened state. When door portion <NUM> is positioned at the third position, opening <NUM> is set to have a minimum opening area (opening degree) in which robot arm <NUM> can perform the operation to convey a workpiece. Door portion <NUM> positioned at the third position is located between, in the X-axis direction, door portion <NUM> positioned at the first position shown in <FIG> and door portion <NUM> positioned at the second position shown in <FIG>.

As shown in <FIG>, door portion <NUM> positioned at the first position closes facing region <NUM> and non-facing region <NUM> of opening <NUM>. As shown in <FIG>, door portion <NUM> positioned at the second position opens facing region <NUM> and non-facing region <NUM> of opening <NUM>. As shown in <FIG>, door portion <NUM> positioned at the third position opens facing region <NUM> and closes non-facing region <NUM>.

<FIG> is a flowchart showing an example of an operation of the machining system involved in workpiece machining. The operation of machining system <NUM> described below is performed based on the control program that is input in advance into controller <NUM> by an operator through operation panel <NUM>, unless otherwise specified.

Referring to <FIG> and <FIG>, door portion <NUM> is positioned at the first position as an initial state. Thereby, opening <NUM> is brought into a closed state.

Referring to <FIG> and <FIG>, controller <NUM> first controls actuator <NUM> such that door portion <NUM> performs an opening operation so as to be positioned at the third position (S101). Thereby, opening <NUM> is brought into a half-opened state.

Then, controller <NUM> controls robot arm <NUM> to convey the workpiece into machining area <NUM> (S102). In this step, robot arm <NUM> grips an un-machined workpiece mounted on workpiece mounting portion <NUM>. Robot arm <NUM> moves through opening <NUM> into machining area <NUM>. Further, robot arm <NUM> mounts the workpiece on a workpiece fixing jig (not shown) on table <NUM>. Robot arm <NUM> retracts from machining area <NUM> through opening <NUM>.

Referring to <FIG> and <FIG>, controller <NUM> then controls actuator <NUM> such that door portion <NUM> performs the closing operation so as to be positioned at the first position (S103). Thereby, opening <NUM> is brought into a closed state. Then, controller <NUM> controls vertical machining center 100A to perform workpiece machining (rough machining) (S104).

Referring to <FIG> and <FIG>, after completion of workpiece machining (rough machining), controller <NUM> controls actuator <NUM> such that door portion <NUM> performs an opening operation so as to be positioned at the second position (S105). Thereby, opening <NUM> is brought into a fully opened state. In this step, controller <NUM> may perform the opening operation of door portion <NUM> based on the command input by the operator through operation panel <NUM>.

Then, the operator measures the workpiece (S106). The operator accesses the inside of machining area <NUM> through opening <NUM> that opens in non-facing region <NUM>, to thereby measure the workpiece. The operator may correct the parameters for the subsequent finish machining of the workpiece based on the result of measuring the workpiece subjected to rough machining.

Referring to <FIG> and <FIG>, after completion of the measurement of the workpiece, controller <NUM> controls actuator <NUM> such that door portion <NUM> performs the closing operation so as to be positioned at the first position (S107). Thereby, opening <NUM> is brought into a closed state. In this step, controller <NUM> may cause door portion <NUM> to perform the closing operation based on the command input by the operator through operation panel <NUM>.

Then, controller <NUM> controls vertical machining center 100A to perform workpiece machining (finish machining) (S108).

Referring to <FIG> and <FIG>, after completion of workpiece machining (finish machining), controller <NUM> controls actuator <NUM> such that door portion <NUM> performs an opening operation so as to be positioned at the third position (S109). Thereby, opening <NUM> is brought into a half-opened state.

Then, controller <NUM> controls robot arm <NUM> to convey the workpiece out of machining area <NUM> (S110). In this step, robot arm <NUM> moves through opening <NUM> into machining area <NUM>. Robot arm <NUM> grips the machined workpiece mounted on the workpiece fixing jig (not shown) on table <NUM>. Robot arm <NUM> retracts from machining area <NUM> through opening <NUM>. Robot arm <NUM> places the workpiece on workpiece mounting portion <NUM>.

As described above, in the present embodiment, when robot arm <NUM> conveys the workpiece (S102, S110), door portion <NUM> is positioned at the third position at which opening <NUM> has opening area Sb that is smaller than opening area Sa of opening <NUM> opened when door portion <NUM> is positioned at the second position. This suppresses the energy consumed by actuator <NUM> when door portion <NUM> performs the opening and closing operations before and after conveyance of the workpiece. Accordingly, the energy saving performance of machining system <NUM> can be improved.

In addition, door portion <NUM> is positioned such that opening <NUM> is opened at the minimum opening degree required for robot arm <NUM> to convey the workpiece. Thus, the time required for the opening and closing operations of door portion <NUM> before and after conveyance of the workpiece can be shortened. Thereby, the effect of shortening the cycle time of workpiece machining in machining system <NUM> is also achieved.

Further, door portion <NUM> positioned at the third position shown in <FIG> opens facing region <NUM> of opening <NUM> and closes non-facing region <NUM> of opening <NUM>. Such a configuration allows robot arm <NUM> to convey the workpiece through facing region <NUM> of opening <NUM>. Further, robot arm <NUM> is surrounded by guard body <NUM> and non-facing region <NUM> of opening <NUM> is closed by door portion <NUM>. Thereby, the operator can be prevented from entering the operation region of robot arm <NUM>.

<FIG> is a top view showing the machining system in which the door portion is positioned at the fourth position. Referring to <FIG>, controller <NUM> (see <FIG>) may control actuator <NUM> such that door portion <NUM> is positioned at the fourth position when robot arm <NUM> does not convey the workpiece and when workpiece machining in machining area <NUM> is stopped.

When door portion <NUM> is positioned at the fourth position, the opening area of opening <NUM> is Sc. Opening area Sc of opening <NUM> opened when door portion <NUM> is positioned at the fourth position is smaller than opening area Sa of opening <NUM> opened when door portion <NUM> is positioned at the second position (Sc < Sa).

Door portion <NUM> positioned at the fourth position is located between, in the X-axis direction, door portion <NUM> positioned at the third position shown in <FIG> and door portion <NUM> positioned at the second position shown in <FIG>. Door portion <NUM> positioned at the fourth position opens facing region <NUM> and a part of non-facing region <NUM> and closes the remaining part of non-facing region <NUM>.

In such a configuration, when robot arm <NUM> does not convey the workpiece and when the workpiece machining in machining area <NUM> is stopped, the operator can perform various operations through opening <NUM> that is opened in a part of non-facing region <NUM>. For example, the operator may clean the interior of machining area <NUM>. The operator may perform the measurement of the workpiece as described in S106 in <FIG> in the state where door portion <NUM> is positioned at the fourth position.

In this case, door portion <NUM> is positioned at the fourth position at which opening <NUM> has an opening area that is smaller than the opening area of opening <NUM> opened when door portion <NUM> is positioned at the second position. Accordingly, the energy consumed by actuator <NUM> during the opening and closing operations of door portion <NUM> can be suppressed. In addition, when the interior of machining area <NUM> is cleaned, the effect of suppressing scattering of a coolant, chippings and the like in the external area due to air blowing during cleaning is also achieved.

The following summarizes the above-described structure of machining system <NUM> according to the first embodiment of the present invention. Specifically, machining system <NUM> according to the present embodiment includes: a cover body <NUM> having an opening <NUM> and defining a machining area <NUM> of a workpiece; a door portion <NUM> provided in opening <NUM>; an actuator <NUM> that operates door portion <NUM> between a first position at which opening <NUM> is closed and a second position at which opening <NUM> is opened; a controller <NUM> that controls actuator <NUM>; and a robot arm <NUM> as a conveyance device that operates through opening <NUM> to convey the workpiece as an object to be conveyed between machining area <NUM> and an external area outside machining area <NUM>. Controller <NUM> controls actuator <NUM> such that door portion <NUM> is positioned at a third position when robot arm <NUM> conveys the workpiece. An opening area Sb of opening132 opened when door portion <NUM> is positioned at the third position is smaller than an opening area Sa of opening132 opened when door portion <NUM> is positioned at the second position.

Machining system <NUM> according to the first embodiment of the present invention that is configured as described above can suppress the energy consumed by actuator <NUM> to cause door portion <NUM> to perform the opening and closing operations before and after conveyance of the workpiece. Thereby, the energy saving performance of machining system <NUM> can be improved.

The present embodiment has been described above with regard to the case where the conveyance device is robot arm <NUM> as a multi-joint robot, but the present invention is not limited thereto. The conveyance device of the present invention may be, for example, a linear motion-type workpiece conveyance device that conveys a workpiece in a linear direction. Furthermore, the object to be conveyed that is conveyed by the conveyance device is not limited to a workpiece but may be a tool, for example.

<FIG> is a top view showing a machining system according to the second embodiment of the present invention. The machining system according to the present embodiment has basically the same structure as that of the machining system according to the first embodiment. Thus, the description of the same structure will not be hereinafter repeated.

Referring to <FIG>, a machining system <NUM> in the present embodiment is equipped with a lathe 100B as machine tool <NUM>.

Lathe 100B includes a spindle <NUM> (a first spindle 161P, a second spindle 161Q), a tool rest <NUM>, a cover body <NUM>, a door portion <NUM> (a first door portion 136P, a second door portion 136Q), an actuator <NUM> (a first actuator 141P, a second actuator 141Q), a controller <NUM>, and an operation panel <NUM>.

First spindle 161P and second spindle 161Q are disposed to face each other in a Z-axis direction (the right-left direction) parallel to the horizontal direction. First spindle 161P is disposed to be rotatable about a central axis <NUM> parallel to the Z-axis. Second spindle 161Q is disposed to be rotatable about a central axis <NUM> that extends in parallel to the Z-axis along the line extending from central axis <NUM>. First spindle 161P and second spindle 161Q are equipped with a chuck mechanism for detachably holding a workpiece.

Tool rest <NUM> is configured such that a plurality of tools can be mounted thereon. Tool rest <NUM> is a so-called turret type of rest and equipped with a plurality of tools radially arranged for swivel indexing. More specifically, tool rest <NUM> is disposed to be swivelable around a central axis <NUM> parallel to the Z-axis. Further, tool holders for holding respective tools are attached at positions around central axis <NUM> to be spaced apart from each other in the circumferential direction of central axis <NUM>. As tool rest <NUM> swivels around central axis <NUM>, the tools held by the respective tool holders move in the circumferential direction, and thus, a tool used for machining is indexed.

Second spindle 161Q is disposed to be movable in the Z-axis direction. Tool rest <NUM> is disposed to be movable in the Z-axis direction and in the X-axis direction that is orthogonal to the Z-axis and inclined with respect to the vertical direction.

Door portion <NUM> is a type of double doors including a first door portion 136P and a second door portion 136Q that closes opening <NUM> together with first door portion 136P. First door portion 136P and second door portion 136Q are disposed side by side in the Z-axis direction. First door portion 136P and second door portion 136Q are disposed to be slidable in the Z-axis direction.

Actuator <NUM> includes a first actuator 141P and a second actuator 141Q. First actuator 141P causes first door portion 136P to perform the opening and closing operations. Second actuator 141Q causes second door portion 136Q to perform the opening and closing operations. In such a configuration, first door portion 136P and second door portion 136Q are driven by first actuator 141P and second actuator 141Q, respectively, to be capable of performing the opening and closing operations independently from each other.

<FIG> is a top view showing the machining system in which the door portion is positioned at the second position. Referring to <FIG> and <FIG>, door portion <NUM> (first door portion 136P, second door portion 136Q) is driven by actuator <NUM> (first actuator 141P, second actuator 141Q) to perform the opening and closing operations between the first position at which opening <NUM> is closed as shown in <FIG> and the second position at which opening <NUM> is opened as shown in <FIG>.

When door portion <NUM> (first door portion 136P, second door portion 136Q) is positioned at the first position, the opening area of opening <NUM> is zero. When door portion <NUM> (first door portion 136P, second door portion 136Q) is positioned at the second position, the opening area of opening <NUM> is Sa.

Opening <NUM> has a facing region <NUM> and a non-facing region <NUM>. Facing region <NUM> faces guard body <NUM>. Facing region <NUM> is closed by first door portion 136P positioned at the first position. Non-facing region <NUM> does not face guard body <NUM>. Non-facing region <NUM> is closed by second door portion 136Q positioned at the first position.

<FIG> is a top view showing the machining system in which the door portion is positioned at the third position. Referring to <FIG>, controller <NUM> (see <FIG>) controls actuator <NUM> (first actuator 141P, second actuator 141Q) such that door portion <NUM> (first door portion 136P, second door portion 136Q) is positioned at the third position when robot arm <NUM> conveys a workpiece.

Opening area Sb of opening <NUM> opened when door portion <NUM> (first door portion 136P, second door portion 136Q) is positioned at the third position is smaller than opening area Sa of opening <NUM> opened when door portion <NUM> (first door portion 136P, second door portion 136Q) is positioned at the second position (Sb < Sa).

Controller <NUM> controls first actuator 141P and second actuator 141Q such that only first door portion 136P among first door portion 136P and second door portion 136Q performs the opening operation when robot arm <NUM> conveys a workpiece.

In such a configuration, only first door portion 136P among first door portion 136P and second door portion 136Q performs the opening operation, so that the energy consumed by actuator <NUM> to cause door portion <NUM> to perform the opening and closing operations can be suppressed. Thereby, the energy saving performance of machining system <NUM> can be improved.

<FIG> is a top view showing the machining system in which the door portion is positioned at the fourth position. Referring to <FIG>, controller <NUM> (see <FIG>) may control actuator <NUM> (first actuator 141P, second actuator 141Q) such that door portion <NUM> (first door portion 136P, second door portion 136Q) is positioned at the fourth position when robot arm <NUM> does not convey a workpiece and when workpiece machining in machining area <NUM> is stopped.

When door portion <NUM> (first door portion 136P, second door portion 136Q) is positioned at the fourth position, the opening area of opening <NUM> is Sc.

Opening area Sc of opening <NUM> opened when door portion <NUM> (first door portion 136P, second door portion 136Q) is positioned at the fourth position is smaller than opening area Sa of opening <NUM> opened when door portion <NUM> (first door portion 136P, second door portion 136Q) is positioned at the second position (Sc < Sa). Opening area Sc of opening <NUM> opened when door portion <NUM> (first door portion 136P, second door portion 136Q) is positioned at the fourth position is further smaller than opening area Sb of opening <NUM> opened when door portion <NUM> (first door portion 136P, second door portion 136Q) is positioned at the third position (Sc < Sb).

First door portion 136P positioned at the fourth position is positioned at the same position as that of first door portion 136P positioned at the first position. First door portion 136P positioned at the fourth position closes facing region <NUM>. Second door portion 136Q positioned at the fourth position is positioned between, in the X-axis direction, second door portion 136Q positioned at the first position and second door portion 136Q positioned at the second position. Second door portion 136Q positioned at the fourth position opens a part of non-facing region <NUM> and closes the remaining part of non-facing region <NUM>.

According to the configuration as described above, door portion <NUM> is positioned at the fourth position at which opening <NUM> has an opening area that is smaller than the opening areas of opening <NUM> opened when door portion <NUM> is positioned at the second position and the third position. Thereby, the energy consumed by actuator <NUM> to cause door portion <NUM> to perform the opening and closing operations can be suppressed.

According to machining system <NUM> in the second embodiment of the present invention that is configured as described above, the effect described in the first embodiment can be similarly achieved.

The machining apparatus to which the machining system of the present invention is applied is not limited to a vertical machining center and a lathe. For example, the present invention may also be applicable to: a horizontal machining center; a composite machining apparatus having a turning function using a fixed tool and a milling function using a rotating tool; a machining apparatus capable of performing subtractive manufacturing and additive manufacturing; or the like.

The following describes a summary of the configuration and the functions and effects of the present invention.

A machining system according to the present invention includes: a cover body having an opening and defining a machining area of a workpiece; a door portion provided in the opening; an actuator that operates the door portion between a first position at which the opening is closed and a second position at which the opening is opened; a controller that controls the actuator; and a conveyance device that operates through the opening to convey an object to be conveyed between the machining area and an external area outside the machining area. The controller controls the actuator such that the door portion is positioned at a third position when the conveyance device conveys the object to be conveyed. An opening area of the opening opened when the door portion is positioned at the third position is smaller than an opening area of the opening opened when the door portion is positioned at the second position.

According to the machining system configured as described above, when the conveyance device conveys the object to be conveyed, the door portion is positioned at the third position at which the opening has an opening area that is smaller than the opening area of the opening opened when the door portion is positioned at the second position. Thus, the energy consumed by the actuator to cause the door portion to perform the opening and closing operations can be suppressed. Thereby, in the machining system including the door portion that automatically opens and closes, the energy saving performance can be improved.

According to the invention, the machining system further includes a guard body that surrounds the conveyance device in the external area. The opening includes a facing region that faces the guard body and a non-facing region that does not face the guard body. The door portion positioned at the third position opens the facing region and closes the non-facing region. The door portion positioned at the second position opens the facing region and the non-facing region.

According to the machining system configured as described above, when the door portion is positioned at the third position, the conveyance device can convey the object to be conveyed through the facing region of the opening. On the other hand, the conveyance device is surrounded by the guard body and the non-facing region of the opening is closed by the door portion, so that the operator can be prevented from entering the operation region of the conveyance device.

Further preferably, the controller controls the actuator such that the door portion is positioned at a fourth position when the conveyance device does not convey the object to be conveyed and when workpiece machining in the machining area is stopped. An opening area of the opening opened when the door portion is positioned at the fourth position is smaller than an opening area of the opening opened when the door portion is positioned at the second position.

According to the machining system configured as described above, when the conveyance device does not convey the object to be conveyed and when workpiece machining in the machining area is stopped, the operator can perform various operations in the machining area through the opening. In this case, the opening area of the opening opened when the door portion is positioned at the fourth position is smaller than the opening area of the opening opened when the door portion is positioned at the second position. Thus, the energy consumed by the actuator to cause the door portion to perform the opening and closing operations can be suppressed.

Further preferably, the opening area of the opening opened when the door portion is positioned at the fourth position is further smaller than the opening area of the opening opened when the door portion is positioned at the third position.

According to the machining system configured as described above, the energy consumed by the actuator to cause the door portion to perform the opening and closing operations can be further suppressed.

Further preferably, the machining system further includes an input unit through which a control program for the actuator is input into the controller. The controller controls the actuator based on the control program input through the input unit.

According to the machining system configured as described above, during the progress of workpiece machining, the door portion can be caused to perform the opening and closing operations based on the control program input in advance.

Further preferably, the door portion includes a first door portion and a second door portion that closes the opening together with the first door portion. The controller controls the actuator such that one of the first door portion and the second door portion performs the opening operation when the conveyance device conveys the object to be conveyed.

According to the machining system configured as described above, only one of the doors configured as double doors is caused to perform the opening operation when the conveyance device conveys the object to be conveyed. Thereby, the energy saving performance can be improved.

The present invention is applicable mainly to a machining system including a door portion that automatically performs opening and closing operations.

Claim 1:
A machining system comprising:
a cover body (<NUM>) having an opening (<NUM>) and defining a machining area (<NUM>) that is a space in which a workpiece is machined;
a door portion (<NUM>) provided in the opening (<NUM>);
an actuator (<NUM>) that operates the door portion (<NUM>) between a first position at which the opening (<NUM>) is closed and a second position at which the opening (<NUM>) is opened;
a controller (<NUM>) that controls the actuator (<NUM>); and
a conveyance device (<NUM>) that operates through the opening (<NUM>) to convey an object to be conveyed between the machining area (<NUM>) and an external area outside the machining area (<NUM>), wherein
the controller (<NUM>) controls the actuator (<NUM>) such that the door portion (<NUM>) is positioned at a third position when the conveyance device (<NUM>) conveys the object to be conveyed, and
an opening area (Sb) of the opening (<NUM>) opened when the door portion (<NUM>) is positioned at the third position is smaller than an opening area (Sa) of the opening (<NUM>) opened when the door portion (<NUM>) is positioned at the second position, characterized in that
the machining system further comprises
a guard body (<NUM>) that surrounds the conveyance device (<NUM>) in the external area,
the opening (<NUM>) includes
a facing region (<NUM>) that faces the guard body (<NUM>), and
a non-facing region (<NUM>) that does not face the guard body (<NUM>),
the door portion (<NUM>) positioned at the third position opens the facing region (<NUM>) and closes the non-facing region (<NUM>), and
the door portion (<NUM>) positioned at the second position opens the facing region (<NUM>) and the non-facing region (<NUM>).