Machine tool device

Abstract

To provide a machine tool device that can prevent deformation of a molded object and increase the strength of the molded object.SOLUTION: A machine tool device includes a molding device that discharges a material from a discharge nozzle to mold an object, an attaching unit to which the molding device is attached and which is fixed in position within a three-dimensional space, a mounting table for placing a molded object formed by receiving the material discharged from the molding device, a moving device that moves the mounting table within the space in accordance with a modeling program for modeling the molded object, and a control unit that executes the modeling program.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a machine tool device. [Background technology]

[0002] Conventionally, 3D printers are known that build up a model (workpiece) by layering materials on the basis of 3D data created in 3D (Three-Dimensional)-CAD (Computer-Aided Design) or 3DCG (computer graphics). Various modeling methods are used for 3D printers. For example, there are fused deposition modeling (FDM) 3D printers that build up a workpiece by layering materials melted by heat. FDM 3D printers have a main shaft that moves an ejection part that ejects materials such as molten resin in three dimensions (or two dimensions), and a control part that controls the main shaft moves the main shaft in three dimensions to build up a workpiece.

[0003] Also known is a 3D printer in which a modeling device that ejects a material is moved three-dimensionally by a robot arm. Patent Document 1 discloses a robot arm that changes at least one of the position, posture, and orientation of the modeling device, and a robot arm that changes at least one of the position, posture, and orientation of a workpiece holder. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2021-187076 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in a 3D printer, which moves a modeling device in three dimensions to create a model, when inertia increases due to the weight of the modeling device, the movement of the modeling device causes the modeling device to vibrate, which can reduce the positioning accuracy of the modeling device and therefore the modeling accuracy of the object.

[0006] Furthermore, in order to increase the rigidity of the robot arm that moves the modeling device, it is necessary to increase the rigidity of the parts that make up the robot arm, which in turn requires the robot arm to be made larger or heavier, which can result in an increase in the size of the 3D printer and in increased device costs.

[0007] The present invention has been made in consideration of the above circumstances, and has an object to provide a machine tool apparatus that can improve the molding accuracy of a molded object and reduce the cost of the apparatus. [Means for solving the problem]

[0008] In order to solve the above problems, the machine tool apparatus of an embodiment includes a modeling device that ejects material from an ejection nozzle to form a shape, a mounting part for mounting the modeling device and whose position is fixed in three-dimensional space, a mounting table for placing an object to be formed by receiving the material ejected from the modeling device, a moving device that moves the mounting table in the space in accordance with a modeling program for forming the object, and a control part that executes the modeling program. Effect of the Invention

[0009] According to one embodiment of the present invention, a machine tool apparatus includes a modeling device that discharges material from an extrusion nozzle to form a shape, a mounting part for mounting the modeling device and whose position is fixed in three-dimensional space, a mounting table for placing an object to be formed by receiving the material discharged from the modeling device, a moving device for moving the mounting table in space in accordance with a modeling program for forming the object, and a control part for executing the modeling program, thereby improving the modeling accuracy of the object and reducing the cost of the apparatus. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram showing an example of an external appearance of a machine tool device according to an embodiment; [Diagram 2] 3A is a diagram showing an example of when a tool is attached to a spindle, and FIG. 3B is a diagram showing an example of when a modeling device is attached to a spindle in an embodiment. [Diagram 3] 3A and 3B are diagrams illustrating an example of a gripping device that grips the modeling device in the embodiment. [Figure 4] FIG. 2 is a diagram illustrating an example of a production area in the embodiment. [Diagram 5] 6A to 6C are diagrams illustrating an example of a method for calculating a weight change and a center of gravity change in the embodiment. [Figure 6] FIG. 13 is a diagram showing an example of a method for purging a material in an embodiment. [Figure 7] FIG. 13 is a diagram showing an example of a method for disposing of a purge material in an embodiment. [Figure 8] 5A to 5C are diagrams illustrating an example of a method for cleaning the discharge nozzles in the embodiment. [Figure 9] 11 is a flowchart illustrating an example of a replacement operation of the molding apparatus according to the embodiment. [Figure 10] 10 is a flowchart illustrating an example of a material purging operation in an embodiment. [Figure 11] 6 is a flowchart illustrating an example of a cleaning operation of the discharge nozzles in the embodiment. [Figure 12] 5 is a flowchart showing an example of a modeling operation in the embodiment. [Figure 13] 10 is a flowchart illustrating an example of a molding control according to an embodiment. [Figure 14] 10 is a flowchart showing an example of a horizontal correction operation of the mounting table in the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, a machine tool device according to an embodiment of the present invention will be described in detail with reference to the drawings. Note that the same components in each drawing will be given the same reference numerals, and the description thereof may be omitted.

[0012] 1 is a diagram showing an example of the appearance of a machine tool apparatus according to an embodiment. In FIG. 1, the machine tool apparatus 1 has a spindle 11, a clamping mechanism 111, a material supply unit 112, a tool storage area 12, a modeling device storage area 13, a production area 14, a tool shutter 15, a modeling device shutter 16, and a butler device 7.

[0013] In this embodiment, the machine tool device 1 is a device that ejects material into a three-dimensional space defined by x-axis, y-axis, and z-axis that are perpendicular to each other, and is, for example, a 3D printer. In Fig. 1, the x-axis is the left-right direction on the drawing, the y-axis is a direction perpendicular to the plane of the drawing (not shown), and the z-axis is the up-down direction on the drawing. That is, Fig. 1 is a plan view on the xz plane. The details of the modeling method using the Butler device 7 will be described later.

[0014] The machine tool 1 has a spindle 11. The spindle 11 has a clamping mechanism 111 and a material supply unit 112.

[0015] The clamp mechanism 111 has a clamp function for automatically changing a tool. The term "clamp" refers to gripping or pinching. The clamp function is, for example, a function (device structure) used in an automatic tool changer (ATC) used in a machine tool such as a machining center. The clamp mechanism 111 automatically changes (attaches) a tool to the spindle 11 by clamping or unclamping a tool to be used for machining from among a plurality of tools. The shape of the clamp mechanism 111 is determined, for example, by the MAS standard (Japan Machine Tool Builders' Association standard), the DIN standard (German Industrial Standard), or the ANS standard (American National Standards Institute standard) as an industrial standard for tapered shanks for ATC. The clamp mechanism 111 can clamp, for example, using an HSK type (ISO12164-1:2001 or ISO12164-3:2008, ISO: International Organization for Standardization) that restrains two faces of the tool 2.

[0016] 1 shows the tool 2 clamped by the clamp mechanism 111, but the clamp mechanism 111 can clamp a modeling device instead of the tool 2. The clamp mechanism 111 can fix the position of the modeling device in a three-dimensional space defined by mutually orthogonal x-axis, y-axis, and z-axis (hereinafter sometimes referred to as the x-axis, etc.). In other words, during modeling by the modeling device, the modeling device is fixed in the 3D space.

[0017] The material supply unit 112 supplies a modeling material used by the modeling device when the modeling device is clamped by the clamp mechanism 111. Details of the modeling device and the material supply unit 112 will be described later.

[0018] The tool storage area 12 is an area for storing the tool 2 to be clamped by the clamp mechanism 111. The tool storage area 12 includes an automatic tool change (ATC) mechanism (not shown) for automatic tool change. The tool 2 stored in the tool storage area 12 is attached to the spindle 11 by, for example, the ATC mechanism.

[0019] The modeling device storage area 13 is an area for storing a modeling device (described later) that is clamped by a clamping mechanism 111. The modeling device is placed at a predetermined position in the modeling device storage area 13. The clamping mechanism 111 is attached via the spindle 11 of the machine tool device 1. The modeling device storage area 13 includes a holding mechanism (not shown) for holding the modeling device. The modeling device stored in the modeling device storage area 13 is moved by a butler device 7 described later and attached to the spindle 11.

[0020] The production area 14 is a space for producing a workpiece by machining using a tool or for producing a workpiece by molding using a molding device. The spindle 11 has an internal rotation mechanism (not shown) for rotating the tool in the production area 14 or discharging material from the molding device. The start and stop of the rotation of the rotation mechanism or the rotation speed of the rotation mechanism are controlled by a control unit described later. The spindle 11 in this embodiment includes a casing having a rotation mechanism therein. Note that the rotation of the rotation mechanism inside the spindle 11 may be abbreviated to the rotation of the spindle 11.

[0021] The tool shutter 15 is a shutter that separates the tool storage area 12 from the production area 14. Moreover, the molding device shutter 16 is a shutter that separates the molding device storage area 13 from the production area 14. The tool shutter 15 and the molding device shutter 16 have opening and closing mechanisms, which are controlled to open and close in response to the attachment and detachment of the tool 2 and the attachment and detachment of the molding device.

[0022] In addition, when the modeling device described later is a printer head that performs modeling by the FDM method, the modeling device can be a heat source because the material is melted by applying heat or pressure to the solid material. On the other hand, the machining accuracy of the machine parts such as the spindle 11 of the machine tool device 1 or the workpiece may decrease due to thermal expansion caused by temperature changes. The modeling device shutter 16 thermally insulates the modeling device, which is a heat source, from the production area 14, thereby making it possible to prevent the transfer of heat to the production area 14. In addition, the tool shutter 15 and the modeling device shutter 16 make it possible to prevent contamination of the tool storage area 12 and the modeling device storage area 13 caused by cutting powder generated in the production area 14.

[0023] Next, the attachment of a tool or a modeling device to the spindle will be described with reference to Fig. 2. Fig. 2 is a diagram showing (A) an example of a tool being attached to the spindle 11, and (B) an example of a modeling device being attached to the spindle 11 in an embodiment. Figs. 2(A) and 2(B) show details of mainly the spindle 11 of the machine tool 1 in Fig. 1. Here, Fig. 2(A) shows a state in which a tool 2 is clamped to a clamp mechanism 111. Also, Fig. 2(B) shows a state in which a modeling device 3 is clamped to the clamp mechanism 111.

[0024] In FIG. 2(A), the main shaft 11 has a clamp mechanism 111, a material supply unit 112, and a power supply unit 113A.

[0025] The clamping mechanism 111 is attached to the lower end of the spindle 11. Therefore, by fixing the position of the spindle 11 in three-dimensional space, the position of the clamping mechanism 111 is also fixed. In addition, the spindle 11 rotates the tool 2 clamped by the clamping mechanism 111 by a rotation mechanism (not shown) provided on the spindle 11. The rotation of the spindle 11 (the rotation of the clamped tool 2) is controlled by a control program executed by a control unit described later. The control program includes, for example, a control command for instructing the start or stop of rotation of the spindle 11, or a control command for specifying the rotation speed of the spindle 11. Note that the control program can be, for example, an NC (numerical control) program or the like.

[0026] The material supply unit 112 and the power supply unit 113A are attached to the spindle 11. The material supply unit 112 is a supply mechanism for supplying material for modeling when the modeling device 3 is clamped by the clamp mechanism 111. Therefore, when the modeling device 3 is not clamped, no material is supplied from the material supply unit 112. The power supply unit 113A supplies power to the modeling device 3 when the modeling device 3 is clamped by the clamp mechanism 111. Details of the material supply unit 112 and the power supply unit 113A will be described in FIG. 2(B).

[0027] The butler device 7 has an XY moving device 71, a robot arm 72, and a mounting table 73. The butler device 7 mounts a workpiece to be machined by the tool 2 or a molded object to be molded by the molding device 3 and moves it in three dimensions.

[0028] In FIG. 2(B), a clamp mechanism 111 attached to the lower end of the spindle 11 clamps the molding device 3. The tool 2 and the molding device 3 can be automatically exchanged by the clamp mechanism 111. By automatically exchanging the tool 2 and the molding device 3, it becomes possible to continuously process the material and mold the material in the same production area 14. Therefore, compared to the case where processing and molding are performed by separate devices, it is possible to reduce the cost of the device, reduce the number of steps involved in setting the workpiece, improve the device operating rate, and reduce costs by sharing the programs used for machining.

[0029] The molding device 3 has a power receiving unit 113B, a discharge nozzle 31, a storage unit 32, a tilting unit 321, a heating unit 322, a heat retaining unit 33, a melting unit , and a transporting unit .

[0030] The modeling device 3 is, for example, a head portion of an FDM printer that melts a supplied material and ejects the molten material from an ejection nozzle 31. In the following embodiment, a case where FDM modeling is performed as the material modeling method will be described, but the modeling device 3 may use other methods used in 3D printers, such as a photo-modeling method in which ejected liquid material is hardened by ultraviolet light or the like, or a powder fixing method in which powder and a binder are ejected and solidified.

[0031] The discharge nozzle 31 discharges molten material for forming a workpiece. The storage section 32 stores the material supplied from the material supply section 112. The heating section 322 heats and melts the material stored in the storage section 32. The inclined section 321 collects the material melted by the heating section 322 by gravity and supplies it inside the heat retention section 33. The heat retention section 33 keeps the molten material warm. The melting section 34 reheats or adjusts the temperature of the molten material. The transport section 35 transports the molten material stored in the heat retention section 33 and discharges it from the discharge nozzle 31.

[0032] The material supply unit 112 faces the storage unit 32 when the modeling device 3 is clamped by the clamp mechanism 111, and supplies material to the storage unit 32. By facing the material supply unit 112 to the storage unit 32 when the modeling device 3 is clamped, it becomes possible to automatically supply material continuously to the modeling device 3. This makes it possible to improve the operating rate of the machine tool 1, compared to, for example, the case where material is manually supplied each time the material runs out.

[0033] The material supply unit 112 has a hollow structure, and supplies the material to the storage unit 32 by moving the material inside the hollow structure (for example, a flexible hose or the like). The material supply unit 112 may utilize, for example, compressed air or a transfer pump when supplying the material to the storage unit 32. To supply the material using compressed air, for example, the material can be moved inside the material supply unit 112 by the pressure of the compressed air. Also, to supply the material using a transfer pump, for example, the material can be moved inside the material supply unit 112 by a rotary positive displacement uniaxial eccentric screw pump.

[0034] The supply of material may be controlled, for example, so as to keep a constant amount of material stored in storage unit 32. For example, a sensor (not shown) attached to storage unit 32 may detect that the amount of material stored is low, and the material may be automatically supplied. By automatically keeping the amount of stored material constant, the supply of material can be automated.

[0035] The inclined portion 321 is fitted with a heating portion 322, which heats the material stored in the storage portion 32. The heating portion 322 has a heater (shown by a broken line) disposed obliquely upward inside the storage portion 32. This increases the area of ​​contact between the heater and the material, making it easier to melt the material. The heating portion 322 may be configured to heat (preheat) the material to a temperature around the melting temperature at which the material melts. Once a material with a large heat capacity is heated, it is difficult to lower the temperature, making it difficult to control the temperature by lowering the temperature. By preheating the material in the heating portion 322, it is possible to facilitate temperature control in the melting portion 34 and reduce the heating load in the melting portion 34, thereby making it possible to miniaturize the melting portion 34. In addition, the heating portion 322 may heat the material to a temperature required for discharge, thereby omitting the heating of the material in the melting portion 34.

[0036] The power receiving unit 113B faces the power supply unit 113A when the modeling device 3 is clamped by the clamping mechanism 111, and receives the power supplied from the power supply unit 113A. The combination of the power supply unit 113A and the power receiving unit 113B forms the power supply mechanism 113. The power supplied by the power supply mechanism 113 is used by the heating unit 322 or the melting unit 34. Note that the power supply unit 113A that faces the power receiving unit 113B and supplies power is sometimes referred to as the power supply mechanism. For example, the machine tool 1 is considered to be equipped with a power supply mechanism (power supply unit 113A) even when the modeling device 3 is not clamped by the clamping mechanism 111.

[0037] The power supply mechanism 113 supplies power by contacting the contacts of the power supply unit 113A and the contacts of the power receiving unit 113B when the modeling device 3 is clamped by the clamping mechanism 111. This makes it possible to supply power to the modeling device 3 clamped by the clamping mechanism 111. A connector mechanism with contacts can be used for the power supply mechanism 113. Using a connector mechanism with contacts simplifies the structure and makes it possible to supply power at low cost. Note that, for example, gold plating the contacts makes it possible to stabilize the electrical resistance caused by the contacts.

[0038] Furthermore, the power supply mechanism 113 may use a non-contact (wireless) power supply method in which a power supply unit of the power supply unit 113A and a power receiving unit of the power receiving unit 113B come close to each other when the modeling apparatus 3 is clamped by the clamp mechanism 111 to supply power. For example, a power supply coil is provided in the power supply unit of the power supply unit 113A, and a power receiving coil is provided in the power receiving unit of the power receiving unit 113B, and power can be supplied by receiving electromagnetic waves generated from the power supply coil with the power receiving coil. By using a non-contact power supply method in the power supply mechanism 113, it is possible to prevent problems with power supply due to poor contact at the contact points.

[0039] In addition, power may be supplied to the modeling apparatus 3 using a power generating device (not shown) provided in the modeling apparatus 3. The power generating device may be, for example, a generator whose rotor rotates by rotating the main shaft 11. For example, the generator may be one whose rotor rotates together with the rotation of the conveying mechanism that discharges the material. In addition, the generator may be one whose rotor rotates by switching between the rotation of the conveying mechanism that discharges the material and the transmission of the rotational force. By using the power generating device provided in the modeling apparatus 3 to supply power to the modeling apparatus 3, it is possible to omit the power supply mechanism in the main shaft 11. The power supply mechanism 113 may generate power by rotating the rotor of the generator provided inside the power receiving unit 113B by joining the rotation mechanism of the power supply unit 113A and the rotation mechanism of the power receiving unit 113B so that the rotational force can be transmitted when the modeling apparatus 3 is clamped by the clamping mechanism 111. For example, the rotation mechanism of power supply unit 113A may be rotated by a control command, thereby rotating a rotation mechanism of power receiving unit 113B, thereby rotating a rotor of a generator. By generating electricity using a generator inside power receiving unit 113B, it is possible to omit electrical connection between power supply unit 113A and power receiving unit 113B.

[0040] The heat retention unit 33 keeps the material supplied from the inclined unit 321 warm. The heat retention unit 33 has a heat insulating layer like a thermos bottle, for example, and prevents the temperature of the material from being transferred to the outside of the modeling apparatus 3. By keeping the material warm with the heat retention unit 33, for example, when the material is melted in the heating unit 322, it becomes possible to maintain the temperature of the material and reduce the change in viscosity of the material due to a change in temperature.

[0041] The transfer unit 35 transfers and pressurizes the molten material stored in the heat retention unit 33, and discharges it from the discharge nozzle 31. The transfer unit 35, for example, has a screw inside and can transfer the material by rotating the screw. The rotation of the spindle 11 can be used for the rotation of the screw. That is, when the molding device 3 is clamped by the clamp mechanism 111, the screw of the transfer unit 35 rotates instead of the tool 2, so that the rotation of the screw can be controlled by controlling the rotation of the spindle 11. For example, the machine tool device 1 can control the rotation of the screw based on a control command for instructing the start or stop of the rotation of the tool 2. This allows the start or stop of the material discharge to be controlled by the same control command as the rotation of the tool. For example, the control command can be an M code of an NC program. The M code is a control command that defines an auxiliary function for performing processing in an NC program. The M code is specified, for example, in the JIS (Japanese Industrial Standards) standard. For example, "M03" is a command for rotating the tool (spindle) forward, and "M05" is a command for stopping the rotation of the tool. The command "M03" starts the discharge of the material, and the command "M05" stops the discharge of the material. By rotating the screw of the transfer unit 35 by the rotation of the main shaft 11, it is possible to control the start or stop of the discharge of the material without adding a new command to control the molding device 3, and it is possible to reduce the number of manufacturing steps.

[0042] Furthermore, the machine tool device 1 controls the amount of material discharged by controlling the rotation speed of the transport mechanism of the molding device 3 based on a control command for specifying the rotation speed of the tool. The control command for specifying the rotation speed of the tool can be implemented, for example, in the S code of an NC program. The S code is a control command for setting the rotation speed of the tool. For example, "S2000" is a command for rotating the tool at 2,000 rpm. The S code is used together with the M code described above. By controlling the rotation speed of the transport mechanism in the S code, it becomes possible to control the amount of material discharged without adding a new command for controlling the molding device 3, and it becomes possible to reduce the manufacturing man-hours.

[0043] In the butler device 7, the XY moving device 71 is a moving mechanism that moves the robot arm 72 and the mounting table 73 on the XY plane, and can be positioned on the XY plane by, for example, configuring a combination of slide guides or ball splines on the x-axis and y-axis and driving them with a motor. Note that either the XY moving device 71 or the robot arm 72, or the XY moving device 71 and the robot arm 72, may be referred to as a "moving device" in this embodiment, since they move the mounting table 73.

[0044] The robot arm 72 can move on the XY plane by the XY moving device 71, and can grip the mounting table 73 and move it three-dimensionally consisting of the x-axis, y-axis, and z-axis. The robot arm 72 can also change the inclination of the mounting table 73 that it grips. The inclination of the mounting table 73 refers to the inclination of the mounting surface of the mounting table 73 on which the modeled object is placed. The robot arm 72 can, for example, keep the inclination of the mounting surface at 0, that is, the mounting surface horizontal, while the modeled object is being formed. The robot arm 72 can also make the mounting surface vertical in a material purging operation or a cleaning operation of the discharge nozzle 31, which will be described later. The robot arm 72 is, for example, a multi-axis (multi-joint) robot.

[0045] The robot arm 72 requires a certain output (output torque of each axis) to hold the mounting table 73 that it holds at a certain position in three-dimensional space or to move it. In the position control of the robot arm 72, feedback control is performed to correct any deviation between the target value and the current value of the position. In the feedback control, the following operations are repeated: 1: A position deviation (error) from the target value occurs → 2: The error is detected → 3: The position is corrected. For this reason, fine vibrations occur in the feedback control. In order to reduce the vibrations in the feedback control, it is effective to adjust the time constant in the control system. For example, a load torque according to the weight of the mounting table 73 is applied to each axis of the robot arm 72. If the weight of the mounting table 73 (load torque for each axis) is known in advance, a bias torque according to the weight of the mounting table 73 can be applied to each axis of the robot arm 72 in advance to adjust the gain, thereby reducing the vibrations of the mounting table 73 in the feedback control.

[0046] The mounting table 73 mounts a workpiece to be machined by the tool 2, or a molded object to be molded by the molding device 3. In this embodiment, the molding method using the Butler device 7 is called the Butler method, and the molding system using the Butler device 7 is called the Butler system, because the mounting table 73 is moved to mount (receive) the material dispensed from the molding device 3, whose position is fixed. In the Butler system, the molding device 3 is fixed, so that even if the molding device 3 becomes heavy, vibrations of the molding device 3 caused by the movement of the molding device 3 are not generated, and it is possible to improve the molding accuracy of the object and reduce the cost of the device.

[0047] Next, a method for replacing the modeling device 3 in the Butler system will be described with reference to Fig. 3. Fig. 3 is a diagram showing an example of a holding device that holds the modeling device in the embodiment.

[0048] 3, the butler device 7 has a gripping device 74. The gripping device 74 is moved by the moving device to a gripping position where it grips the modeling device 3, and can grip the modeling device 3. The gripping device 74 grips the modeling device 3 and unclamps the clamping mechanism 111, so that the modeling device 3 can be removed from the clamping mechanism 111. The removed modeling device 3 is moved by the moving device to the above-mentioned modeling device storage area 13 and stored therein. Note that a plurality of modeling devices 3 can be stored in the modeling device storage area 13. The butler device 7 can replace the modeling device 3 by gripping a unique modeling device 3 stored in the modeling device storage area 13.

[0049] In addition, the gripping device 74 can exchange the tool 2 with the molding device 3 by gripping the tool 2 in the tool storage area 12 .

[0050] Next, the production area will be described with reference to Fig. 4. Fig. 4 is a diagram showing an example of the production area in the embodiment.

[0051] In FIG. 4, the machine tool 1 has a control unit 10, a spindle 11, a clamping mechanism 111, a tool storage area 12, a modeling device storage area 13, a production area 14, a tool shutter 15, a modeling device shutter 16 and a discharge area 17.

[0052] The control unit 10 has a modeling control unit 101 and a modeling device exchange control unit 102. The control unit 10 is, for example, a computer that controls the machine tool device 1, and controls, for example, the above-mentioned NC program. The modeling control unit 101 and the modeling device exchange control unit 102 can be implemented in a program that runs on the control unit 10. That is, the modeling control unit 101 and the modeling device exchange control unit 102 can be implemented as functional units that function by software. However, at least one of the modeling control unit 101 and the modeling device exchange control unit 102 may be implemented in a computer independent of the control unit 10, or may be implemented by hardware.

[0053] The modeling control unit 101 controls modeling using the modeling device 3 by controlling the clamping operation by the clamping mechanism 111, controlling the rotation of the spindle 11 (rotation / stop and control of the rotation speed), controlling the supply of material by the material supply unit 112, controlling the opening and closing of the tool shutter 15 and the modeling device shutter 16, heating control of the heating unit 322 and the melting unit 34, movement control of the XY moving device 71, movement control of the robot arm 72, and gripping control of the gripping device 74, etc.

[0054] The modeling control unit 101 also performs calculations of the amount of change in weight of the model, calculations of the amount of change in the center of gravity of the model, control of the purging operation of the material, control of the cleaning operation of the discharge nozzle 31, etc., which will be described later.

[0055] The discharge area 17 is an area for discharging the formed object. The mounting table 73 on which the formed object is placed is moved to the discharge area 17 by a moving device. In the discharge area 17, an operator can remove the formed object from the mounting table 73. In the Butler system, the mounting table 73 can be moved to the discharge area 17, making it easier for an operator to remove the formed object. Furthermore, by installing a device such as a conveyor for discharging the formed object in the discharge area 17, the Butler system enables the formed object to be automatically discharged. Note that the discharge area 17 may also be provided with a shutter, similar to the modeling device storage area 13, etc.

[0056] Next, a method for calculating the weight change and the center of gravity change in the modeling process will be described with reference to Fig. 5. Fig. 5 is a diagram showing an example of a method for calculating the weight change and the center of gravity change in the embodiment.

[0057] In Fig. 5, the mounting table 73 has a mounting surface 730. A material mt discharged from a discharge nozzle 31 (not shown) is placed on the mounting surface 730. Fig. 5 shows a case where the mounting surface 730 is horizontal to the xy plane. The mounting table 73 in this embodiment has a constant thickness, and the mounting surface 730 is square. Before modeling, the center of gravity of the mounting table 73 is the center of the mounting surface 730, which is a center point C00.

[0058] As described above, a load torque corresponding to the weight of the mounting table 73 is applied to each axis of the robot arm 72 (not shown). Before modeling, the weight of the mounting table 73 is constant, so the bias output can be constant. On the other hand, after modeling starts, a load corresponding to the dispensed material is added to the mounting table 73. Here, the load torque applied to each axis of the robot arm 72 can be calculated from the weight of the material dispensed onto the mounting surface 730 and the dispensed position of the material on the mounting surface 730.

[0059] Here, after the start of modeling, the material mt is discharged onto the placement surface 730 over a length of L1. When the material discharged from the discharge nozzle 31 (not shown) has a diameter D1 and a specific gravity (specific weight) of the material is γ, the control unit 10 (not shown) calculates the weight G1 of the material mt as follows: G1=γ*(D1 / 2) 2 The control unit 10 calculates the volume of the material as (D1 / 2)*L1. 2 The discharge amount calculated from the amount of rotation of the main shaft 11 of the molding device 3 can be used as *L1. The control unit 10 may also calculate the volume D1*L1 by regarding the gap between the discharge nozzle 31 and the mounting surface 730 as the diameter D1. If the weight of the mounting table is G0, the load weight on the robot arm 72 is G0+G1. Note that the length L1 is a numerical value based on the center of the material mt set in the molding program, and therefore may have some error from the actual weight.

[0060] In addition, the position of the center of gravity of the material mt in the length L1 is the center of gravity C1, which is the midpoint of the length L1. The control unit 10 can calculate the position of the center of gravity on the placement surface 730 after the material mt is discharged in the length L1 to be the center of gravity C01, which is the combination of the center of gravity C0 and the center of gravity C1. When the robot arm 72 holds the placement table 73 at the center of gravity C00, no load torque is required to keep the placement surface 730 horizontal to the xy plane before modeling. On the other hand, after the material mt is discharged in the length L1, a load torque is generated according to the distance between the center of gravity C00 and the center of gravity C01. The control unit 10 can prevent the placement table 73 from vibrating by applying a bias torque according to the load torque generated with the movement of the center of gravity.

[0061] Next, the material mt is discharged onto the placement surface 730 with a length L2 perpendicular to L1. The control unit 10 can calculate the weight G2 of the material mt in the length L2 as G2=γ*D1*L2. The load weight on the robot arm 72 is accumulated to become G0+G1+G2.

[0062] Moreover, the position of the center of gravity of the material mt over the length L2 is the center of gravity C2, which is the midpoint of the length L2. The control unit 10 can calculate the position of the center of gravity on the placement surface 730 after the material mt has been dispensed over the length L2 to be the center of gravity C02, which is a combination of the centers of gravity C01 and C2. After the material mt has been dispensed over the length L2, a load torque is generated according to the distance between the centers of gravity C00 and C02. The control unit 10 can prevent the placement table 73 from vibrating by applying a bias torque according to the load torque generated by the movement of the center of gravity.

[0063] Next, a method for purging a material before modeling will be described with reference to Fig. 6. Fig. 6 is a diagram showing an example of a method for purging a material in an embodiment.

[0064] 6, a tray 731 is attached to the side of the mounting table 73. The tray 731 receives the material purged from the discharge nozzle 31. Purging the material is an operation of discharging the material remaining inside the molding apparatus 3, and may be called a purging operation. Also, a configuration of the machine tool apparatus 1 for performing the purging operation may be called a purging means.

[0065] For example, the temperature of the material melted by the heating unit 322 of the above-mentioned modeling device 3 decreases over time, and the material may change (solidify or oxidize, etc.) inside the discharge nozzle 31. Since the changed material cannot be used for modeling, it is necessary to purge the material before modeling. The control unit 10 can purge the material by, for example, rotating the main shaft 11.

[0066] The control unit 10 causes the robot arm 72 to make the mounting table 73 stand upright, and further moves the tray 731 to the vicinity (below) of the discharge nozzle 31. The tray 731 can be moved, for example, by setting a new TCP (Tool Center Point) for the robot arm 72. The TCP is a coordinate system that is set according to the tool held by the robot arm 72, and in this embodiment, by setting the destination of the tray 731 to the TCP, the purging operation can be performed in a coordinate system different from the coordinate system related to the modeling, and the programming for operating the robot arm 72 can be made easier. The control unit 10 causes the discharge nozzle 31 to discharge (purge) a predetermined amount of material. The purged material is stored in the tray 731.

[0067] By attaching the tray 731 to the mounting table 73, the robot arm 72 can perform the purging operation while holding the mounting table 73, so that the number of steps required to replace the tool being held can be reduced.

[0068] 7 illustrates a method for disposing of the purged material. FIG 7 is a diagram showing an example of a method for disposing of the purged material in an embodiment.

[0069] In Fig. 7, the mounting table 73 is inverted upside down from the state shown in Fig. 6, so that the receiving tray 731 faces downward. The inversion of the mounting table 73 is performed by a robot arm 72 (not shown). The material purged into the receiving tray 731 falls by being turned downward and is stored in the waste tray 75. If the material stored in the receiving tray 731 is difficult to fall, for example, the receiving tray 731 and the waste tray 75 may be brought into contact with each other to sift out the material. By storing the purged material in the waste tray 75, it is possible to prevent an increase in the weight of the mounting table 73 and a shift in the center of gravity due to the purged material.

[0070] Next, a method for cleaning the discharge nozzle 31 will be described with reference to Fig. 8. Fig. 8 is a diagram showing an example of a method for cleaning the discharge nozzle in the embodiment.

[0071] 8, a wiping part 732 is attached to the side of the mounting table 73. The wiping part 732 is a member for wiping off the material that protrudes from the discharge nozzle 31 and adheres to the discharge nozzle 31. For the wiping part 732, a material to which the material adhered to the discharge nozzle 31 can be easily transferred, such as felt, sponge, or cloth, can be used.

[0072] The modeling apparatus 3 described in FIG. 2 discharges the material that has been heated and melted in the heating unit 322 (and the melting unit 34) from the discharge nozzle 31 by the rotation of the spindle 11. However, the material that has been melted and has a reduced viscosity may drip from the discharge nozzle 31 even if the spindle 11 is not rotated. The material that drips before modeling begins may adhere to the discharge nozzle 31 and clog the discharge nozzle 31. In addition, the dripping material may adhere to the modeled object and become burrs, which may adversely affect the shape of the modeled object. In this embodiment, before modeling is performed in the modeling apparatus 3, the wiping unit 732 is brought into contact with the discharge nozzle 31 to perform a cleaning operation of the material that has adhered to the discharge nozzle 31.

[0073] The wiping part 732 is attached to the mounting table 73, and moves in the v direction while being in contact with the discharge nozzle 31 as the robot arm 72 moves the mounting table 73. The wiping part 732 comes into contact with the discharge nozzle 31 in the force mode of the robot arm 72. The force mode is a mode in which the robot arm 72 can be pressed in a predetermined direction with a determined force. In the force mode, the wiping part 732 can be pressed against the discharge nozzle 31 with a constant force F regardless of the gap (positional relationship) between the wiping part 732 and the discharge nozzle 31. The robot arm 72 can clean the discharge nozzle 31 while pressing the wiping part 732 against the discharge nozzle 31 with the force F by moving the mounting table 73 in the v direction perpendicular to the direction of the force F. This allows the material attached to the discharge nozzle 31 to be transferred to a wide range of the wiping part 732.

[0074] Next, the replacement operation of the molding device 3 will be described with reference to Fig. 9. Fig. 9 is a flowchart showing an example of the replacement operation of the molding device in the embodiment. Note that in the flowcharts from Fig. 9 onwards, the main operation is described as the control unit 10, but the operation may be performed by, for example, a configuration other than the control unit 10 (for example, another control unit).

[0075] 9, the control unit 10 determines whether or not to replace the modeling device 3 (Step S11). Replacing the modeling device 3 includes replacing the modeling device 3 with the tool 2, and replacing the modeling device 3 with another modeling device 3. When determining not to replace the modeling device 3 (Step S11: NO), the control unit 10 ends the operation shown in the flowchart and waits for the modeling device 3 to be replaced.

[0076] On the other hand, when it is determined that the modeling device 3 is to be replaced (step S11: YES), the control unit 10 replaces the modeling device 3 using the above-mentioned Butler system (step S12). By replacing the modeling device 3 using the Butler system, the modeling device 3, whose position is fixed, can be automatically replaced, and the number of steps required for replacing the modeling device 3 can be reduced.

[0077] Next, a purging operation of a material before a modeling operation will be described with reference to Fig. 10. Fig. 10 is a flowchart showing an example of a purging operation of a material in the embodiment.

[0078] 10, the control unit 10 determines whether or not to perform a purge operation (step S21). Whether or not to perform a purge operation may be determined based on, for example, the elapsed time since the end of the previous modeling operation, whether or not the material used for modeling has been changed, the temperature of the molten material, or the number or time of modeling. When determining not to perform a purge operation (step S21: NO), the control unit 10 ends the operation shown in the flowchart.

[0079] On the other hand, when it is determined that the purge operation is to be performed (step S21: YES), the control unit 10 moves the tray 731 to the vicinity of the discharge nozzle 31 (step S22). After executing the process of step S22, the control unit 10 purges the material remaining inside the molding device 3 and stores it in the tray 731 (step S23). After executing the process of step S23, the control unit 10 stores the purged material stored in the tray 731 in the waste tray 75 (step S24). After executing the process of step S24, the control unit 10 returns the mounting table 73 to the origin (step S25). The origin of the mounting table 73 in this embodiment can be set by, for example, TCP.

[0080] Next, a cleaning operation of the discharge nozzle 31 before modeling will be described with reference to Fig. 11. Fig. 11 is a flowchart showing an example of the cleaning operation of the discharge nozzle in the embodiment.

[0081] 11, the control unit 10 determines whether or not to perform a cleaning operation (step S31). Whether or not to perform a cleaning operation may be determined based on, for example, the state of the discharge nozzle 31, the elapsed time since the previous modeling operation was completed, whether or not a purge operation has been performed, etc. When it is determined that a cleaning operation is not to be performed (step S31: NO), the control unit 10 ends the operation shown in the flowchart.

[0082] On the other hand, when it is determined that a cleaning operation is to be performed (step S31: YES), the control unit 10 brings the wiping unit 732 into contact with the discharge nozzle 31 in the force mode (step S32). After executing the process of step S32, the control unit 10 moves the wiping unit 732 in a direction perpendicular to the force mode (step S33). After executing the process of step S33, the control unit 10 returns the mounting table 73 to the origin (step S34). The origin of the mounting table 73 in this embodiment can be set by, for example, TCP.

[0083] Next, a modeling operation will be described with reference to Fig. 12 and Fig. 13. Fig. 12 is a flowchart showing an example of the modeling operation in the embodiment. Fig. 13 is a flowchart showing an example of modeling control in the embodiment.

[0084] 12, the control unit 10 judges whether or not to start a modeling operation of a workpiece using a material (step S41). The modeling operation is modeling of a material using the modeling device 3, and refers to operating the machine tool device 1 as a so-called 3D printer. When it is judged not to start the modeling operation (step S41: NO), the control unit 10 ends the operation shown in the flowchart.

[0085] On the other hand, when it is determined that the molding operation is to be started (step S41: YES), the control unit 10 starts the molding control (step S42). In the molding control, the material is molded in the Butler system, so that the molding accuracy of the object can be improved. The details of the molding control in step S42 will be described with reference to FIG. 13.

[0086] In FIG. 13, the control unit 10 starts a modeling operation of discharging material from the discharge nozzle 31 (step S421). The control unit 10 calculates the node weight (step S422). A node refers to a portion of the discharged material. The node is expressed, for example, by the length of the discharged material on the placement surface 730. The nodes described in FIG. 5 have been described as straight lines with lengths L1 and L2. The nodes may be set, for example, for each unit length (for example, 1 cm). The node weight is the weight for each node, and is calculated as the specific gravity γ of the material * the volume V of the node.

[0087] After executing the process of step S422, the control unit 10 calculates the node center of gravity (step S423). The node center of gravity is the center of gravity of each node, and can be calculated based on the shape of the node. After executing the process of step S423, the control unit 10 calculates the accumulated value of the node weight and the accumulated value of the node center of gravity, and corrects the output of the robot arm 72 based on the calculated accumulated value of the node weight and the accumulated value of the node center of gravity (step S424). By correcting the output of the robot arm 72, the control system of the robot arm 72 can be stabilized and the vibration of the mounting table 73 can be reduced, thereby improving the molding accuracy of the object.

[0088] After executing the process of Step S424, the control unit 10 determines whether or not the modeling of all the nodes has been completed (Step S425). Whether or not the modeling of all the nodes has been completed can be determined, for example, by whether or not the modeling of one modeling apparatus 3 has been completed. When it is determined that the modeling of all the nodes has not been completed (Step S425: NO), the control unit 10 repeats the processes of Steps S422 to S425. On the other hand, when it is determined that the modeling of all the nodes has been completed (Step S425: YES), the control unit 10 ends the modeling control operation.

[0089] Returning to Fig. 12, after executing the process of step S42, the control unit 10 judges whether or not to end the modeling (step S43). The end of modeling refers to a state in which the modeled object can be discharged. For example, when an additional modeling process is to be performed, it can be judged not to end the modeling. When it is judged not to end the modeling (step S43: NO), the control unit 10 returns to step S42 and waits for the end of modeling.

[0090] On the other hand, when it is determined that the modeling is to be ended (step S43: YES), the control unit 10 discharges the modeled object in the Butler system (step S44). After executing the process of step S44, the control unit 10 ends the operation shown in the flowchart.

[0091] Next, the horizontal correction operation of the mounting table 73 will be described with reference to Fig. 14. Fig. 14 is a flow chart showing an example of the horizontal correction operation of the mounting table 73 in this embodiment.

[0092] In FIG. 14, the control unit 10 judges whether or not to perform a horizontal correction operation of the mounting table 73 (step S51). The mounting table 73 is held by the robot arm 72 as described above. The position (rotation angle) of each axis of the robot arm 72 is feedback-controlled, so that errors over time are unlikely to occur. However, the mounting table 73 is merely held by the robot arm, and feedback control is not performed to detect its horizontality (tilt of the mounting table 73). For this reason, the horizontality of the mounting table 73 may be shifted due to a modeling operation or the like. If the horizontality of the mounting table 73 is shifted, the entire modeled object may be tilted, and the modeling accuracy of the modeled object may be reduced. Whether or not to perform a horizontal correction operation may be judged based on, for example, the past modeling time, the number of modeling times, or the weight of the modeled object. When it is judged that the horizontal correction operation is not to be performed (step S51: NO), the control unit 10 ends the operation shown in the flowchart.

[0093] On the other hand, when it is determined that the horizontal correction operation is to be performed (step S51: YES), the control unit 10 raises the mounting table 73 to contact the discharge nozzle 31, measures the gap between the discharge nozzle 31 and the mounting table 73, and checks the horizontality of the mounting table 73 from the measured gap. The control unit 10 checks the horizontality of the mounting table 73 by contacting the discharge nozzle 31 with the mounting table 73 at least three points on the plane of the mounting table 73 (step S52). Note that when contacting the mounting table 73 with the discharge nozzle 31, the control unit 10 can use the force mode of the robot arm 72. By using the force mode, damage to the discharge nozzle 31 or the mounting table 73 due to contact can be prevented.

[0094] After executing the process of step S52, the control unit 10 corrects the horizontality of the mounting table 73 (step S53). The horizontality of the mounting table 73 is corrected by adjusting the posture of the robot arm 72 so that the measured gaps between the discharge nozzle 31 and the mounting table 73 are constant. If there is a large difference between the gaps, there is a possibility that a problem has occurred in the state of the robot arm 72 gripping the mounting table 73. In this case, instead of performing the correction operation of step S53, the operation may be stopped and an operation such as an error notification may be performed. After executing the process of step S53, the control unit 10 returns the mounting table 73 to the origin (step S54). The origin of the mounting table 73 in this embodiment can be set by, for example, TCP.

[0095] Although an embodiment of the present invention has been described above with reference to the drawings, the specific configuration is not limited to this embodiment, and various modifications are also included within the scope that does not deviate from the spirit of the present invention. [Explanation of symbols]

[0096] 1 Machine tool equipment 10 Control section 101 Modeling control section 102 Molding device exchange control unit 11 Spindle 111 Clamping mechanism 112 Material supply section 113 Power Supply Mechanism 113A Power Supply Unit 113B Power receiving unit 12 Tool Storage Area 13 Modeling equipment storage area 14 Production Area 15 Tool shutter 16 Modeling device shutter 17 Discharge Area 2 tools 3 Molding equipment 31 Discharge nozzle 32 Storage 321 Slope 322 Heating section 33 Heat retention part 34 Welding section 35 Transfer section 36 Local cooling and heating section 51 Valve Array 52 Cooling Pipe 7 Butler Device 71 XY moving device 72 Robot Arm 73 Placement table 730 Placement surface 731 Saucer 732 Wiping section 74 Gripping device 75 Discarded Plates

Claims

1. A shaping device that discharges a material from a discharge nozzle for shaping, A mounting portion that is fixedly positioned in a three-dimensional space and mounts the shaping device, A mounting table that mounts a shaped object formed by receiving the material discharged from the shaping device, A moving device that moves the mounting table in the space according to a shaping program for shaping the shaped object, A control unit that executes the shaping program and includes, The control unit, calculates the change amount of the weight of the shaped object in the shaping process based on the weight of the material discharged from the shaping device, sequentially corrects the load value of the mounting table in the moving device based on the calculated change amount of the weight, The control unit further calculates the change amount of the center of gravity of the shaped object in the shaping process based on the discharge position of the material discharged from the shaping device on the mounting table and the weight of the material discharged at the discharge position, A machine tool device that sequentially corrects the load value and the center of gravity position of the mounting table in the moving device based on the calculated change amount of the weight and the change amount of the center of gravity.

2. The control unit, calculates the weight based on the volume of the material discharged from the shaping device and the specific gravity of one material selected from a plurality of pre-registered materials. The machine tool device according to claim 1.

3. A purge means for purging the material remaining in the shaping device from the discharge nozzle, and further includes a tray for receiving the material purged by the purge means. The control unit, before performing shaping in the shaping device, moves the tray near the discharge nozzle by the moving device and executes an operation of receiving the material purged by the purge means with the tray. The machine tool device according to claim 1.

4. The tray is movably attached by the moving device, The control unit moves the tray near the discharge nozzle by moving the moving device, and further drops the material purged onto the tray by the purging means to a predetermined position. The machine tool device according to claim 3.

5. The tray is attached to the mounting table and is moved by the moving device moving the mounting table. The machine tool device according to claim 4.

6. A shaping device that discharges a material from a discharge nozzle to perform shaping, A mounting portion that is fixed in a three-dimensional space and to which the shaping device is attached, A mounting table on which a shaped object formed by receiving the material discharged from the shaping device is placed, A moving device that moves the mounting table in the space according to a shaping program for shaping the shaped object, A control unit that executes the shaping program and is provided with further includes a wiping portion for wiping the material adhering to the discharge nozzle, The control unit causes the wiping portion to contact the discharge nozzle to execute a cleaning operation of the discharge nozzle before performing shaping in the shaping device, The wiping portion is movably attached by the moving device, The control unit executes the cleaning operation by contacting the wiping portion with the discharge nozzle with a force determined in the force mode of the moving device and moving the wiping portion in a direction different from the direction of the force. Machine tool device.

7. The wiping portion is attached to the mounting table and is moved by the moving device moving the mounting table. The machine tool device according to claim 6.

8. A shaping device that discharges a material from a discharge nozzle to perform shaping, A mounting portion that is fixedly positioned in a three-dimensional space for mounting the shaping device, A mounting table on which a shaped object formed by receiving the material discharged from the shaping device is placed, A moving device that moves the mounting table in the space according to a shaping program for shaping the shaped object, A control unit that executes the shaping program and is provided with, Before performing shaping in the shaping device, the control unit measures the gap between the discharge nozzle and the mounting table by bringing the discharge nozzle and the mounting table into contact with each other in a manner that can be pressed with a force determined in a predetermined direction, Based on the measured gap, in addition to the horizontality of the mounting table, a machine tool device that corrects the height position of the discharge nozzle.

9. The machine tool device according to claim 8, wherein the control unit checks the horizontality of the mounting table by bringing the discharge nozzle and the mounting table into contact with each other at at least three points on the plane of the mounting table.

Images