Cutting machine

Abstract

To make it easier for a user to manually replace a cutting object held by a holding device.SOLUTION: A cutting machine 100 comprises: a holding device 30 that holds a cutting object 5; a case body 10 that has an area A1 in which the holding device 30 is housed and an opening 12a formed to communicate with the area A1; a rotating device 50B that rotates the holding device 30 about an axis Axb extending in a second direction Y intersecting a first direction X in a plan view; and a control device 110. The holding device 30 is configured to be able to hold the cutting object 5 when a user moves the cutting object 5 in a holding direction D1 toward the holding device 30. The control device 110 includes a rotation control unit 115 that rotates the holding device 30 about the axis Axb so that the holding device 30 is arranged in a rotational orientation in which the holding direction D1 is rotated by a predetermined rotation angle R1 from the first direction X when the user replaces the cutting object 5 held by the holding device 30.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present invention relates to a cutting machine.

Background Art

[0002] For example, Patent Document 1 discloses a cutting machine that rotates a bar-shaped cutting tool around an axis to machine a workpiece. The cutting machine includes a spindle having a gripping portion that grips a cutting tool for machining the workpiece, and a holding portion that holds the workpiece.

[0003] The cutting machine includes a case body having an internal space in which the holding portion and the spindle are accommodated. An opening is formed in the front portion of the case body. The case body is provided with a front cover that can open and close the opening. Here, the workpiece held by the holding portion is manually exchanged by the user through the opening of the case body.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, when the user manually exchanges the workpiece held by the holding portion, depending on the user's height, it may be difficult to confirm the state in which the workpiece is held by the holding portion. When the user exchanges the workpiece held by the holding portion, it is preferable for the user to be as easy to exchange as possible.

[0006] The present invention has been made in view of such a point, and an object thereof is to provide a cutting machine in which a user can easily manually exchange a workpiece held by a holding device.

Means for Solving the Problems

[0007] The cutting machine according to the present invention includes a holding device for holding a workpiece, an area in which the holding device is accommodated, and a case body that has an opening on one side in a first direction and is formed with an opening communicating with the area. The cutting machine further includes a rotating device that rotates the holding device around an axis extending in a second direction intersecting the first direction in a plan view, and a control device. The holding device is configured to hold the workpiece when the user moves the workpiece in a holding direction toward the holding device. The control device includes a rotation control unit that rotates the holding device around the axis so that the holding device is arranged in a rotation direction in which the holding direction is rotated by a predetermined rotation angle from the first direction when the user exchanges the workpiece held by the holding device.

[0008] According to the cutting machine, when the user manually exchanges the workpiece held by the holding device, the rotation control unit rotates the holding device so that the holding device is in a rotation direction in which it is easy for the user to exchange the workpiece. Therefore, it is possible to make it easier for the user to manually exchange the workpiece.

Advantages of the Invention

[0009] According to the present invention, it is possible to provide a cutting machine in which it is easy for the user to manually exchange the workpiece held by the holding device.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Mode for Carrying Out the Invention

[0011] Hereinafter, embodiments of a cutting machine according to the present invention will be described with reference to the drawings. It should be noted that the embodiments described here are not intended to particularly limit the present invention. In addition, members and parts having the same function are denoted by the same reference numerals, and redundant descriptions are omitted or simplified as appropriate.

[0012] FIG. 1 is a perspective view showing a cutting machine 100 according to the present embodiment. FIG. 2 is a longitudinal sectional view of the cutting machine 100 seen from the left. FIG. 3 is a longitudinal sectional view of the cutting machine 100 seen from the right. FIG. 4 is a perspective view showing the cutting machine 100 when the slide cover 60 is open. Here, the reference signs F, Rr, L, R, U, and D in the drawings respectively mean the front, rear, left, right, top, and bottom of the cutting machine 100. It should be noted that these directions are merely directions defined for convenience of explanation, and do not limit the installation mode of the cutting machine 100 in any way, nor do they limit the present invention in any way.

[0013] In this embodiment, the cutting machine 100 manufactures an object by cutting a workpiece 5 (see FIG. 5). Here, the type of the object is not particularly limited, but it is a dental molded product, for example, a dental crown prosthesis, an artificial tooth, a denture base, etc. Examples of the dental crown prosthesis include a crown, a bridge, a coping, an inlay, an onlay, a veneer, a custom abutment, etc. In this embodiment, the cutting machine 100 is used in the dental field and manufactures a dental molded product from the workpiece 5. However, the field where the cutting machine 100 is used is not limited to the dental field.

[0014] As shown in FIG. 1, the cutting machine 100 includes a case body 10. The case body 10 is formed in a box shape and has a space inside. The space inside the case body 10 is partitioned into a plurality of areas.

[0015] Here, as shown in FIG. 2, inside the case body 10, as a plurality of areas, there are provided a cutting area A1 in which a workpiece holder 30 for holding the workpiece 5 (see FIG. 5) is accommodated, and an accommodation area A2 in which a cutting device 20 is accommodated. The cutting area A1 is an area for cutting the workpiece 5. The cutting area A1 is an example of the area of the present invention. A first opening 12a (see FIG. 4) is formed in front of the cutting area A1. The first opening 12a communicates the cutting area A1 with the outside of the cutting machine 100. The accommodation area A2 is located above the cutting area A1.

[0016] Also, as shown in FIG. 3, inside the case body 10, there are provided a drive device area A3 in which a holder moving device 40 for moving the workpiece holder 30 and a tool stocker 45 (see FIG. 2) are accommodated, and a tool exchange area A4 arranged in front of the accommodation area A2. The drive device area A3 is located to the right of the cutting area A1. A second opening 12b (see FIG. 4) is formed in front of the tool exchange area A4. The tool exchange area A4 communicates with the outside of the cutting machine 100 through the second opening 12b.

[0017] As shown in FIG. 4, a slide cover 60 is provided on the front surface of the case body 10 so as to be openable and closable. The case body 10 is provided with a slide rail 61 with which the slide cover 60 engages and which extends from the front and downward directions toward the rear and upward directions.

[0018] In the present embodiment, an operation panel 90 is provided below the slide cover 60. The operation panel 90 is for the user to perform operations related to cutting. The operation panel 90 is operated by the user when the user designates a rotation angle R1 (see FIG. 9) described later. For example, the operation panel 90 has input buttons 91. The user can designate the rotation angle R1 by performing an operation such as pressing any of the input buttons 91.

[0019] As shown in FIG. 2, the case body 10 has a bottom wall 11, a front wall 12, a left side wall 13 (see FIG. 1), a right side wall 14 (see FIG. 4), a top wall 15, and a rear wall 16. Each member constituting the case body 10 is formed of a steel plate or the like. The bottom wall 11 extends in the front-rear direction and the left-right direction and constitutes the bottom surface of the cutting machine 100. The left side wall 13 is connected to the left end of the bottom wall 11. The left side wall 13 extends upward from the left end of the bottom wall 11. The right side wall 14 is connected to the right end of the bottom wall 11. The right side wall 14 extends upward from the right end of the bottom wall 11. The rear wall 16 is connected to the rear end of the bottom wall 11. The rear wall 16 extends upward from the rear end of the bottom wall 11. The left end of the rear wall 16 is connected to the rear end of the left side wall 13. The right end of the rear wall 16 is connected to the rear end of the right side wall 14. The top wall 15 is provided parallel to the bottom wall 11 above the bottom wall 11. The top wall 15 is connected to the upper ends of the left side wall 13, the right side wall 14, and the rear wall 16. The front wall 12 is connected to the front end of the bottom wall 11. In the present embodiment, the front wall 12 extends upward while inclining rearward from the front end of the bottom wall 11.

[0020] Hereinafter, the direction in which the front wall 12 extends is also referred to as the Z-axis direction. Further, hereinafter, when not otherwise specified, the upper side in the Z-axis direction is simply referred to as the upper side, and the lower side in the Z-axis direction is simply referred to as the lower side. The left end of the front wall 12 is connected to the front end of the left side wall 13, and the right end of the front wall 12 is connected to the front end of the right side wall 14. Also, the upper end of the front wall 12 is connected to the front end of the top wall 15. As shown in FIG. 4, a first opening 12a communicating with the cutting area A1 and a second opening 12b communicating with the tool exchange area A4 are formed in the front wall 12. In the present embodiment, a first opening 12a that opens to the front side in the X-axis direction, which will be described later, is formed in the case body 10. This first opening 12a is an example of an opening formed in the case body.

[0021] FIG. 5 is a plan view of the work holder 30. As shown in FIG. 5, the cutting machine 100 includes a work holder 30, a holder moving device 40, a holder rotating device 50, a cutting device 20 (see FIG. 2), and a tool stocker 45 (see FIG. 2). The work holder 30 is a device for holding the workpiece 5. Here, the work holder 30 holds the workpiece 5 via the adapter 6. In the present embodiment, a fitting hole 6a penetrating in the vertical direction is formed in the central portion of the adapter 6. The workpiece 5 is attached to the adapter 6 by fitting into the fitting hole 6a. However, the work holder 30 may directly hold the workpiece 5 without using other members such as the adapter 6. The work holder 30 is an example of a holding device for holding the workpiece 5. The configuration of the work holder 30 is not particularly limited. As shown in FIG. 5, the work holder 30 includes a first arm 31, a second arm 32, and a connecting portion 33. In the orientation of the work holder 30 shown in FIG. 5, the first arm 31 and the second arm 32 are a pair on the left and right and are arranged side by side in the left - right direction. Here, the first arm 31 is arranged to the left of the second arm 32. The first arm 31 and the second arm 32 extend in the front - rear direction (specifically, the X - axis direction). The connecting portion 33 connects the first arm 31 and the second arm 32. Here, the connecting portion 33 extends in the left - right direction and is connected to the rear end of the first arm 31 and the rear end of the second arm 32. The workpiece 5 attached to the adapter 6 is held by the work holder 30 by being inserted between the first arm 31 and the second arm 32. Here, when the workpiece 5 is held by the work holder 30, in other words, when the workpiece 5 is attached to the work holder 30, the workpiece 5 (specifically, the adapter 6 to which the workpiece 5 is attached) abuts against the connecting portion 33.

[0022] The workpiece 5 has, for example, a disk shape. The workpiece 5 is formed of material types such as zirconia, polymethyl methacrylate resin (PMMA), hybrid resin, PEEK (polyetheretherketone resin), and gypsum. When using zirconia as the material type of the workpiece 5, for example, semi-sintered zirconia is used. However, the shape and material of the workpiece 5 are not particularly limited.

[0023] The holder moving device 40 supports and moves the workpiece holder 30. In the present embodiment, the holder moving device 40 moves the workpiece holder 30 in the front-rear direction. More specifically, as shown in FIG. 2, the holder moving device 40 moves the workpiece holder 30 in the diagonally front-rear direction. When the workpiece holder 30 is moved forward by the holder moving device 40, it also moves upward. When the workpiece holder 30 is moved rearward by the holder moving device 40, it also moves downward. Hereinafter, the direction in which the workpiece holder 30 is moved by the holder moving device 40 is also referred to as the X-axis direction. The holder moving device 40 moves the workpiece holder 30 in the X-axis direction. The holder moving device 40 is an example of a moving device. Hereinafter, unless otherwise specified, the front in the X-axis direction is simply referred to as the front, and the rear in the X-axis direction is simply referred to as the rear. In the present embodiment, the X-axis direction is an example of the first direction. The front side in the X-axis direction is an example of one side of the first direction. As shown in FIG. 5, the holder moving device 40 is connected to the holder rotating device 50.

[0024] The holder moving device 40 includes a support arm 41 that extends in the left-right direction and supports the workpiece holder 30. As shown in FIG. 3, the holder moving device 40 includes an X-axis direction moving body 42 connected to the support arm 41, a pair of X-axis guide rails 43, and an X-axis direction drive motor 44. The holder moving device 40 moves the workpiece holder 30 in the X-axis direction by moving the support arm 41 in the X-axis direction. Here, a part of the X-axis direction moving body 42, the pair of X-axis guide rails 43, the X-axis direction drive motor 44, and the support arm 41 of the holder moving device 40 are accommodated in the drive device area A3.

[0025] A pair of X-axis guide rails 43 extends in the X-axis direction. The X-axis direction moving body 42 is slidably engaged with the pair of X-axis guide rails 43. The X-axis direction moving body 42 is configured to be movable in the X-axis direction along the X-axis guide rails 43. Although illustration is omitted, for example, the X-axis direction moving body 42 is connected to a ball screw. That is, the holder moving device 40 has a ball screw mechanism. The X-axis direction drive motor 44 rotates the ball screw. When the X-axis direction drive motor 44 is driven, the X-axis direction moving body 42 moves in the X-axis direction along the X-axis guide rails 43. Note that the holder moving device 40 is not limited to having a ball screw mechanism, and for example, it may have a timing belt or a wire.

[0026] As shown in FIG. 5, the support arm 41 includes a rotation shaft 41a that rotates around an axis Axb extending in the left-right direction, a first rotation arm 41b that is connected to the rotation shaft 41a so as to be orthogonal to the axis Axb and rotates in the front-rear direction together with the rotation shaft 41a, and a second rotation arm 41c that is connected to the first rotation arm 41b parallel to the axis Axb (in other words, orthogonal to the first rotation arm 41b). As shown in FIG. 3, a B-axis rotation motor 51B of a B-axis rotation device 50B described later is connected to the X-axis direction moving body 42. By the B-axis rotation motor 51B, the rotation shaft 41a (see FIG. 5) rotates around the axis Axb (see FIG. 5).

[0027] The holder rotating device 50 rotates the work holder 30. As shown in FIG. 5, the holder rotating device 50 includes an A-axis rotating device 50A that rotates the work holder 30 in the left-right direction, and a B-axis rotating device 50B (see FIG. 3) that rotates the work holder 30 in the front-rear direction. The A-axis rotating device 50A has an A-axis rotation motor 51A and a rotating shaft 52A. The A-axis rotation motor 51A is fixed to the second rotating arm 41c. The rotating shaft 52A is connected to the A-axis rotation motor 51A (specifically, the drive unit including the A-axis rotation motor 51A) and extends in the X-axis direction along the axis AXa. Here, the rear end of the rotating shaft 52A is connected to the A-axis rotation motor 51A. The front end of the rotating shaft 52A is connected to the work holder 30 (specifically, the central portion of the connecting portion 33 of the work holder 30). In the present embodiment, when the A-axis rotation motor 51A is driven, the rotating shaft 52A rotates around the axis Axa. As the rotating shaft 52A rotates, the work holder 30 rotates around the axis Axa, so that it can rotate in the left-right direction.

[0028] The B-axis rotating device 50B has a B-axis rotation motor 51B (see FIG. 3) and the above-described rotating shaft 41a (see FIG. 5). As shown in FIG. 3, the B-axis rotation motor 51B is connected to the X-axis direction moving body 42 as described above. As shown in FIG. 5, the rotating shaft 41a extends in the left-right direction. The right end of the rotating shaft 41a is connected to the B-axis rotation motor 51B. The left end of the rotating shaft 41a is connected to the work holder 30 via the first rotating arm 41b, the second rotating arm 41c, and the rotating shaft 52A. Here, when the B-axis rotation motor 51B is driven, the rotating shaft 41a rotates around the axis Axb. As the rotating shaft 41a rotates, the work holder 30 rotates around the axis Axb together with the first rotating arm 41b and the second rotating arm 41c, etc., so that it can rotate in the front-rear direction. Note that in the present embodiment, the B-axis rotating device 50B is an example of a rotating device.

[0029] The cutting device 20 shown in Fig. 2 is a device for machining a workpiece 5. The cutting device 20 machines the workpiece 5 by bringing the machining tool 8 into contact with the workpiece 5 while rotating the machining tool 8. The cutting device 20 includes a spindle 21, a tool gripping portion 22 that grips the machining tool 8, a spindle rotating device 23 that rotates the spindle 21, and a cutting movement device 24 that can move the spindle 21 in the left - right direction (here, the Y - axis direction) and the Z - axis direction. When the workpiece 5 is not being machined, the cutting device 20 is arranged in the storage area A2.

[0030] The spindle 21 rotates the tool gripping portion 22 and the machining tool 8 gripped by the tool gripping portion 22 about the longitudinal axis. The spindle 21 extends, for example, in the Z - axis direction. A spindle rotating device 23 is connected to the spindle 21. When the spindle rotating device 23 is driven, the spindle 21 rotates about the central axis extending in the Z - axis direction. Note that the configuration of the spindle rotating device 23 is not particularly limited and may be, for example, an electric motor or the like.

[0031] The tool gripping portion 22 grips the machining tool 8 and is provided on the spindle 21. In the machining machine 100, a plurality of machining tools 8 having different diameters and tool - edge shapes are prepared in advance. The plurality of machining tools 8 are stored in the tool stocker 45. The tool gripping portion 22 selectively grips one of the plurality of machining tools 8. As the spindle 21 rotates about the central axis extending in the Z - axis direction, the tool gripping portion 22 and the machining tool 8 gripped by the tool gripping portion 22 rotate about the central axis of the machining tool 8.

[0032] As shown in FIG. 2, an air blow device 28 is provided in the cutting device 20. The air blow device 28 is provided on the side of the spindle 21. The air blow device 28 injects air downward in the Z-axis direction from its lower end. The supply source of the air injected by the air blow device 28 is not particularly limited. For example, the supply source may be a compressor installed outside the cutting machine 100. By injecting air by the air blow device 28 during the cutting process of the workpiece 5, the cutting powder generated when cutting the workpiece 5 can be blown away. Also, cutting heat is generated during the cutting process, but since the air blow device 28 injects air toward the workpiece 5 and the machining tool 8, the workpiece 5 and the machining tool 8 can be cooled.

[0033] The cutting movement device 24 is a device that moves the spindle 21, the tool gripping portion 22, the spindle rotation device 23, and the air blow device 28 in the Z-axis direction and the left-right direction. Here, the left-right direction is a direction orthogonal to the X-axis direction and the Z-axis direction. Hereinafter, the left-right direction is also referred to as the Y-axis direction. The cutting movement device 24 is provided above the workpiece holder 30. By the cutting movement device 24 moving the spindle 21, the tool gripping portion 22, the spindle rotation device 23, and the air blow device 28 in the Y-axis direction and the Z-axis direction, and the holder movement device 40 moving the workpiece holder 30 in the X-axis direction, the positional relationship between the machining tool 8 and the workpiece 5 changes three-dimensionally. The spindle 21, the tool gripping portion 22, the spindle rotation device 23, and the air blow device 28 appear in the cutting area A1 or retract to the accommodation area A2 by moving in the Z-axis direction. Here, the cutting area A1 and the accommodation area A2 communicate with each other through the opening A1U. The opening A1U has a size that allows the spindle 21, the tool gripping portion 22, the spindle rotation device 23, and the air blow device 28 to pass through. When performing cutting on the workpiece 5, the cutting movement device 24 moves the spindle 21, the tool gripping portion 22, the spindle rotation device 23, and the air blow device 28 to the cutting area A1.

[0034] As shown in FIG. 2, the cutting movement device 24 includes a left - right movement device 24Y and an up - down movement device 24Z. When the left - right movement device 24Y is driven, the spindle 21, the tool gripping portion 22, the spindle rotation device 23, and the air blow device 28 move in the Y - axis direction. When the up - down movement device 24Z is driven, the spindle 21, the tool gripping portion 22, the spindle rotation device 23, and the air blow device 28 move in the Z - axis direction. Note that the configuration of the cutting movement device 24 is not particularly limited. For example, the left - right movement device 24Y may be composed of a guide rail extending in the Y - axis direction, a left - right moving body slidably engaged with the guide rail, a ball screw connected to the left - right moving body, an electric motor for rotating the ball screw, and the like. Also, the up - down movement device 24Z may be, for example, a mechanism having a ball screw similar to the left - right movement device 24Y.

[0035] As shown in FIG. 2, an exhaust duct 80 is provided at the rear and lower part of the case body 10. The exhaust duct 80 extends from the cutting area A1 inside the case body 10 to the outside of the case body 10. A dust collector 85 is installed outside the case body 10. The dust collector 85 is connected to the end of the exhaust duct 80 on the outside of the case body 10. The configuration of the dust collector 85 is not particularly limited, but for example, it has a fan. When the fan rotates, the dust collector 85 can suck cutting powder together with the air inside the cutting area A1 through the exhaust duct 80.

[0036] The tool stocker 45 is housed in the drive unit area A3 (see FIG. 3). As shown in FIG. 2, the tool stocker 45 is a box-shaped member capable of storing a plurality of processing tools 8 formed in a rod shape. The plurality of processing tools 8 are used appropriately according to, for example, the material of the workpiece 5 and the type of cutting. The tool stocker 45 is supported by the X-axis direction moving body 42 (see FIG. 3). Specifically, the tool stocker 45 is fixed to the upper surface of the X-axis direction moving body 42. Therefore, the holder moving device 40 is configured to be able to move the tool stocker 45 to the tool gripping position P1 located below the opening A1U and the tool exchange position P2 set in front of the tool gripping position P1. The tool exchange position P2 is set below the tool exchange area A4 (see FIG. 3). As shown in FIG. 3, an opening A4d is formed in the bottom wall A4D of the tool exchange area A4, which is located above the tool exchange position P2 (see FIG. 2) and opens in the Z-axis direction. The opening A4d is for the user to insert and remove the processing tool 8 into and from the tool stocker 45. When the holder moving device 40 is driven to move the tool stocker 45 to the tool exchange position P2, the user can access the tool stocker 45 from the tool exchange area A4 through the opening A4d.

[0037] FIG. 6 is a block diagram of the cutting machine 100 according to the present embodiment. In the present embodiment, the cutting machine 100 includes a control device 110. The control device 110 is a device that controls the cutting process for the workpiece 5. The configuration of the control device 110 is not particularly limited. The control device 110 is, for example, a microcomputer. The control device 110 includes, for example, an I / F, a CPU, a ROM, a RAM, and a storage device. The control device 110 is provided inside the case body 10. However, the control device 110 may be a computer or the like installed outside the case body 10. In this case, the control device 110 is communicably connected to a control board (not shown) of the cutting machine 100 via wire or wireless.

[0038] The control device 110 is communicably connected to the operation panel 90, the holder moving device 40 (specifically, the X-axis direction drive motor 44), the A-axis rotating device 50A (specifically, the A-axis rotation motor 51A), the B-axis rotating device 50B (specifically, the B-axis rotation motor 51B), the cutting device 20 (specifically, the spindle rotating device 23, the left and right moving device 24Y, the up and down moving device 24Z), the air blow device 28, the dust collector 85, and the detection mechanism 120 described later. The control device 110 controls the operation panel 90, the holder moving device 40, the A-axis rotating device 50A, the B-axis rotating device 50B, the cutting device 20, the air blow device 28, the dust collector 85, and the detection mechanism 120.

[0039] Incidentally, in the present embodiment, the replacement of the workpiece 5 held by the workholder 30 is manually performed by the user. FIG. 7 is a schematic diagram showing a state where the workholder 30 is disposed at the cutting position P3 and the replacement position P4. In FIGS. 7 to 10, the area on the left side of the dashed line is the cutting area A1, and the area on the right side of the dashed line is the area in front of the case body 10. Also, in FIGS. 7 to 10, the illustration of the adapter 6 is omitted. Here, the holder moving device 40 in FIG. 3 is configured to be able to move the workholder 30 to the cutting position P3 and the replacement position P4 as shown by the arrow A10 in FIG. 7. The cutting position P3 is the position of the workholder 30 when the workpiece 5 held by the workholder 30 is cut by the cutting device 20 (see FIG. 2). The cutting position P3 is a position below the opening A1U (see FIG. 2) in the cutting area A1. The replacement position P4 is the position of the workholder 30 when the user manually replaces the workpiece 5 held by the workholder 30. The replacement position P4 is within the cutting area A1 and is located on the front side in the X-axis direction with respect to the cutting position P3.

[0040] In this embodiment, as shown in FIG. 5, an adapter 6 is attached to a workpiece 5. In the following description, when simply referring to the workpiece 5, it means the workpiece 5 with the adapter 6 attached thereto. Also, as shown in FIG. 7, when a user attaches the workpiece 5 to the workholder 30, the direction in which the workpiece 5 is moved with respect to the workholder 30 is referred to as the holding direction D1. In this embodiment, the holding direction D1 is the direction from the front end to the rear end of the workholder 30 and is the direction from the front end to the rear end of the first arm 31 and the second arm 32. The holding direction D1 is parallel to the first arm 31 and the second arm 32 and is the same direction as the direction in which the first arm 31 and the second arm 32 extend. In this embodiment, for example, the workpiece 5 is arranged parallel to the first arm 31 and the second arm 32, and the workpiece 5 is moved in the holding direction D1 from the front of the first arm 31 and the second arm 32 toward between the first arm 31 and the second arm 32. By this, the workpiece 5 is sandwiched between the first arm 31 and the second arm 32, so that the workpiece 5 can be held by the workholder 30.

[0041] By the way, there are users of various heights. Therefore, the height of the line of sight may differ among users. Conventionally, when manually replacing the workpiece 5 held by the workholder 30, the rotation angle in the front-rear direction of the workholder 30 (i.e., around the axis Axb extending in the Y-axis direction), for example, the rotation angle of the holding direction D1 with respect to the X-axis direction (in other words, the angle formed by the X-axis direction and the holding direction D1) was fixed. Therefore, for users with different line-of-sight heights, it was difficult to remove the workpiece 5 from the workholder 30 and difficult to attach the workpiece 5 to the workholder 30.

[0042] Therefore, in the present embodiment, when the user replaces the workpiece 5 held by the workpiece holder 30 (hereinafter, simply referred to as replacement of the workpiece 5), the rotational orientation of the workpiece holder 30 is adjusted. Here, the rotational orientation of the workpiece holder 30 is adjusted when the workpiece holder 30 is disposed at the replacement position P4. Here, the rotational orientation of the workpiece holder 30 is, in other words, the orientation of the holding direction D1. FIGS. 8, 9, and 10 are schematic diagrams showing the rotational orientation of the workpiece holder 30 when the rotational angle R1 of the workpiece holder 30 is the first rotational angle R11, the second rotational angle R12, and the third rotational angle R13, respectively. As shown in FIG. 8, the rotational orientation of the workpiece holder 30 is represented by a predetermined rotational angle R1 formed between the X-axis direction and the holding direction D1. In the present embodiment, the left-right direction orientation (i.e., the rotational orientation around the axis Axa (see FIG. 5) extending in the X-axis direction) when the workpiece holder 30 is disposed at the replacement position P4 is the orientation of the workpiece holder 30 in which the first arm 31 and the second arm 32 are arranged in the left-right direction and have the same height.

[0043] In the present embodiment, as shown in FIGS. 8 to 10, a plurality of rotational angles R1 are set when replacing the workpiece 5, and the rotational orientation of the workpiece holder 30 can be adjusted in multiple steps. Here, when replacing the workpiece 5, the rotational orientation of the workpiece holder 30 can be adjusted in three steps. That is, there are three rotational angles R1 of the workpiece holder 30 when replacing the workpiece 5, the first rotational angle R11 (see FIG. 8), the second rotational angle R12 (see FIG. 9) different from the first rotational angle R11, and the third rotational angle R13 (see FIG. 10) different from the first rotational angle R11 and the second rotational angle R12. Here, the rotational angle R1, that is, the first rotational angle R11 to the third rotational angle R13 is 90 degrees or less. For example, the first rotational angle R11 in FIG. 8 is 0 degrees, and the directions of the X-axis direction and the holding direction D1 coincide. The second rotational angle R12 is larger than the first rotational angle R11. The third rotational angle R13 is larger than the first rotational angle R11 and larger than the second rotational angle R12. However, the number of angles set for the rotational angle R1 is not limited to three, and may be two or four or more.

[0044] In this embodiment, as shown in FIG. 6, the control device 110 includes a storage unit 111, an acquisition unit 112, a movement control unit 114, a rotation control unit 115, and an estimation unit 116. Each unit of the control device 110 may be configured by software or by hardware. Further, each unit of the control device 110 may be realized by one or a plurality of processors or by a circuit.

[0045] In this embodiment, as a method for determining the rotation direction (in other words, the rotation angle R1) of the workholder 30 when replacing the workpiece 5, there are a first determination method and a second determination method. The first determination method is a method for determining the rotation direction of the workholder 30 based on the rotation angle R1 specified by the user. The second determination method is a method for determining the rotation direction of the workholder 30 according to the height of the user's line of sight.

[0046] Next, a method for determining the rotation direction of the workholder 30 when replacing the workpiece 5 based on the rotation angle R1 specified by the user, which is the first determination method described above, will be described with reference to the flowchart of FIG. 11.

[0047] First, in step S101 of FIG. 11, the rotation angle R1 is obtained. Here, the obtaining unit 112 in FIG. 6 obtains the rotation angle R1 specified by the user. The obtaining source from which the obtaining unit 112 obtains the rotation angle R1 is not particularly limited. Also, the method by which the user specifies the rotation angle R1 is not particularly limited. For example, the user may specify the rotation angle R1 by operating the operation panel 90 shown in FIG. 1. Here, the user operates the operation panel 90 to switch the cutting machine 100 to the rotation angle specification mode. In the rotation angle specification mode, for example, the first rotation angle R11 to the third rotation angle R13 are associated with the number of times the input button 91 provided on the operation panel 90 is pressed. The user can specify the rotation angle R1 associated with the number of times the input button 91 is pressed by pressing one or more of the plurality of input buttons 91 once or multiple times. In the present embodiment, the obtaining unit 112 obtains the rotation angle R1 (here, any one of the first rotation angle R11 to the third rotation angle R13) specified by the user operating the operation panel 90.

[0048] Note that in the present embodiment, as shown in FIG. 1, a terminal 200 is communicably connected to the cutting machine 100. The terminal 200 is connected to the cutting machine 100 via, for example, the Internet 210. The terminal 200 is a terminal for operating the cutting machine 100, for example, a terminal for instructing the cutting machine 100 to cut the workpiece 5. The terminal 200 is realized by, for example, a desktop or laptop personal computer used by the user. The terminal 200 may be realized by a dedicated computer for the cutting machine 100 or may be realized by a general-purpose computer. Also, the terminal 200 may be a portable terminal such as a so-called smartphone or tablet terminal.

[0049] The user may specify any rotation angle R1 among the first rotation angle R11 to the third rotation angle R13 by operating the terminal 200. In this case, the information regarding the rotation angle R1 specified by the user is transmitted from the terminal 200 to the cutting machine 100 through the Internet 210. The acquisition unit 112 acquires the rotation angle R1 specified by the user by acquiring the information regarding the rotation angle R1 transmitted by the terminal 200. Note that the rotation angle R1 acquired by the acquisition unit 112 is stored in the storage unit 111 of FIG. 6.

[0050] Next, in step S103 of FIG. 11, the workholder 30 is moved to the exchange position P4 (see FIG. 7). The movement control unit 114 of FIG. 6 controls the holder moving device 40 so as to move the workholder 30 to the exchange position P4. Here, the movement control unit 114 controls the holder moving device 40 so that the workholder 30 moves between the cutting position P3 and the exchange position P4. In the present embodiment, after the workpiece 5 held by the workholder 30 is cut using the cutting device 20, the workholder 30 is disposed at the cutting position P3. Therefore, the movement control unit 114 moves the workholder 30 along the X-axis direction from the cutting position P3 toward the exchange position P4. Note that this step S103 may be executed before step S101.

[0051] Next, in step S105 of FIG. 11, the rotational orientation of the workholder 30 is adjusted. When the workpiece 5 held by the workholder 30 is replaced by the user, the rotation control unit 115 in FIG. 6 rotates the workholder 30 around the axis Axb (see FIG. 5) so that the workholder 30 is arranged in a rotational orientation in which the holding direction D1 is rotated by a predetermined rotation angle R1 from the X-axis direction. Here, the rotation control unit 115 controls the B-axis rotation device 50B (see FIG. 3) so that the workholder 30 is arranged in a rotational orientation rotated by the rotation angle R1 specified by the user and acquired by the acquisition unit 112. As shown in FIG. 9, for example, when the rotation angle R1 specified by the user is the second rotation angle R12, the rotation control unit 115 rotates the workholder 30 around the axis Axb so that the angle formed by the X-axis direction and the holding direction D1 becomes the second rotation angle R12. Here, the rotation control unit 115 rotates the workholder 30 in a state where the workholder 30 is arranged at the replacement position P4.

[0052] Note that in FIG. 11, step S105 may be executed before step S103. That is, the rotation control unit 115 may rotate the workholder 30 so that the angle formed by the X-axis direction and the holding direction D1 becomes the rotation angle R1 acquired by the acquisition unit 112 in a state where the workholder 30 is arranged at the cutting position P3. In this case, the movement control unit 114 moves the workholder 30 with a rotational orientation such as the rotation angle R1 from the cutting position P3 toward the replacement position P4. Even in this case, at the replacement position P4, the workholder 30 is arranged in a rotational orientation such that the angle formed by the X-axis direction and the holding direction D1 becomes the rotation angle R1.

[0053] After rotating the workholder 30 by the rotation control unit 115 in this manner, the user can replace the workpiece 5 held by the workholder 30. Here, as shown in FIG. 4, first, the slide cover 60 is slid upward to open the first opening 12a formed in the case body 10. At this time, through the first opening 12a, the cutting area A1 and the outside of the cutting machine 100 are in communication. The user puts a hand into the cutting area A1 through the first opening 12a and removes the workpiece 5 from the workholder 30. The user pulls the workpiece 5 toward the front side in the holding direction D1. At this time, the workpiece 5 moves toward the front side in the holding direction D1 while sliding with respect to the first arm 31 and the second arm 32. By this, the workpiece 5 can be removed from the workholder 30. After that, holding the workpiece 5 to be attached, the user moves the workpiece 5 backward in the holding direction D1 from the front of the first arm 31 and the second arm 32 toward between the first arm 31 and the second arm 32. At this time, the workpiece 5 moves toward the rear side in the holding direction D1 while sliding with respect to the first arm 31 and the second arm 32. Then, as shown in FIG. 5, when the workpiece 5 abuts against the connecting portion 33 of the workholder 30, it is attached to the workholder 30. After that, by sliding the slide cover 60 downward, the first opening 12a can be closed. In the above manner, the user can manually replace the workpiece 5.

[0054] Next, the above-described second determination method, that is, the method of determining the rotation direction (in other words, the rotation angle R1) of the workholder 30 according to the height of the user's line of sight will be described.

[0055] In performing this second determination method, as shown in FIG. 6, the machining machine 100 includes a detection mechanism 120. The detection mechanism 120 is a mechanism that detects a user located at a position facing the first opening 12a of the case body 10, here, a user in front of the case body 10. Here, the user in front of the case body 10 can be rephrased as a user who manually exchanges the workpiece 5 held by the workpiece holder 30 through the first opening 12a. Here, based on the detection result of the user detected by the detection mechanism 120, the height of the user's line of sight is estimated. Therefore, the detection mechanism 120 detects the position of the eyes (in other words, the height of the eyes) of the user.

[0056] Although not shown in the figure, the detection mechanism 120 is arranged on the front side of the cutting area A1 and detects a user in front of the case body 10 through the first opening 12a and the slide cover 60. However, as long as a user in front of the case body 10 can be detected, the arrangement position of the detection mechanism 120 is not particularly limited. For example, the detection mechanism 120 may be provided outside the cutting area A1 and on the front surface of the slide cover 60.

[0057] As long as the detection mechanism 120 can detect a user (specifically, the position of the user's eyes), its type is not particularly limited. In the present embodiment, the detection mechanism 120 is constituted by a camera. Here, the face of a user in front of the case body 10 is photographed by a camera which is an example of the detection mechanism 120. The result obtained by the detection mechanism 120 is an image. The image may be a still image or a moving image. Here, the detection mechanism 120 acquires an image in which the user's face is reflected. Based on the position of the eyes obtained from this image and the height at which the detection mechanism 120 is arranged, the height of the user's line of sight is estimated.

[0058] Hereinafter, a method for determining the rotational direction of the workpiece holder 30 when exchanging the workpiece 5 according to the height of the user's line of sight, which is the above-described second determination method, will be described with reference to the flowchart of FIG. 12.

[0059] First, in step S201 of FIG. 12, the estimation unit 116 in FIG. 6 estimates the height H2 of the line of sight of the user in front of the case body 10. Here, the estimation unit 116 estimates the height H2 of the line of sight of the user in front of the case body 10 based on the detection result of the detection mechanism 120. In the present embodiment, the estimation unit 116 transmits a detection signal to the detection mechanism 120. The detection mechanism 120 that has received the detection signal captures an image of the face of the user in front of the case body 10 to obtain an image. The image captured by the detection mechanism 120 is transmitted to the control device 110. The estimation unit 116 acquires the image captured by the detection mechanism 120 by receiving the transmitted image.

[0060] After that, the estimation unit 116 specifies the position of the user's eyes from the image using, for example, image processing techniques. In the present embodiment, the detection mechanism 120 is fixed to the case body 10. Therefore, the vertical position of the detection mechanism 120 is fixed. Here, in the storage unit 111 (see FIG. 6) of the control device 110, the vertical position of the detection mechanism 120, that is, the height at which the detection mechanism 120 is arranged, is stored in advance. The estimation unit 116 calculates the height H2 of the line of sight of the user in front of the case body 10 based on the position of the user's eyes in the image acquired from the detection mechanism 120 and the height of the detection mechanism 120.

[0061] Here, the height H2 of the user's line of sight can be rephrased as the height of the user's eyes. The height H2 of the user's line of sight is the height of the center of the eyes when the user faces forward, and is the height of the center of the eyes with respect to the workholder 30.

[0062] Next, in step S203 of FIG. 12, the movement control unit 114 in FIG. 6 controls the holder moving device 40 to move the workholder 30 to the replacement position P4. Note that since step S203 is the same control as step S103 in FIG. 11, a detailed description is omitted. Note that this step S203 may be executed before step S201.

[0063] Next, in step S205 of FIG. 12, the rotation control unit 115 in FIG. 6 rotates the work holder 30 to adjust the rotation direction. Here, the rotation control unit 115 determines a predetermined rotation angle R1 according to the height H2 of the line of sight of the user in front of the case body 10. The rotation control unit 115 determines the rotation angle R1 according to the height H2 of the line of sight of the user estimated by the estimation unit 116. Here, the rotation control unit 115 controls the B-axis rotation device 50B (see FIG. 3) according to the height H2 of the line of sight of the user estimated by the estimation unit 116. As shown in FIGS. 8 to 10, the rotation control unit 115 rotates the work holder 30 so that the rotation angle R1 is larger when the height H2 of the line of sight of the user estimated by the estimation unit 116 is equal to or higher than the reference height H1 than when it is less than the reference height H1. In the present embodiment, the rotation angle R1 has the first rotation angle R11 to the third rotation angle R13 and is adjusted in three steps. The rotation control unit 115 compares the height H2 of the line of sight of the user estimated by the estimation unit 116 with the reference height H1, and adjusts the rotation angle R1 of the work holder 30 in three steps.

[0064] Here, the reference height H1 is a value stored in advance in the storage unit 111 in FIG. 6. In the present embodiment, as shown in FIG. 8, the reference height H1 has the first reference height H11 and the second reference height H12. The specific values of the first reference height H11 and the second reference height H12 are not particularly limited and are set according to, for example, the cutting area A1 and the height of the work holder 30.

[0065] The second reference height H12 is higher than the first reference height H11. Here, as shown in FIG. 8, when the height H2 of the user's line of sight is less than the first reference height H11, the rotation control unit 115 determines the rotation angle R1 of the workpiece holder 30 to be the first rotation angle R11. As shown in FIG. 9, when the height H2 of the user's line of sight is equal to or greater than the first reference height H11 and less than the second reference height H12, the rotation control unit 115 determines the rotation angle R1 of the workpiece holder 30 to be the second rotation angle R12. Further, as shown in FIG. 10, when the height H2 of the user's line of sight is equal to or greater than the second reference height H12, the rotation control unit 115 determines the rotation angle R1 of the workpiece holder 30 to be the third rotation angle R13.

[0066] Here, the lower the height H2 of the user's line of sight estimated by the estimation unit 116, the smaller the rotation angle R1 of the workpiece holder 30 is set. Also, the higher the height H2 of the user's line of sight, the larger the rotation angle R1 of the workpiece holder 30 is set.

[0067] Note that step S205 in FIG. 12 may be executed before step S203. That is, in step S205, after the workpiece holder 30 is rotated by the rotation control unit 115 and the rotation direction is adjusted, in step S203, the movement control unit 114 may move the rotated workpiece holder 30 from the cutting position P3 to the replacement position P4.

[0068] In this way, after the workpiece holder 30 is rotated by the rotation control unit 115 in step S205, the user can replace the workpiece 5 held by the workpiece holder 30 in the same manner as in the case of the first determination method described above.

[0069] As described above, in the present embodiment, as shown in FIG. 2, the cutting machine 100 includes a work holder 30 that holds the workpiece 5, a case body 10, a B-axis rotation device 50B (see FIG. 3), and a control device 110 (see FIG. 6). As shown in FIG. 4, in the case body 10, a cutting area A1 in which the work holder 30 is accommodated and a first opening 12a that opens on one side in the X-axis direction (here, the front side) and communicates with the cutting area A1 are formed. As shown in FIG. 5, the B-axis rotation device 50B rotates the work holder 30 around an axis Axb extending in the Y-axis direction that intersects the X-axis direction in a plan view. The work holder 30 is configured to be able to hold the workpiece 5 when the user moves the workpiece 5 in the holding direction D1 (see FIG. 8) toward the work holder 30. As shown in FIG. 6, the control device 110 includes a rotation control unit 115. As in step S105 of FIG. 11, when the workpiece 5 held by the work holder 30 is exchanged by the user, the rotation control unit 115 rotates the work holder 30 around the axis Axb so that the work holder 30 is arranged in a rotation direction (for example, see FIG. 9) in which the holding direction D1 is rotated by a predetermined rotation angle R1 from the X-axis direction. By this, when the user manually exchanges the workpiece 5 held by the work holder 30, the rotation control unit 115 rotates the work holder 30 so that the work holder 30 is in a rotation direction in which it is easy for the user to exchange the workpiece 5. Therefore, it is possible to make it easier for the user to manually exchange the workpiece 5.

[0070] In this embodiment, a plurality of predetermined rotation angles R1 are set in advance. Here, the predetermined rotation angle R1 includes a first rotation angle R11 (see FIG. 8), a second rotation angle R12 different from the first rotation angle R11 (see FIG. 9), and a third rotation angle R13 different from the first rotation angle R11 and the second rotation angle R12 (see FIG. 10). The rotation control unit 115 rotates the work holder 30 in a rotation direction rotated by any one of the plurality of predetermined rotation angles R1 (here, the first rotation angle R11 to the third rotation angle R13) so that the work holder 30 is arranged. By this, the rotation angle R1 of the work holder 30 can be adjusted in multiple steps (three steps in this embodiment). Therefore, it is possible to easily adjust the rotation direction of the work holder 30 according to the user's request.

[0071] In this embodiment, the cutting machine 100 includes a cutting device 20 (see FIG. 2) that cuts the workpiece 5 held by the work holder 30, and a holder moving device 40 (see FIG. 5) that moves the work holder 30 in the X-axis direction. The holder moving device 40 is capable of moving the work holder 30 to a cutting position P3 (see FIG. 7) where the workpiece 5 held by the work holder 30 is cut, and an exchange position P4 (see FIG. 7) that is located on one side (here, the front side) in the X-axis direction from the cutting position P3 and where the workpiece 5 held by the work holder 30 is exchanged. As shown in FIG. 6, the control device 110 includes a movement control unit 114. The movement control unit 114 controls the holder moving device 40 so that the work holder 30 moves between the cutting position P3 and the exchange position P4 as in step S103 of FIG. 11. The rotation control unit 115 rotates the work holder 30 so that the work holder 30 is arranged in a rotation direction rotated by a predetermined rotation angle R1 when the work holder 30 is arranged at the exchange position P4. By this, when the work holder 30 is arranged at the exchange position P4, the rotation direction of the work holder 30 can be adjusted so that the user can easily exchange the workpiece 5. Therefore, in a state where the work holder 30 is arranged at the exchange position P4, the user can easily exchange the workpiece 5.

[0072] In this embodiment, as shown in FIG. 6, the control device 110 includes an acquisition unit 112. In the above-described first determination method, the acquisition unit 112 acquires a predetermined rotation angle R1 (here, any one of the first rotation angle R11 to the third rotation angle R13) specified by the user, as in step S101 of FIG. 11. The rotation control unit 115 rotates the work holder 30 so that the work holder 30 is arranged in the rotation direction rotated by the predetermined rotation angle R1 acquired by the acquisition unit 112, as in step S105 of FIG. 11. By this, the work holder 30 can be rotated at the rotation angle R1 specified by the user. Therefore, it is easy to set the rotation direction of the work holder 30 when replacing the workpiece 5 to the rotation direction desired by the user.

[0073] In this embodiment, the machine tool 100 includes a detection mechanism 120 (see FIG. 6) that detects a user located at a position facing the first opening 12a of the case body 10. As shown in FIG. 6, the control device 110 includes an estimation unit 116. In the above-described second determination method, the estimation unit 116 estimates the height H2 of the user's line of sight based on the detection result of the detection mechanism 120, as in step S201 of FIG. 12. The rotation control unit 115 determines a predetermined rotation angle R1 according to the height H2 of the user's line of sight estimated by the estimation unit 116 and rotates the work holder 30, as in step S205 of FIG. 12. By this, the work holder 30 can be rotated according to the height H2 of the user's line of sight. Therefore, since the rotation direction of the work holder 30 can be adjusted so that it is in a position where the user can easily see, the user can easily replace the workpiece 5.

[0074] In this embodiment, as shown in FIGS. 8 to 10, the rotation control unit 115 rotates the work holder 30 so that a predetermined rotation angle R1 is larger when the height H2 of the user's line of sight estimated by the estimation unit 116 is equal to or higher than the reference height H1 than when it is less than the reference height H1. By doing so, the higher the user's line of sight, the work holder 30 can be rotated so that the holding direction D1 approaches perpendicularity. Therefore, even when the user's line of sight is high, it is possible to facilitate the movement of the workpiece 5 toward the holding direction D1, and it is possible to facilitate the replacement of the workpiece 5.

[0075] In this embodiment, as shown in FIG. 5, the work holder 30 has a first arm 31 extending in the holding direction D1, and a second arm 32 extending in the holding direction D1 at a position spaced apart from the first arm 31 and sandwiching the workpiece 5 together with the first arm 31. Thus, the user can remove the workpiece 5 from the work holder 30 or attach it to the work holder 30 by moving the workpiece 5 in the holding direction D1 at a position where the workpiece 5 is sandwiched between the first arm 31 and the second arm 32.

Explanation of Reference Numerals

[0076] 5 Workpiece 10 Case body 12a First opening (opening) 20 Cutting device 30 Work holder (holding device) 31 First arm 32 Second arm 40 Holder moving device (moving device) 50B B-axis rotation device (rotation device) 100 Machine tool 110 Control device 112 Acquisition unit 114 Movement control unit 115 Rotation control unit 116 Estimation unit A1 Cutting area (area) D1 Holding direction R1 Predetermined rotation angle R11 First rotation angle R12 Second rotation angle R13 Third rotation angle X X-axis direction (first direction) Y Y-axis direction (second direction)

Claims

1. A holding device for holding a workpiece, an area in which the holding device is accommodated, and a case body having an opening formed on one side in a first direction and communicating with the area, a rotating device for rotating the holding device around an axis extending in a second direction intersecting the first direction in a plan view, a control device, comprising: the holding device is configured to be able to hold the workpiece by the user moving the workpiece in a holding direction toward the holding device, when the workpiece held by the holding device is exchanged by the user, the control device includes a rotation control unit that rotates the holding device around the axis so that the holding device is arranged in a rotation direction in which the holding direction is rotated by a predetermined rotation angle from the first direction, a machining machine.

2. A plurality of the predetermined rotation angles are set in advance, the rotation control unit rotates the holding device so that the holding device is arranged in a rotation direction rotated by any one of the plurality of predetermined rotation angles, the machining machine according to claim 1.

3. The predetermined rotation angle is a first rotation angle, a second rotation angle different from the first rotation angle, a third rotation angle different from the first rotation angle and the second rotation angle, having, the machining machine according to claim 2.

4. A cutting device for cutting the workpiece held by the holding device, a moving device for moving the holding device in the first direction, comprising: the moving device is configured to be able to move the holding device to a cutting position where the workpiece held by the holding device is cut and an exchange position located on one side in the first direction from the cutting position and where the workpiece held by the holding device is exchanged, the control device includes a movement control unit that controls the movement device so that the holding device moves between the cutting position and the exchange position, the rotation control unit rotates the holding device so that the holding device is arranged in a rotation direction rotated by the predetermined rotation angle when the holding device is arranged at the exchange position, the machining machine according to claim 1.

5. the control device includes an acquisition unit that acquires the predetermined rotation angle specified by the user, The rotation control unit rotates the holding device so that the holding device is arranged in a rotational orientation rotated by the predetermined rotation angle acquired by the acquisition unit, according to any one of claims 1 to 4 of the cutting machine.

6. It includes a detection mechanism that detects a user located at a position facing the opening of the case body. The control device includes an estimation unit that estimates the height of the user's line of sight based on the detection result of the detection mechanism. The rotation control unit determines the predetermined rotation angle according to the height of the user's line of sight estimated by the estimation unit, and rotates the holding device, according to any one of claims 1 to 4 of the cutting machine.

7. The rotation control unit rotates the holding device so that the predetermined rotation angle is larger when the height of the user's line of sight estimated by the estimation unit is equal to or higher than a reference height than when it is less than the reference height, according to the cutting machine described in claim 6.

8. The holding device has a first arm extending in the holding direction, and a second arm extending in the holding direction at a position spaced apart from the first arm and sandwiching the workpiece to be cut together with the first arm. The cutting machine according to claim 1.

Images