Working machinery and equipment

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 materials layer by layer based on 3D data created using 3D (Three-Dimensional)-CAD (Computer-Aided Design) or 3DCG (Computer Graphics), etc. to create a model (workpiece). 3D printers use a variety of modeling methods. For example, there are fused deposition modeling (FDM) 3D printers that build up workpieces by layering materials melted by heat. FDM 3D printers have a main spindle that moves a discharge part that discharges molten resin or other material in three dimensions (or two dimensions), and a control part that controls the main spindle moves the main spindle in three dimensions to create a workpiece.

[0003] Also known is a 3D printer in which a modeling device that dispenses material is moved in three dimensions 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] Japanese Patent Publication No. 2021-187076 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in 3D printers that move 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 reduce the modeling accuracy of the modeled 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 requires the robot arm to be made larger or heavier, which can result in the 3D printer becoming larger and the cost of the device increasing.

[0007] The present invention has been made in view of the above circumstances, and one object of the present invention is 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 device of the embodiment includes a modeling device that ejects material from an ejection nozzle to form a shape, a mounting part that fixes the position of the modeling device in three-dimensional space, a mounting table that places 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. [Effects of the Invention]

[0009] According to one embodiment of the present invention, a machine tool device includes a modeling device that ejects material from an ejection nozzle to create a model, a mounting section that fixes the position of the modeling device in three-dimensional space, a mounting table that places an object to be created by receiving the material ejected from the modeling device, a moving device that moves the mounting table in space in accordance with a modeling program for creating the object, and a control section that executes the modeling program, thereby improving the modeling accuracy of the object and reducing the cost of the device. [Brief explanation of the drawings]

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

[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 the various drawings 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 1 is a device that ejects material into a three-dimensional space defined by mutually orthogonal x-, y-, and z-axes to form a shape, such as a 3D printer. In FIG. 1, the x-axis is the left-right direction on the drawing, the y-axis is a direction (not shown) perpendicular to the plane of the drawing, and the z-axis is the up-down direction on the drawing. That is, FIG. 1 is a plan view on the xz plane. Details of the forming 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 clamping mechanism 111 has a clamping function for automatically changing a tool. "Clamping" refers to grasping or clamping. The clamping function is a function (device structure) used in, for example, an automatic tool changer (ATC) used in a machine tool such as a machining center. The clamping mechanism 111 automatically changes (attaches) (attaches) a tool to be used for machining from among multiple tools to the spindle 11. The shape of the clamping mechanism 111 is determined, for example, by the MAS standard (Japan Machine Tool Builders' Association standard), the DIN standard (Deutsche Industrie Normative Standard), or the ANS standard (American National Standards Institute standard) as an industrial standard for tapered shanks for ATC. The clamping 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 surfaces of the tool 2.

[0016] 1 shows the tool 2 clamped by the clamping mechanism 111, but the clamping mechanism 111 can clamp a modeling device instead of the tool 2. The clamping mechanism 111 can fix the position of the modeling device in a three-dimensional space formed 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 to be used in the modeling device when the modeling device is clamped by the clamping 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 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 the ATC mechanism, for example.

[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 workpieces by machining using tools or by molding using a molding device. The spindle 11 has a rotation mechanism (not shown) inside for rotating tools in the production area 14 or for 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 below. In this embodiment, the spindle 11 includes a casing with a rotation mechanism inside. 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. 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 that 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] Note that if the modeling device described below is a printer head used for FDM modeling, the modeling device can be a heat source because the material is melted by applying heat or pressure to the solid material. Meanwhile, the machining accuracy of mechanical parts such as the spindle 11 of the machine tool 1 or the workpiece may be reduced due to thermal expansion caused by temperature changes. The modeling device shutter 16 thermally isolates the modeling device, which is a heat source, from the production area 14, thereby preventing heat transfer to the production area 14. Furthermore, the tool shutter 15 and modeling device shutter 16 prevent contamination of the tool storage area 12 and modeling device storage area 13, respectively, due to cutting dust and other particles 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 the machine tool 1 in Fig. 1, mainly the spindle 11. Here, Fig. 2(A) shows a state in which a tool 2 is clamped in a clamping mechanism 111. Also, Fig. 2(B) shows a state in which a modeling device 3 is clamped in a clamping mechanism 111.

[0024] In FIG. 2(A), the main spindle 11 has a clamping mechanism 111, a material supplying part 112, and a power supplying part 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. Furthermore, the spindle 11 rotates the tool 2 clamped by the clamping mechanism 111 using 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, which will be 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.

[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 movement 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 shaped object to be shaped by the shaping device 3 and moves it in three dimensions.

[0028] In FIG. 2(B), a clamping 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 clamping mechanism 111. By automatically exchanging the tool 2 and the molding device 3, it becomes possible to continuously process materials and mold them in the same production area 14. Therefore, compared to when processing and molding are performed using separate devices, it is possible to reduce device costs, reduce the number of steps required for setting up the workpiece, improve device availability, and reduce costs by sharing programs used for machining.

[0029] The molding device 3 includes 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, the head portion of an FDM printer, which melts the supplied material and ejects the molten material from the 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 also use other methods used in 3D printers, such as a photolithography method in which ejected liquid material is hardened with ultraviolet light or the like, or a powder fixing method in which powder and binder are ejected and solidified.

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

[0032] When the modeling device 3 is clamped by the clamping mechanism 111, the material supply unit 112 faces the storage unit 32 and supplies material to the storage unit 32. By facing the material supply unit 112 and 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, a 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 through the hollow structure (for example, a flexible hose or the like). The material supply unit 112 may use, 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. Furthermore, 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 maintain 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 maintaining a constant amount of stored material, the supply of material can be automated.

[0035] A heating unit 322 is attached to the inclined portion 321 and heats the material stored in the storage unit 32. The heating unit 322 has a heater (shown by the dashed line) positioned diagonally upward inside the storage unit 32. This increases the area of ​​contact between the heater and the material, making it easier to melt the material. The heating unit 322 may be configured to heat (preheat) the material to approximately the melting temperature at which the material melts. Materials with high heat capacity are difficult to cool once their temperature rises, making temperature control by cooling difficult. Preheating the material in the heating unit 322 facilitates temperature control in the melting unit 34 and reduces the heating load in the melting unit 34, allowing the melting unit 34 to be made smaller. Alternatively, the heating unit 322 may heat the material to the temperature required for discharge, thereby eliminating the need to heat the material in the melting unit 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 may be referred to as the power supply mechanism. For example, even when the modeling device 3 is not clamped by the clamping mechanism 111, the machine tool 1 is considered to be equipped with a power supply mechanism (power supply unit 113A).

[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 contact-type connector mechanism can be used for the power supply mechanism 113. Using a contact-type connector mechanism simplifies the structure and makes it possible to supply power at low cost. Note that, for example, gold plating the contacts can stabilize the electrical resistance caused by the contacts.

[0038] Furthermore, the power supply mechanism 113 may use a non-contact (wireless) power supply system 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, thereby supplying power. For example, the power supply unit of the power supply unit 113A is provided with a power supply coil, and the power receiving unit of the power receiving unit 113B is provided with a power receiving coil, 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 system in the power supply mechanism 113, it is possible to prevent power supply problems caused by poor contact at the contact points.

[0039] Furthermore, 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 when the main shaft 11 rotates. For example, the generator may be one whose rotor rotates together with the rotation of the conveyance mechanism that discharges the material. Furthermore, the generator may be one whose rotor rotates by switching between the rotation of the conveyance mechanism that discharges the material and transmission of 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 rotational force can be transmitted when the modeling apparatus 3 is clamped by the clamping mechanism 111. For example, a control command may be used to rotate the rotation mechanism of power feeding unit 113A, which in turn rotates the rotation mechanism of power receiving unit 113B, thereby rotating the rotor of the generator. By generating electricity using a generator built into power receiving unit 113B, it is possible to omit the electrical connection between power feeding 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 an insulating layer, for example, like a thermos bottle, 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 changes in viscosity of the material due to changes 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 an internal screw and can transfer the material by rotating the screw. The rotation of the screw can be controlled by controlling the rotation of the spindle 11. That is, when the molding device 3 is clamped by the clamping mechanism 111, the screw of the transfer unit 35 rotates instead of the tool 2, thereby enabling the rotation of the screw to be controlled by controlling the rotation of the spindle 11. For example, the machine tool 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 material discharge to be controlled by the same control command as the rotation of the tool. The control command can be, for example, an M code of an NC program. An M code is a control command that defines an auxiliary function for machining in an NC program. M codes are defined, for example, in the Japanese Industrial Standards (JIS). 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 material, and the command "M05" stops the discharge of 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 material discharge without adding a new command to control the modeling device 3, which makes it possible to reduce the number of manufacturing steps.

[0042] Furthermore, the machine tool device 1 controls the amount of material discharged by controlling the rotational speed of the transport mechanism of the molding device 3 based on a control command for specifying the rotational speed of the tool. The control command for specifying the rotational 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 rotational 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 rotational 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, thereby reducing the number of manufacturing steps.

[0043] In the butler device 7, the XY moving device 71 is a movement 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, combining 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 both the XY moving device 71 and the robot arm 72, move the mounting table 73, and therefore may be referred to as a "moving device" in this embodiment.

[0044] The robot arm 72 can move on the XY plane using the XY moving device 71, and can grasp the mounting table 73 and move it three-dimensionally defined by the x-, y-, and z-axes. The robot arm 72 can also change the inclination of the mounting table 73 that it grasps. The inclination of the mounting table 73 refers to the inclination of the mounting surface of the mounting table 73 on which a model is placed. The robot arm 72 can, for example, keep the inclination of the mounting surface at 0, i.e., horizontal, while forming a model. The robot arm 72 can also make the mounting surface vertical during a material purging operation or a discharge nozzle 31 cleaning operation, 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 predetermined output (output torque for each axis) to move or hold the mounting table 73 it holds at a fixed position in three-dimensional space. In controlling the position of the robot arm 72, feedback control is performed to correct any discrepancies between the target position value and the current position. Feedback control repeats the following steps: 1: A position discrepancy (error) occurs with respect to the target position → 2: The error is detected → 3: The position is corrected. This causes minute vibrations during feedback control. Adjusting the time constant in the control system is effective in reducing vibrations during feedback control. For example, a load torque corresponding 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 (the load torque for each axis) is known in advance, gain adjustment can be performed by applying a bias torque corresponding to the weight of the mounting table 73 to each axis of the robot arm 72 in advance, thereby reducing vibrations of the mounting table 73 during 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 mounting table 73 is moved to mount (receive) the material dispensed from the molding device 3, which is fixed in position, and therefore the molding method using the Butler device 7 is referred to as the Butler method, and the molding system using the Butler device 7 is referred to as the Butler system. In the Butler system, the molding device 3 is fixed, so even if the molding device 3 becomes heavy, vibrations of the molding device 3 caused by movement of the molding device 3 do not occur, thereby improving the molding accuracy of the object and reducing 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 gripping device that grips the modeling device in the embodiment.

[0048] In FIG. 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 the modeling device storage area 13 can store multiple modeling devices 3. 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] Furthermore, 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 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 in 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 using 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 using 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 main shaft 11 (controlling rotation / stop and 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, controlling the heating of the heating unit 322 and melting unit 34, controlling the movement of the XY moving device 71, controlling the movement of the robot arm 72, and controlling the gripping of the gripping device 74, etc.

[0054] The modeling control unit 101 also calculates the amount of change in the weight of the model, calculates the amount of change in the center of gravity of the model, controls the purging operation of the material, or controls the cleaning operation of the discharge nozzle 31, as 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 automatic discharge of the formed object. 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 weight changes and center of gravity changes during the modeling process will be described with reference to Fig. 5. Fig. 5 is a diagram showing an example of a method for calculating weight changes and center of gravity changes in an 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. In this embodiment, the mounting table 73 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 the center of gravity 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 kept 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 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 (D1 / 2) as follows: 2 The discharge amount calculated from the rotation amount of the main shaft 11 of the molding device 3 can be used as *L1. Furthermore, the control unit 10 may 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 value based on the center of the material mt set in the molding program, and therefore there may be some error from the actual weight.

[0060] Furthermore, the center of gravity of the material mt over the length L1 is the center of gravity C1, which is the midpoint of the length L1. The control unit 10 can calculate the center of gravity on the placement surface 730 after the material mt has been dispensed over the length L1 as the center of gravity C01, which is the combination of the centers of gravity C0 and C1. When the robot arm 72 grasps 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 has been dispensed over the length L1, a load torque is generated according to the distance between the centers of gravity C00 and C01. The control unit 10 can prevent vibration of the placement table 73 by applying a bias torque according to the load torque generated as the center of gravity moves.

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

[0062] Furthermore, 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 as the center of gravity C02, which is the 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 vibration of the placement table 73 by applying a bias torque according to the load torque generated as the center of gravity moves.

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

[0064] In Figure 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 is sometimes referred to as a purging operation. Furthermore, the configuration of the machine tool apparatus 1 for performing the purging operation is sometimes referred to as a purging means.

[0065] For example, the temperature of the material melted by the heating unit 322 of the above-described modeling apparatus 3 decreases over time, and the material may change (solidify, oxidize, etc.) inside the discharge nozzle 31. Since the changed material cannot be used for modeling, it must be purged beforehand before modeling. The control unit 10 can purge the material by, for example, rotating the spindle 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 movement of the tray 731 can be performed, for example, by setting a new TCP (Tool Center Point) for the robot arm 72. The TCP is a coordinate system set according to the tool held by the robot arm 72. 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, which makes it easier to program the operation of the robot arm 72. 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, thereby reducing the number of steps required to change the tool being held.

[0068] Fig. 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 Figure 7, the mounting table 73 is inverted upside down from the state shown in Figure 6, so that the 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 tray 731 falls down and is collected in the waste tray 75. If the material collected in the tray 731 does not easily fall, for example, the tray 731 and the waste tray 75 may be brought into contact with each other to shake off the material. By collecting the purged material in the waste tray 75, it is possible to prevent the weight of the mounting table 73 from increasing and the center of gravity from shifting 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 this 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 material that has spilled over from the discharge nozzle 31 and adhered to the discharge nozzle 31. The wiping part 732 can be made of a material that easily transfers material that has adhered to the discharge nozzle 31, such as felt, sponge, or cloth.

[0072] The modeling apparatus 3 described in FIG. 2 discharges the material that has been heated and melted in the heating unit 322 (and melting unit 34) from the discharge nozzle 31 by rotating the spindle 11. However, the material that has melted and reduced in viscosity may drip from the discharge nozzle 31 even without rotating the spindle 11. The dripping material may adhere to the discharge nozzle 31 and clog the discharge nozzle 31 before modeling begins. Furthermore, 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 unit 732 is attached to the mounting table 73, and moves in the v direction while remaining in contact with the discharge nozzle 31 as the robot arm 72 moves the mounting table 73. The wiping unit 732 comes into contact with the discharge nozzle 31 when the robot arm 72 is in force mode. The force mode is a mode in which the robot arm 72 can press with a predetermined force in a predetermined direction. In force mode, the wiping unit 732 can be pressed against the discharge nozzle 31 with a constant force F regardless of the gap (positional relationship) between the wiping unit 732 and the discharge nozzle 31. By moving the mounting table 73 in the v direction, which is perpendicular to the direction of the force F, the robot arm 72 can clean the discharge nozzle 31 while pressing the wiping unit 732 against the discharge nozzle 31 with force F. This allows the material adhering to the discharge nozzle 31 to be transferred to a wide range of the wiping unit 732.

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

[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 one 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, which is fixed in position, 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 to perform the purging operation (Step S21). Whether to perform the purging operation may be determined based on, for example, the elapsed time since the end of the previous modeling operation, whether the material used for modeling has been changed, the temperature of the melted material, the number of modeling operations or the time, etc. When determining not to perform the purging operation (Step S21: NO), the control unit 10 ends the operation shown in the flowchart.

[0079] On the other hand, if it is determined that a 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 apparatus 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, for example, by TCP.

[0080] Next, the 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 this 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 ended, whether or not a purging operation has been performed, etc. When determining not to perform a cleaning operation (step S31: NO), the control unit 10 ends the operation shown in the flowchart.

[0082] On the other hand, if 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 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, for example, by 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 a 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 determines 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 determined 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 modeling operation should be started (step S41: YES), the control unit 10 starts modeling control (step S42). In the modeling control, the Butler system models the material, thereby improving the modeling accuracy of the modeled object. Details of the modeling control in step S42 will be described with reference to FIG. 13.

[0086] In FIG. 13, the control unit 10 starts a modeling operation in which material is discharged 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 are described as straight lines with lengths L1 and L2. The nodes may be set, for example, for each unit length (e.g., 1 cm). The node weight is the weight of 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 values ​​of the node weights and the node center of gravity, and corrects the output of the robot arm 72 based on the calculated accumulated values ​​of the node weights and 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 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 the modeling of all the nodes has been completed (Step S425). Whether the modeling of all the nodes has been completed can be determined, for example, by whether 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 determines 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, if an additional modeling process is to be performed, it can be determined that the modeling should not be ended. If it is determined that the modeling should not be ended (step S43: NO), the control unit 10 returns to step S42 and waits for the modeling to be ended.

[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 flowchart showing an example of the horizontal correction operation of the mounting table 73 in this embodiment.

[0092] 14, the control unit 10 determines whether to perform a horizontal correction operation for 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, making it less likely for errors to occur over time. However, the mounting table 73 is simply held by the robot arm, and feedback control that detects its horizontality (tilt of the mounting table 73) is not performed. For this reason, the horizontality of the mounting table 73 may be shifted due to a printing operation, etc. If the horizontality of the mounting table 73 is shifted, the entire object may tilt, which may result in a decrease in the printing accuracy of the object. Whether to perform the horizontal correction operation may be determined based on, for example, the past printing time, the number of times printing has been performed, or the weight of the object. If it is determined not to perform the horizontal correction operation (step S51: NO), the control unit 10 ends the operation shown in the flowchart.

[0093] On the other hand, if it is determined that a horizontal correction operation should be performed (step S51: YES), the control unit 10 raises the mounting table 73 to bring it into contact with the discharge nozzle 31, measures the gap between the discharge nozzle 31 and the mounting table 73, and confirms the horizontality of the mounting table 73 from the measured gap. The control unit 10 then confirms the horizontality of the mounting table 73 by bringing the discharge nozzle 31 into contact with the mounting table 73 at at least three points on the plane of the mounting table 73 (step S52). Note that when bringing the discharge nozzle 31 into contact with the mounting table 73, the control unit 10 can use the force mode of the robot arm 72. Using the force mode can prevent damage to the discharge nozzle 31, the mounting table 73, etc. due to contact.

[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 multiple gaps measured between the discharge nozzle 31 and the mounting table 73 are constant. Note that if there is a large difference between the multiple gaps, there is a possibility that there is a problem with 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). In this embodiment, the origin of the mounting table 73 can be set by, for example, TCP.

[0095] The above describes an embodiment of the present invention with reference to the drawings, but 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 Unit 101 Modeling control unit 102 Modeling device exchange control unit 11 Spindle 111 Clamping mechanism 112 Material supply section 113 Power Supply Mechanism 113A power supply 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 zone 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 Mounting table 730 Placement surface 731 saucer 732 Wiping section 74 Gripping device 75 Discarded Plates

Claims

1. a modeling device that discharges a material from a discharge nozzle to form a shape; a mounting portion to which the modeling device is attached, the mounting portion being fixed in position in three-dimensional space; a mounting table on which a model to be formed by receiving the material dispensed from the modeling device is placed; a moving device that moves the mounting table in the space in accordance with a modeling program for forming the object; a control unit that executes the modeling program; Equipped with The control unit calculating a change in weight of the object during the modeling process based on the weight of the material discharged from the modeling device; Sequentially correcting the load value of the stage in the moving device based on the calculated change in weight; the control unit further calculates a change in the center of gravity of the object during the modeling process, based on a discharge position on the placement table where the material is discharged from the modeling device and a weight of the material discharged at the discharge position; and The machine tool device successively corrects the load value and center of gravity position of the mounting table in the moving device based on the calculated amount of change in weight and amount of change in center of gravity.

2. The control unit The machine tool apparatus according to claim 1 , wherein the weight is calculated based on a volume of the material discharged from the molding apparatus and a specific gravity of one material selected from a plurality of materials registered in advance.

3. a purging means for purging the material remaining inside the modeling apparatus from the discharge nozzle; a tray for receiving the material purged by the purging means; The machine tool device according to claim 1, wherein the control unit, before performing modeling in the modeling device, moves the tray to the vicinity of the discharge nozzle using the moving device and performs an operation of receiving the material purged by the purging means in the tray.

4. The tray is attached so as to be movable by the moving device, 4. The machine tool device according to claim 3, wherein the control unit moves the moving device to move the tray to the vicinity of the discharge nozzle, and further causes the material purged into the tray by the purging means to fall to a predetermined position.

5. 5. The machine tool apparatus according to claim 4, wherein the tray is attached to the stage and is moved by the movement of the stage by the movement device.

6. a modeling device that discharges a material from a discharge nozzle to form a shape; a mounting portion to which the modeling device is attached, the mounting portion being fixed in position in three-dimensional space; a mounting table on which a model to be formed by receiving the material dispensed from the modeling device is placed; a moving device that moves the mounting table in the space in accordance with a modeling program for forming the object; a control unit that executes the modeling program; Equipped with Further provided is a wiping unit that wipes off the material adhering to the discharge nozzle, the control unit causes the wiping unit to contact the discharge nozzle and executes a cleaning operation of the discharge nozzle before performing modeling in the modeling apparatus; The wiping unit is attached so as to be movable by the moving device, The control unit performs the cleaning operation by bringing the wiping unit into contact with the discharge nozzle with a force determined in the force mode of the moving device and moving the wiping unit in a direction different from the direction of the force.

7. 7. The machine tool apparatus according to claim 6, wherein the wiping unit is attached to the stage and is moved by the movement device moving the stage.

8. a modeling device that discharges a material from a discharge nozzle to form a shape; a mounting portion to which the modeling device is attached, the mounting portion being fixed in position in three-dimensional space; a mounting table on which a model to be formed by receiving the material dispensed from the modeling device is placed; a moving device that moves the mounting table in the space in accordance with a modeling program for forming the object; a control unit that executes the modeling program; Equipped with the control unit measures a gap between the discharge nozzle and the stage by bringing the discharge nozzle into contact with the stage in a manner that allows the discharge nozzle to be pressed against the stage with a determined force in a predetermined direction, before performing modeling in the modeling device; The machine tool device corrects the horizontality of the mounting table based on the measured gap.

9. 9. The machine tool apparatus according to claim 8, wherein the control unit checks whether the stage is level by bringing the discharge nozzle into contact with the stage at least at three points on a plane of the stage.

Images