Parts catcher and processing machine

Abstract

To provide a parts catcher and a processing machine capable of moving a bucket to a desired retracted position. [Solution] The parts catcher comprises a bucket that can move between a receiving position that receives a machined part from a work support device of the processing machine and a retracted position, and a bucket moving device that moves the bucket between the receiving position and the retracted position by performing an operation that includes rotating the bucket around a first rotation axis and a second rotation axis that is non-parallel to the first rotation axis.

Description

[Technical Field]

[0001] The present invention relates to a parts catcher and a processing machine. [Background technology]

[0002] 2. Description of the Related Art A bucket is known that moves a workpiece machined using a lathe to a discharge position.

[0003] As a related technique, a workpiece discharging device is disclosed in Patent Document 1. The workpiece discharging device described in Patent Document 1 includes a workpiece bucket that is movable between a preparation position for receiving a cut-off machined workpiece and a discharge position, a second arm to which the workpiece bucket is attached, a first arm that supports the second arm rotatably about a rotation axis and rotates about a central axis parallel to the axis of the main spindle, and a biasing means that is disposed between the first arm and the second arm and biases the workpiece bucket to rotate toward the opposite discharge position. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 11-010407 Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide a parts catcher and a processing machine that are capable of moving a bucket to a desired retracted position. [Means for solving the problem]

[0006] An embodiment of the present invention relates to a parts catcher and a processing machine as described below.

[0007] (1) a bucket that is movable between a receiving position for receiving a machined part from a work support device of the processing machine and a retreat position; a bucket moving device that moves the bucket between the receiving position and the retracted position by performing an operation that includes rotating the bucket about a first pivot axis and a second pivot axis that is not parallel to the first pivot axis; Equipped with Parts catcher. (2) The bucket moving device moves the bucket between the receiving position and the retracted position by performing an operation further including moving the bucket in a direction along a first linear axis. The parts catcher according to (1) above. (3) The bucket moving device is A driving source; a power transmission mechanism that uses power from the drive source to rotate the bucket around the first rotation shaft and the second rotation shaft; Equipped with The parts catcher according to (1) or (2) above. (4) The power transmission mechanism uses the power of one of the driving sources to simultaneously rotate the bucket around the first rotation axis and the second rotation axis. The parts catcher described in (3) above. (5) The bucket moving device is a drive source that generates power in a direction along the first linear axis; a power transmission mechanism that uses power from the drive source to rotate the bucket around the first rotation shaft and the second rotation shaft; Equipped with The parts catcher described in (2) above. (6) The bucket moving device is A driving source; a linear motion mechanism that uses power from the drive source to move the bucket in a direction along a first linear axis; a first power transmission mechanism that converts power of the drive source into a first rotational motion of the bucket about the first rotation axis; a second power transmission mechanism that converts the power of the drive source into a second rotational motion of the bucket about the second rotation axis; Equipped with The parts catcher according to (1) above. (7) The bucket moving device is a first arm that moves along a first linear axis; a rotating body supported by the first arm so as to be rotatable about the first pivot axis; a second arm that is supported by the rotating body so as to be rotatable about the second rotating shaft and that supports the bucket; Equipped with The parts catcher according to (1) above. (8) a base that supports the first arm movably in a direction along the first linear axis; a power transmission mechanism that converts the linear motion of the first arm relative to the base into a rotational motion of the rotating body around the first rotation axis; Equipped with The parts catcher according to (7) above. (9) When the bucket moves from the receiving position to the retracted position, the center of gravity of the bucket either descends and then rises, or rises and then descends. A parts catcher according to any one of (1) to (8) above. (10) a work support device for supporting a work; a machining head that processes the workpiece using a tool or a laser to form a machined part; a moving device that moves the processing head relative to the workpiece supporting device; a bucket movable between a receiving position for receiving the machined part from the workpiece support device and a retracted position; a bucket moving device that moves the bucket between the receiving position and the retracted position by performing an operation that includes rotating the bucket about a first pivot axis and a second pivot axis that is not parallel to the first pivot axis; Equipped with processing machine. (11) The bucket moving device is a first arm that moves along a first linear axis; a rotating body supported by the first arm so as to be rotatable about the first pivot axis; a second arm that is supported by the rotating body so as to be rotatable about the second rotating shaft and that supports the bucket; Equipped with The processing machine according to (10) above. (12) a first adjustment mechanism that adjusts a first angular position of the bucket about the first pivot shaft when the bucket is located at the retracted position; a second adjustment mechanism that adjusts a second angular position of the bucket about the second pivot shaft when the bucket is located at the retracted position; Further provided with The processing machine according to (10) or (11) above. (13) The workpiece support device includes a rotation drive device that rotates the workpiece around a first axis, the bucket has an opening through which the machined part enters the bucket; When the bucket is located at the receiving position, the opening faces upward, When the bucket is located at the retracted position, the opening faces in a direction along the first axis. The processing machine according to any one of (10) to (12) above. (14) A partition is provided to separate the interior area of ​​the processing machine into a processing area and a part discharge area; a communication opening is formed in the partition to connect the processing area and the part discharge area; the bucket has an opening through which the machined part enters the bucket; When the bucket is located at the retracted position, the opening of the bucket faces the communication opening. The processing machine according to any one of (10) to (12) above. (15) The workpiece support device is A first workpiece supporting device; a second work support device capable of receiving the work from the first work support device; Equipped with The bucket positioned at the receiving position is capable of receiving the machined part from the second workpiece support device. The processing machine according to any one of (10) to (14) above. [Effects of the Invention]

[0008] The present invention can provide a parts catcher and a processing machine that can move a bucket to a desired retracted position. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic perspective view showing a parts catcher according to the first embodiment. [Figure 2] FIG. 2 is a schematic perspective view showing a state in which the bucket of the parts catcher is located at the receiving position. [Figure 3] FIG. 3 is a schematic perspective view showing the bucket moving to the retracted position. [Figure 4] FIG. 4 is a diagram schematically showing an example of a change in the position of the center of gravity of the bucket. [Figure 5] FIG. 5 is a diagram schematically showing another example of a change in the position of the center of gravity of the bucket. [Figure 6] FIG. 6 is a schematic perspective view showing a parts catcher according to the second embodiment. [Figure 7] FIG. 7 is a schematic perspective view showing a parts catcher according to the second embodiment. [Figure 8] FIG. 8 is a schematic perspective view showing a parts catcher according to the second embodiment. [Figure 9] FIG. 9 is a schematic perspective view showing an enlarged view of a part of the parts catcher and a part of the workpiece supporting device. [Figure 10] FIG. 10 is a diagram schematically showing a parts catcher according to the second embodiment. [Figure 11] FIG. 11 is an enlarged view of the portion surrounded by a rectangle A1 in FIG. [Figure 12] FIG. 12 is an enlarged view of the portion surrounded by the rectangle A2 in FIG. [Figure 13] FIG. 13 is a diagram schematically showing a part of a parts catcher in a first modified example of the second embodiment. [Figure 14] FIG. 14 is a schematic perspective view showing a part of the parts catcher. [Figure 15] FIG. 15 is a schematic perspective view showing a part of the parts catcher. [Figure 16] FIG. 16 is a schematic perspective view showing a part of the parts catcher. [Figure 17] FIG. 17 is a schematic perspective view showing the positional relationship between the workpiece supporting device and the parts catcher. [Figure 18] FIG. 18 is a schematic perspective view showing a state in which the bucket of the parts catcher is located at the receiving position. [Figure 19] FIG. 19 is a schematic perspective view showing the bucket moving to the retracted position. [Figure 20] FIG. 20 is a diagram schematically showing an example of a change in the position of the center of gravity of the bucket. [Figure 21] FIG. 21 is a diagram schematically showing how air is supplied to an air cylinder. [Figure 22] FIG. 22 is a diagram schematically showing how air is supplied to the air cylinder. [Figure 23] FIG. 23 is a schematic perspective view showing a processing machine according to the third embodiment. [Figure 24] FIG. 24 is a schematic front view showing a part of a processing machine according to the third embodiment. [Figure 25] FIG. 25 is a schematic front view showing a part of a processing machine in a first modified example of the third embodiment. [Figure 26] FIG. 26 is a schematic perspective view showing a part of a processing machine according to the third embodiment. [Figure 27] FIG. 27 is a schematic perspective view showing a part of a processing machine according to the third embodiment. [Figure 28]FIG. 28 is a schematic perspective view showing a part of a processing machine according to the third embodiment. [Figure 29] FIG. 29 is a schematic perspective view showing a part of a processing machine according to the third embodiment. [Figure 30] FIG. 30 is a schematic perspective view showing a part of a processing machine according to the third embodiment. [Figure 31] FIG. 31 is a diagram showing a schematic diagram of a state in which a control device can control a plurality of control target devices. [Figure 32] FIG. 32 is a schematic perspective view showing a part of a processing machine according to the third embodiment. [Figure 33] FIG. 33 is a diagram for explaining the first adjustment mechanism and the second adjustment mechanism. [Figure 34] FIG. 34 is a schematic cross-sectional view taken along the line A3-A3 in FIG. [Figure 35] FIG. 35 is a schematic perspective view showing a part of a processing machine according to the third embodiment. [Figure 36] FIG. 36 is a diagram schematically showing a part of a processing machine according to the third embodiment. [Figure 37] FIG. 37 is a diagram schematically showing a part of a processing machine according to the third embodiment. [Figure 38] FIG. 38 is a diagram schematically showing a part of a processing machine in a second modified example of the third embodiment. [Figure 39] FIG. 39 is a schematic perspective view showing a processing machine according to the fourth embodiment. [Figure 40] FIG. 40 is a schematic perspective view showing a part of a processing machine according to the fourth embodiment. [Figure 41] FIG. 41 is a diagram schematically showing a part of a processing machine according to the fourth embodiment. [Figure 42] FIG. 42 is a diagram schematically showing a part of a processing machine in a first modified example of the fourth embodiment. [Figure 43] FIG. 43 is a schematic perspective view showing a part of a processing machine according to the fourth embodiment. [Figure 44] FIG. 44 is a diagram schematically showing a part of a processing machine according to the fourth embodiment. [Figure 45] FIG. 45 is a schematic perspective view showing a part of a processing machine according to the fourth embodiment. [Figure 46] FIG. 46 is a schematic perspective view showing a part of a processing machine according to the fourth embodiment. [Figure 47] FIG. 47 is a diagram showing a schematic view of the bucket moving from the receiving position to the retracted position. [Figure 48] FIG. 48 is a diagram showing a schematic diagram of a state in which a control device can control a plurality of control target devices. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, the parts catcher 2 and the processing machine 1 according to the embodiment will be described with reference to the drawings. In the following description of the embodiment, parts and members having the same functions are denoted by the same reference numerals, and repeated description of parts and members denoted by the same reference numerals will be omitted.

[0011] (First embodiment) A parts catcher 2A according to a first embodiment will be described with reference to Figures 1 to 5. Figure 1 is a schematic perspective view showing the parts catcher 2A according to the first embodiment. Figure 2 is a schematic perspective view showing the bucket 21 of the parts catcher 2A in a state where it is located at the receiving position P1. Figure 3 is a schematic perspective view showing the bucket 21 moving to the retracted position P2. Figure 4 is a diagram showing a schematic example of a change in the position of the center of gravity G of the bucket 21. Figure 5 is a diagram showing another example of a change in the position of the center of gravity G of the bucket 21.

[0012] As illustrated in FIG. 1, a parts catcher 2A in the first embodiment includes a bucket 21 and a bucket moving device 3.

[0013] As illustrated in Figures 2 and 3, the bucket 21 is movable between a receiving position P1 (see Figure 2) where it receives the machined part PT from the work support device 6 of the processing machine, and a retracted position P2 (see Figure 3).

[0014] 3, the bucket moving device 3 moves the bucket 21 between the receiving position P1 and the retracted position P2 by performing an operation that includes rotating the bucket 21 about at least two rotation axes AT that are non-parallel to one another. In the example shown in FIG. 3, the bucket moving device 3 moves the bucket 21 between the receiving position P1 and the retracted position P2 by performing an operation that includes rotating the bucket 21 about a first rotation axis AT1 and a second rotation axis AT2 that is non-parallel to the first rotation axis AT1.

[0015] In the parts catcher 2A of the first embodiment, the bucket 21 is rotated around at least two rotation axes AT that are not parallel to one another. When the bucket 21 is rotated around two rotation axes that are parallel to one another, the movement of the bucket 21 is an up-and-down movement, whereas when the bucket 21 is rotated around at least two rotation axes AT that are not parallel to one another, the movement of the bucket 21 is a twisting movement. In the latter case, there is a large degree of freedom in setting the retracted position P2 of the bucket 21. Therefore, the bucket 21 can be moved to a desired retracted position P2.

[0016] (Optional configuration) Next, optional additional configurations that can be adopted in the parts catcher 2A in the first embodiment will be described with reference to FIGS.

[0017] (swivel axis AT) In the example shown in Fig. 1, the at least two pivot axes AT include a first pivot axis AT1 and a second pivot axis AT2 that is non-parallel to the first pivot axis AT1. In the example shown in Fig. 3, moving the bucket 21 between the receiving position P1 and the retracted position P2 includes (1) rotating the bucket 21 about the first pivot axis AT1, and (2) rotating the bucket 21 about the second pivot axis AT2 that is non-parallel to the first pivot axis AT1.

[0018] 3, the bucket moving device 3 simultaneously rotates the bucket 21 about the first rotation axis AT1 and about the second rotation axis AT2. In the example shown in Fig. 3, moving the bucket 21 between the receiving position P1 and the retracted position P2 includes simultaneously executing (1) rotating the bucket 21 about the first rotation axis AT1 and (2) rotating the bucket 21 about the second rotation axis AT2 that is not parallel to the first rotation axis AT1.

[0019] When the bucket 21 is rotated simultaneously around the first rotation axis AT1 and the second rotation axis AT2, the bucket 21 can be moved more quickly from the retracted position P2 to the receiving position P1. Furthermore, the movement trajectory of the bucket 21 can be made more compact than when the two rotation movements are performed separately. Furthermore, the distance between the bucket 21 (see FIG. 2) positioned at the receiving position P1 and the machined part PT (see FIG. 2) supported by the workpiece support device 6 can be set to a smaller distance while avoiding interference between the workpiece support device 6 and the bucket 21. As a result, when the machined part PT is received by the bucket 21, the machined part PT is prevented from bouncing against the bucket 21.

[0020] (Drive source M and power transmission mechanism T) 3, the bucket moving device 3 includes a drive source M and a power transmission mechanism T. The power transmission mechanism T uses the power of the drive source M to rotate the bucket 21 about the first rotation axis AT1 and a second rotation axis AT2 that is not parallel to the first rotation axis AT1. When the bucket 21 is rotated about the first rotation axis AT1 and the second rotation axis AT2 using the drive source M and the power transmission mechanism T, the bucket 21 can be moved to the desired retracted position P2 while making the space occupied by the bucket moving device 3 more compact.

[0021] In the example shown in Figure 3, the power of one drive source M is used to rotate the bucket 21 around the first rotation axis AT1 (hereinafter referred to as the "first rotation") and the bucket 21 around the second rotation axis AT2 (hereinafter referred to as the "second rotation").

[0022] When the first and second swings are performed using the power of one drive source M, the bucket 21 can be moved to the desired retracted position P2 while making the space occupied by the bucket moving device 3 even more compact.

[0023] The power transmission mechanism T may use the power of a single drive source M to rotate the bucket 21 about the first rotation axis AT1 and the second rotation axis AT2 that is not parallel to the first rotation axis AT1. When the first and second rotations are performed using the power of a single drive source M, the manufacturing cost of the bucket moving device 3 is reduced compared to when the first and second rotations are performed using the power of two drive sources. Furthermore, when the first and second rotations are performed using the power transmission mechanism T, the first and second rotations are mechanically synchronized. Therefore, compared to when the first and second rotations are synchronously performed using multiple control signals, unintended misalignment between the timing of the first and second rotations is less likely to occur. This more reliably prevents unintended contact between the bucket 21 and components of the processing machine.

[0024] In the first embodiment, two drive sources may be used instead of one drive source M and power transmission mechanism T. In other words, the first rotation and the second rotation described above may be performed using the power of two drive sources.

[0025] (Bucket 21 center of gravity G) 4, when the bucket 21 moves from the receiving position P1 to the retracted position P2, the center of gravity G of the bucket 21 descends and then rises. More specifically, when the bucket 21 moves from the receiving position P1 to the retracted position P2, the center of gravity G of the bucket 21 in the vertical direction descends from the height at the receiving position P1 to the lowest point and then rises from the lowest point to the height at the retracted position P2.

[0026] 5, when the bucket 21 moves from the receiving position P1 to the retracted position P2, the center of gravity G of the bucket 21 may rise and then fall. More specifically, when the bucket 21 moves from the receiving position P1 to the retracted position P2, the center of gravity G of the bucket 21 in the vertical direction may rise from the height at the receiving position P1 to the highest point and then fall from the highest point to the height at the retracted position P2.

[0027] When the center of gravity G of the bucket 21 descends and then rises (or when the center of gravity G of the bucket 21 rises and then descends), the difference in height between the highest point and the lowest point of the center of gravity G can be smaller than when the center of gravity consistently rises or consistently falls. In this case, less energy is required to move the bucket 21 carrying the machined part PT from the receiving position P1 to the retracted position P2. This allows the use of a drive source M with lower output and therefore a smaller drive source M.

[0028] (Second embodiment) A parts catcher 2B according to the second embodiment will be described with reference to FIGS. 6 to 22. FIGS. 6 to 8 are schematic perspective views showing the parts catcher 2B according to the second embodiment. FIG. 9 is a schematic perspective view showing an enlarged view of a portion of the parts catcher 2B and a portion of the workpiece support device 6. FIG. 10 is a diagram showing the parts catcher 2B according to the second embodiment. Note that FIG. 10 shows a cutout of a portion of the parts catcher 2B, illustrating a cross section of the cutout portion. FIG. 11 is an enlarged view of a portion surrounded by a rectangle A1 in FIG. 10. FIG. 12 is an enlarged view of a portion surrounded by a rectangle A2 in FIG. 10. FIG. 13 is a diagram showing a portion of the parts catcher 2B according to a first modified example of the second embodiment. Note that FIG. 13 shows a cutout of a portion of the parts catcher 2B, illustrating a cross section of the cutout portion. FIGS. 14 to 16 are schematic perspective views showing a portion of the parts catcher 2B. Fig. 17 is a schematic perspective view showing the relative positions of the workpiece support device 6 and the part catcher 2B. Fig. 18 is a schematic perspective view showing the state in which the bucket 21 of the part catcher 2B is located at the receiving position P1. Fig. 19 is a schematic perspective view showing the state in which the bucket 21 moves to the retracted position P2. Fig. 20 is a diagram showing an example of a change in the position of the center of gravity G of the bucket 21. Figs. 21 and 22 are diagrams showing the state in which air is supplied to the air cylinder M1.

[0029] In the second embodiment, differences from the first embodiment will be mainly described. On the other hand, in the second embodiment, repeated descriptions of matters already described in the first embodiment will be omitted. Therefore, it goes without saying that matters already described in the first embodiment can be applied to the second embodiment even if they are not explicitly described in the second embodiment. Furthermore, matters described in the second embodiment can also be adopted in the first embodiment.

[0030] 6 to 8, the part catcher 2B in the second embodiment includes: (1) a bucket 21 that is movable between a receiving position P1, which receives a machined part from a workpiece support device of a processing machine, and a retracted position P2; and (2) a bucket moving device 3 that moves the bucket 21 between the receiving position P1 and the retracted position P2 by performing an operation that further includes moving the bucket 21 in a direction along a first linear axis AS1. In the example shown in FIGS. 6 to 8, the bucket moving device 3 moves the bucket 21 between the receiving position P1 and the retracted position P2 by performing an operation that includes moving the bucket 21 in a direction along the first linear axis AS1 and rotating the bucket 21 about a first pivot axis AT1 and a second pivot axis AT2 that is not parallel to the first pivot axis AT1.

[0031] In the example shown in Figures 6 to 8, moving the bucket 21 between the receiving position P1 and the retracted position P2 includes (1) moving the bucket 21 in a direction along the first linear axis AS1, (2) rotating the bucket 21 around the first rotation axis AT1, and (3) rotating the bucket 21 around the second rotation axis AT2 that is not parallel to the first rotation axis AT1.

[0032] In the parts catcher 2B of the second embodiment, the bucket 21 is moved along the first linear axis AS1 and rotated about at least two rotation axes AT that are not parallel to each other. In this case, the retracted position P2 of the bucket 21 can be set with even greater freedom. Therefore, the bucket 21 can be moved to an even more desirable retracted position P2.

[0033] (Optional configuration) Next, optional additional configurations that can be adopted in the parts catcher 2B in the second embodiment will be described with reference to FIGS.

[0034] (swivel axis AT) In the example shown in Fig. 6, the at least two pivot axes AT include a first pivot axis AT1 and a second pivot axis AT2 that is non-parallel to the first pivot axis AT1. In the examples shown in Figs. 6 to 8, the bucket moving device 3 simultaneously rotates the bucket 21 about the first pivot axis AT1 and about the second pivot axis AT2. In the example shown in Figs. 6 to 8, moving the bucket 21 from the receiving position P1 to the retracted position P2 includes simultaneously performing (1) rotating the bucket 21 about the first pivot axis AT1 and (2) rotating the bucket 21 about the second pivot axis AT2 that is non-parallel to the first pivot axis AT1.

[0035] In the example shown in Figure 6, the second pivot axis AT2 is substantially perpendicular to the first pivot axis AT1. Alternatively, the second pivot axis AT2 may be inclined relative to the first pivot axis AT1. For example, the angle between the second pivot axis AT2 and the first pivot axis AT1 may be greater than or equal to 30 degrees and less than 90 degrees, greater than or equal to 60 degrees and less than 90 degrees, or greater than or equal to 75 degrees and less than 90 degrees.

[0036] In the example shown in FIGS. 6 to 8, when the bucket 21 moves from the receiving position P1 to the retracted position P2, the second pivot axis AT2 pivots around the first pivot axis AT1.

[0037] (1st linear axis AS1) 6 to 8, the first linear axis AS1 is substantially parallel to a plane perpendicular to the first pivot axis AT1. The first linear axis AS1 may be substantially parallel to a horizontal plane. Alternatively, the first pivot axis AT1 may be substantially perpendicular to the horizontal plane.

[0038] When the bucket 21 moves in a direction along the first linear axis AS1, rotates around the first pivot axis AT1, and rotates around the second pivot axis AT2, the movement stroke of the moving body in the direction along the first linear axis AS1 (more specifically, the movement stroke of the first arm 31 described below) can be made more compact than when only the bucket 21 moves in a direction along the first linear axis AS1 and rotates around a pivot axis parallel to the first linear axis AS1.

[0039] 6 to 8, movement of the bucket 21 in a direction along the first linear axis AS1, rotation of the bucket 21 about the first pivot axis AT1, and rotation of the bucket 21 about the second pivot axis AT2 are simultaneously performed. More specifically, moving the bucket 21 from the receiving position P1 to the retracted position P2 includes simultaneously performing (1) moving the bucket 21 in a direction along the first linear axis AS1, (2) pivoting the bucket 21 about the first pivot axis AT1, and (3) pivoting the bucket 21 about the second pivot axis AT2 that is not parallel to the first pivot axis AT1.

[0040] In this case, the bucket 21 can be moved more quickly from the receiving position P1 to the retracted position P2. Furthermore, the movement trajectory of the bucket 21 can be made more compact compared to when the linear movement and the two swinging movements are performed separately. Furthermore, the distance between the bucket 21 located at the receiving position P1 (see FIG. 18) and the machined part PT (see FIG. 18) supported by the workpiece support device 6 can be set to a smaller distance while avoiding interference between the workpiece support device 6 and the bucket 21. As a result, when the machined part PT is received by the bucket 21, the machined part PT is prevented from bouncing against the bucket 21.

[0041] (Drive source M and power transmission mechanism T) 6 to 8, the bucket moving device 3 includes a drive source M and a power transmission mechanism T. The power transmission mechanism T uses power from the drive source M to rotate the bucket 21 about the first rotation axis AT1 and a second rotation axis AT2 that is not parallel to the first rotation axis AT1. When the bucket 21 is rotated about the first rotation axis AT1 and the second rotation axis AT2 using the drive source M and the power transmission mechanism T, the bucket 21 can be moved to the desired retracted position P2 while making the space occupied by the bucket moving device 3 more compact.

[0042] In the example shown in Figures 6 to 8, the power of one driving source M is used to perform linear movement of the bucket 21 (more specifically, movement of the bucket 21 in a direction along the first linear axis AS1), a first rotation of the bucket 21 around the first rotation axis AT1, and a second rotation of the bucket 21 around the second rotation axis AT2.

[0043] When the linear movement of the bucket 21 (more specifically, the movement of the bucket 21 in the direction along the first linear axis AS1), the first rotation of the bucket 21, and the second rotation of the bucket 21 are performed using the power of one drive source M and the power transmission mechanism T, the bucket 21 can be moved to the desired retracted position P2 while making the space occupied by the bucket moving device 3 even more compact.

[0044] When the linear movement of the bucket 21, the first swing of the bucket 21, and the second swing of the bucket 21 are performed using the power of a single drive source M and the power transmission mechanism T, the manufacturing costs of the bucket moving device 3 are reduced compared to when these operations are performed using the power of multiple drive sources. As illustrated in FIGS. 6 to 8 , the power transmission mechanism T may simultaneously swing the bucket 21 around the first swing axis AT1 and the second swing axis AT2 using the power of a single drive source M. When the linear movement, the first swing, and the second swing are performed using the power of a single drive source M and the power transmission mechanism T, unintended discrepancies are less likely to occur between the timing of the linear movement, the timing of the first swing, and the timing of the second swing. This more reliably prevents unintended contact between the bucket 21 and components of the processing machine.

[0045] In the second embodiment, multiple drive sources may be used instead of using one drive source M and power transmission mechanism T. In other words, the linear movement, the first rotation, and the second rotation may be performed using the power of multiple drive sources.

[0046] 6, the bucket moving device 3 includes a drive source M and a power transmission mechanism T. In the examples shown in Fig. 6 to Fig. 8, the drive source M and the power transmission mechanism T simultaneously move the bucket 21 in a direction along the first linear axis AS1, rotate the bucket 21 about the first rotation axis AT1, and rotate the bucket 21 about the second rotation axis AT2.

[0047] In the example shown in FIGS. 8 and 9, the bucket moving device 3 includes a drive source M, a linear motion mechanism J, and a power transmission mechanism T.

[0048] The linear motion mechanism J uses power from the drive source M to move the bucket 21 in a direction along the first linear axis AS1. The linear motion mechanism J includes a linear guide J1. The linear guide J1 may include a rail J11 and a slider J12 that moves along the rail J11.

[0049] In the example shown in Fig. 10, the power transmission mechanism T includes a first power transmission mechanism T1 and a second power transmission mechanism T2. The first power transmission mechanism T1 converts the power of the drive source M into a first rotational motion of the bucket 21 about a first rotational axis AT1. The first power transmission mechanism T1 includes gears and the like. The second power transmission mechanism T2 converts the power of the drive source M into a second rotational motion of the bucket 21 about a second rotational axis AT2. The second power transmission mechanism T2 includes gears and the like.

[0050] (First arm 31, rotating body 34, second arm 37) In the example shown in Figure 10, the bucket moving device 3 includes (1) a first arm 31 that moves along a first linear axis AS1, (2) a rotating body 34 that is supported by the first arm 31 so as to be rotatable around a first rotating axis AT1, and (3) a second arm 37 that is supported by the rotating body 34 so as to be rotatable around a second rotating axis AT2 and supports the bucket 21.

[0051] The first arm 31 and the rotating body 34 are used to suitably execute the first swing motion of the bucket 21. In the example shown in Fig. 10, the power transmission mechanism T (more specifically, the first power transmission mechanism T1) converts the linear motion of the first arm 31 into the first swing motion of the rotating body 34 about the first swing axis AT1.

[0052] The use of the rotating body 34 and the second arm 37 facilitates the second rotational motion of the bucket 21. In the example shown in Fig. 10, the second power transmission mechanism T2 converts the first rotational motion of the rotating body 34 about the first rotational axis AT1 into the second rotational motion of the second arm 37 about the second rotational axis AT2.

[0053] 10, the first arm 31 extends along a first linear axis AS1. More specifically, the longitudinal direction of the first arm 31 is substantially parallel to the first linear axis AS1.

[0054] 11, the rotating body 34 is supported by the tip end 31e of the first arm 31. The rotating body 34 may include an intermediate arm 341 extending along the first rotation axis AT1. In the example shown in FIG. 11, the intermediate arm 341 includes a rotating shaft 341s (more specifically, a hollow rotating shaft 341s).

[0055] In the example shown in Fig. 11, the bucket moving device 3 includes a fixed shaft 39 fixed to the tip end 31e of the first arm 31. As shown in Fig. 11, the fixed shaft 39 may be configured by an assembly of multiple members. In the example shown in Fig. 11, the rotating shaft 341s is rotatable around a first rotation axis AT1 relative to the fixed shaft 39.

[0056] A base end 34b of the rotating body 34 is supported by the first arm 31 so as to be rotatable about a first rotation axis AT1. A tip end 34e of the rotating body 34 supports a second arm 37 so as to be rotatable about a second rotation axis AT2.

[0057] 11, bevel gears BG (more specifically, a first bevel gear BG1 and a second bevel gear BG2) described below are arranged inside the tip end 34e of the rotating body 34. In the example shown in FIG. 11, a base end 37b of the second arm 37 is arranged inside the tip end 34e of the rotating body 34.

[0058] 10, when bucket 21 is located at receiving position P1, second arm 37 extends obliquely downward from revolving unit 34. In the example shown in FIG. 8, when bucket 21 is located at retracted position P2, second arm 37 extends substantially horizontally from revolving unit 34.

[0059] (Base 48) 9, the parts catcher 2B includes a base 48 that supports the bucket moving device 3. In the example shown in Fig. 9, the base 48 supports the first arm 31 so that the first arm 31 is movable in a direction along the first linear axis AS1. More specifically, the base 48 supports the first arm 31 via a linear guide J1.

[0060] The use of the base 48 and the first arm 31 (more specifically, the use of the base 48, the linear guide J1, and the first arm 31) allows the bucket 21 to be suitably moved linearly. In the example shown in FIG. 9, a rail J11 is fixed to the base 48, and a slider J12 is fixed to the first arm 31.

[0061] As illustrated in FIG. 18, the base 48 may have a bracket 481 that is attached to the workpiece support device 6.

[0062] (First power transmission mechanism T1) 10, power transmission mechanism T (more specifically, first power transmission mechanism T1) converts the linear movement of first arm 31 relative to base 48 into a first rotational movement of rotating body 34 about first rotation axis AT1. By using base 48, first arm 31, and rotating body 34, the linear movement of bucket 21 and the first rotational movement of bucket 21 are suitably executed.

[0063] In the example shown in FIG. 12, the first power transmission mechanism T1 includes a first gear GE1. In the example shown in FIG. 12, the first gear GE1 moves together with the first arm 31 in a direction along the first linear axis AS1. The first power transmission mechanism T1 may include a plurality of teeth that mesh with the first gear GE1. In the example shown in FIG. 12, the first power transmission mechanism T1 includes a rack RA that meshes with the first gear GE1. Furthermore, the rack RA includes a plurality of teeth that mesh with the first gear GE1. The rack RA may be fixed to the base 48.

[0064] 12, the first power transmission mechanism T1 includes a flexible member B (e.g., a belt B1, a wire, a chain, or the like) that converts the rotation of the first gear GE1 about the rotation axis AT3 into the rotation of the rotating body 34 about the first pivot axis AT1. The flexible member B may be replaced with a plurality of gears. In other words, the first power transmission mechanism T1 may include a plurality of gears that convert the rotation of the first gear GE1 about the rotation axis AT3 into the rotation of the rotating body 34 about the first pivot axis AT1.

[0065] In the example shown in Figures 11 and 12, the first power transmission mechanism T1 includes a first pulley PU1 (see Figure 12) rotatable around a rotation axis AT3, a second pulley PU2 (see Figure 11) rotatable around a first rotation axis AT1, and a flexible member B (e.g., a belt B1, a wire, a chain, etc.) that connects the first pulley PU1 and the second pulley PU2 so as to transmit power.

[0066] 11, the flexible member B (e.g., belt B1, wire, chain, etc.) may be omitted. In this case, the rotating body 34 may include the above-described first gear GE1. In other words, the first gear GE1 may be arranged to be rotatable around the first pivot axis AT1.

[0067] At least a part of the first power transmission mechanism T1 may employ a link mechanism, a crank mechanism, a cam mechanism, etc. For example, instead of the rack RA and the first gear GE1, a link mechanism, a crank mechanism, a cam mechanism, etc. may be employed.

[0068] The first power transmission mechanism T1 may include a first booster mechanism T1-1. In the example shown in Figures 11 and 12, the first booster mechanism T1-1 includes a first gear GE1 (see Figure 12) having a first outer diameter and a first bevel gear BG1 (see Figure 11) having a second outer diameter smaller than the first outer diameter.

[0069] (Second power transmission mechanism T2) In the example shown in FIG. 11, the second power transmission mechanism T2 converts the first rotational motion of the rotating body 34 about the first rotational axis AT1 into the second rotational motion of the second arm 37 about the second rotational axis AT2.

[0070] In the example shown in FIG. 11 , the second power transmission mechanism T2 includes a bevel gear BG. More specifically, the second power transmission mechanism T2 includes a first bevel gear BG1 through which the first pivot axis AT1 passes and a second bevel gear BG2 through which the second pivot axis AT2 passes. The second bevel gear BG2 meshes with the first bevel gear BG1. The second bevel gear BG2 is rotatable about the second pivot axis AT2. The second bevel gear BG2 is also rotatable about the first pivot axis AT1. When the bucket 21 moves between the receiving position P1 and the retracted position P2 (more specifically, when power is transmitted from the rotating body 34 to the second arm 37), the second bevel gear BG2 rotates about the second pivot axis AT2 while rotating about the first pivot axis AT1.

[0071] 11, the fixed shaft 39 disposed at the tip 31e of the first arm 31 includes a first bevel gear BG1, and the second arm 37 includes a second bevel gear BG2. As illustrated in Fig. 11, the first bevel gear BG1 may be disposed at the tip 39e of the fixed shaft 39. In the example illustrated in Fig. 11, when power is transmitted from the rotating body 34 to the second arm 37, the first bevel gear BG1 does not rotate around the first rotation axis AT1.

[0072] A universal joint may be employed in at least a part of the second power transmission mechanism T2. For example, a universal joint may be employed instead of the bevel gear BG. One end of the universal joint is connected to the rotating body 34, and the other end of the universal joint is connected to the second arm 37. The universal joint converts the rotational motion of the rotating body 34 about the first rotation axis AT1 into the rotational motion of the second arm 37 about the second rotation axis AT2.

[0073] A flexible shaft may be employed for at least a part of the second power transmission mechanism T2. For example, a flexible shaft may be employed instead of the bevel gear BG. One end of the flexible shaft is connected to the rotating body 34, and the other end of the flexible shaft is connected to the second arm 37. The flexible shaft converts the rotational motion of the rotating body 34 about the first rotation axis AT1 into the rotational motion of the second arm 37 about the second rotation axis AT2.

[0074] The second power transmission mechanism T2 may include a second booster mechanism T2-1. In the example shown in Fig. 11, the second booster mechanism T2-1 includes a first bevel gear BG1 having a second outer diameter and a second bevel gear BG2 having a third outer diameter larger than the second outer diameter. The third outer diameter is, for example, approximately twice the second outer diameter.

[0075] As illustrated in FIGS. 6 to 8 (or as illustrated in FIG. 3), the second power transmission mechanism T2 converts a first rotation angle of the rotating body 34 about the first rotation axis AT1 into a second rotation angle of the second arm 37 about the second rotation axis AT2. The second rotation angle may be smaller than the first rotation angle. The second rotation angle is, for example, approximately half of the first rotation angle. The first rotation angle of the rotating body 34 about the first rotation axis AT1 when the bucket 21 moves from the receiving position P1 to the retracted position P2 is, for example, approximately 180 degrees. The second rotation angle of the second arm 37 about the second rotation axis AT2 when the bucket 21 moves from the receiving position P1 to the retracted position P2 is, for example, approximately 90 degrees.

[0076] (Drive source M) 10, the bucket moving device 3 includes a drive source M that generates power in a direction along the first linear axis AS1, and a power transmission mechanism T that uses the power of the drive source M to rotate the bucket 21 about the first pivot axis AT1 and a second pivot axis AT2 that is not parallel to the first pivot axis AT1. In this case, the bucket 21 moves smoothly in the direction along the first linear axis AS1. Furthermore, the linear movement of the bucket 21 in the direction along the first linear axis AS1 and the twisting movement of the bucket 21 can be suitably combined.

[0077] In the example shown in FIG. 10, the driving source M includes an air cylinder M1. Alternatively, the driving source M may include a hydraulic cylinder or an electric cylinder. When the driving source M is an air cylinder M1, the environmental impact is reduced compared to when the driving source M is a hydraulic cylinder. The air cylinder M1 (or a hydraulic cylinder, an electric cylinder, etc.) has a rod RD and a cylinder body MB that moves the rod RD back and forth along the first linear axis AS1. When the longitudinal direction of the rod RD of the air cylinder M1 is arranged along the first linear axis AS1, a long stroke of the rod RD can be ensured. In the example shown in FIG. 10, the tip end of the rod RD is connected to the first arm 31. Furthermore, the cylinder body MB is fixed to a base 48.

[0078] Alternatively, the drive source M may include a motor. The motor may rotate a ball screw extending along the first linear axis AS1. In this case, the motor may be fixed to the base 48, and a slider that threads onto the ball screw may be connected to the first arm 31.

[0079] In the example shown in FIG. 10, a driving source M (e.g., an air cylinder M1) applies a driving force to the first arm 31 in a direction along the first linear axis AS1. Alternatively, as shown in FIG. 13, the driving source M may apply a rotational driving force to the first gear GE1 about the rotation axis AT3. In the example shown in FIG. 13, the driving source M includes a motor M2. The output shaft of the motor M2 is directly connected to the first gear GE1.

[0080] (Connection part 27) 14, the parts catcher 2B includes a connecting portion 27 that connects the bucket 21 and the bucket moving device 3. More specifically, the connecting portion 27 includes a first member 27a fixed to the bucket 21 and a second member 27b fixed to the second arm 37. The first member 27a is attached to the second member 27b.

[0081] The first member 27a may be detachable from the second member 27b. In this case, maintenance of the bucket 21 (for example, cleaning of the bucket 21) is easy. Also, it is easy to replace the bucket 21 with another bucket. The bucket 21 may be replaced with a bucket of a different size. The old bucket 21 may be replaced with a new bucket.

[0082] 14 and 15, the attachment position of the first member 27a relative to the second member 27b may be adjustable. In this case, as illustrated in Figures 17 and 18, the attachment position of the first member 27a relative to the second member 27b can be changed depending on the shape of the work support device 6 (for example, the shape of the claws 64 that grip the work) or the type of work supported by the work support device 6. In the example shown in Figures 14 and 15, the attachment position of the first member 27a relative to the second member 27b can be adjusted in the direction along the longitudinal direction of the bucket 21.

[0083] 14 and 15, the first member 27a is slidable relative to the second member 27b. More specifically, the first member 27a is slidable relative to the second member 27b in a direction along the longitudinal direction of the bucket 21. The first member 27a slides relative to the second member 27b, thereby changing the attachment position of the first member 27a relative to the second member 27b.

[0084] One of the first member 27a and the second member 27b may include a rod-shaped body 271, and the other of the first member 27a and the second member 27b may include a slider 272 that is slidable relative to the rod-shaped body 271 along the longitudinal direction of the rod-shaped body 271. The slider 272 may also be tiltable around the rod-shaped body 271. In this case, the attitude of the bucket 21 with respect to the second arm 37 can be adjusted by tilting the slider 272 around the rod-shaped body 271.

[0085] 14 and 15, the first member 27a includes a rod-shaped body 271, and the second member 27b includes a slider 272. Alternatively, the first member 27a may include a slider, and the second member 27b may include a rod-shaped body.

[0086] 15, the connecting portion 27 includes a fixing member F1 (for example, a bolt) that fixes the first member 27a to the second member 27b. In the example shown in Fig. 15, the fixing member F1 fixes the slider 272 to the rod-shaped body 271. More specifically, the fixing member F1 fixes the position of the slider 272 relative to the rod-shaped body 271 in a direction along the longitudinal direction of the rod-shaped body 271, and the tilt angle of the slider 272 around the rod-shaped body 271.

[0087] 14 and 15, the first member 27a (e.g., rod-shaped body 271) is attached to the bottom wall 22 of the bucket 21. Alternatively, the first member 27a (e.g., rod-shaped body 271) may be attached to the side wall 23 of the bucket 21.

[0088] (Bucket 21) 16, the bucket 21 has a bottom wall 22, a side wall 23, and an opening OP through which the machined part PT enters the bucket 21. In the example shown in FIG. 16, the opening OP is defined by an upper edge 23e of the side wall 23.

[0089] The side walls 23 of the bucket 21 include a first side wall 23a and a second side wall 23b that is continuous with the first side wall 23a. The side walls 23 of the bucket 21 may also include a third side wall 23c that is continuous with the first side wall 23a. In the example shown in FIG. 16, the third side wall 23c is disposed opposite the second side wall 23b. In the example shown in FIG. 16, the height dimension of the first side wall 23a is smaller than the height dimension of the second side wall 23b. Furthermore, the height dimension of the first side wall 23a is smaller than the height dimension of the third side wall 23c. In this case, the bucket 21 can easily receive the machined part PT from the first side wall 23a side. In the example shown in FIG. 16, the bucket 21 has a cutout portion OS above the first side wall 23a. More specifically, the cutout portion OS is formed by the first side wall, the second side wall 23b, and the third side wall 23c. In this case, the machined part PT can easily enter the bucket 21 through the opening OP and the notch OS.

[0090] The side walls 23 of the bucket 21 may include a fourth side wall 23d connecting the second side wall 23b and the third side wall 23c. The fourth side wall 23d is disposed opposite the first side wall 23a. In the example shown in FIG. 16, the height dimension of the first side wall 23a is smaller than the height dimension of the fourth side wall 23d. As illustrated in FIG. 19, when the bucket 21 is located at the retracted position P2, the first side wall 23a may be located above the fourth side wall 23d.

[0091] 17, when the bucket 21 is located at the receiving position P1, the first side wall 23a may be located closer to the workpiece supporting device 6 than the fourth side wall 23d. More specifically, when the bucket 21 is located at the receiving position P1, the first side wall 23a may be located closer to the second direction DR2 (described later) than the fourth side wall 23d.

[0092] 16, the side wall 23 of the bucket 21 has a generally rectangular frame shape when viewed in a direction from the opening OP of the bucket 21 toward the bottom wall 22 of the bucket 21. Two short sides of the generally rectangular frame shape correspond to the first side wall 23a and the fourth side wall 23d, and two long sides of the generally rectangular frame shape correspond to the second side wall 23b and the third side wall 23c.

[0093] 18, when the bucket 21 is located at the receiving position P1, the opening OP of the bucket 21 faces upward. In the example shown in FIG. 18, when the bucket 21 is located at the receiving position P1, the bucket 21 is located vertically below the machined part PT supported by the workpiece support device 6. As illustrated in FIG. 19, when the bucket 21 is located at the retracted position P2, the opening OP of the bucket 21 may face in a direction along the first linear axis AS1.

[0094] In the example shown in FIG. 19, the retracted position P2 is a position where the machined parts PT are discharged from the bucket 21.

[0095] 18, when the bucket 21 is located at the receiving position P1, the longitudinal direction DL1 of the bucket 21 may be approximately parallel to the first linear axis AS1. When the bucket 21 is located at the receiving position P1, the width direction DW1 of the bucket 21 may be approximately perpendicular to the first linear axis AS1. Furthermore, when the bucket 21 is located at the receiving position P1, the depth direction DD1 of the bucket 21 may be approximately perpendicular to the first linear axis AS1.

[0096] 19, when the bucket 21 is located at the retracted position P2, the longitudinal direction DL1 of the bucket 21 may be approximately perpendicular to the first linear axis AS1. When the bucket 21 is located at the retracted position P2, the width direction DW1 of the bucket 21 may be approximately perpendicular to the first linear axis AS1. Furthermore, when the bucket 21 is located at the retracted position P2, the depth direction DD1 of the bucket 21 may be approximately parallel to the first linear axis AS1.

[0097] As illustrated in Fig. 18, the direction from the bottom wall 22 of the bucket 21 toward the opening OP of the bucket 21 is defined as a first direction DR1. In the example shown in Figs. 18 and 19, when the bucket 21 moves from the receiving position P1 to the retracted position P2, the magnitude of the angle formed between the first direction DR1 and a plane perpendicular to the first linear axis AS1 changes (more specifically, the magnitude of the angle gradually increases). In the example shown in Figs. 18 and 19, when the bucket 21 moves from the receiving position P1 to the retracted position P2, the magnitude of the angle formed between the first direction DR1 and a plane perpendicular to the first swing axis AT1 gradually changes (more specifically, the magnitude of the angle gradually decreases).

[0098] 20, when the bucket 21 moves from the receiving position P1 to the retracted position P2, the center of gravity of the bucket 21 descends and then rises. More specifically, when the bucket 21 moves from the receiving position P1 to the retracted position P2, the center of gravity of the bucket 21 in the vertical direction descends from the height at the receiving position P1 to the lowest point and then rises from the lowest point to the height at the retracted position P2.

[0099] Alternatively, when the bucket 21 moves from the receiving position P1 to the retracted position P2, the center of gravity of the bucket 21 may rise and then fall. More specifically, when the bucket 21 moves from the receiving position P1 to the retracted position P2, the center of gravity of the bucket 21 in the vertical direction may rise from the height at the receiving position P1 to the highest point and then fall from the highest point to the height at the retracted position P2.

[0100] When the center of gravity of the bucket 21 descends and then rises (or when the center of gravity of the bucket 21 rises and then descends), the difference in height between the highest point and the lowest point of the center of gravity is smaller than when the center of gravity consistently rises or consistently falls. In this case, less energy is required to move the bucket 21 carrying the machined part PT from the receiving position P1 to the retracted position P2. This allows the use of a lower-output drive source M (e.g., an air cylinder M1). Also, a smaller drive source M (e.g., a smaller air cylinder M1) can be used.

[0101] 18 and 19, when the bucket 21 moves from the receiving position P1 to the retracted position P2, the center of gravity of the bucket 21 moves in a direction along the first linear axis AS1. Part of the movement of the center of gravity of the bucket 21 in the direction along the first linear axis AS1 is caused by the movement of the first arm 31 in the direction along the first linear axis AS1, part of the movement of the center of gravity of the bucket 21 in the direction along the first linear axis AS1 is caused by the rotation of the second arm 37 about the first pivot axis AT1, and part of the movement of the center of gravity of the bucket 21 in the direction along the first linear axis AS1 is caused by the rotation of the second arm 37 about the second pivot axis AT2.

[0102] When part of the movement of the center of gravity of the bucket 21 in the direction along the first linear axis AS1 is performed by rotating the second arm 37 around two non-parallel rotation axes (AT1, AT2), the movement stroke of the first arm 31 in the direction along the first linear axis AS1 can be made relatively compact compared to when the entire movement of the center of gravity of the bucket 21 in the direction along the first linear axis AS1 is performed by moving the first arm 31.

[0103] (First sensor 41) As illustrated in Fig. 21, the parts catcher 2B (more specifically, the bucket moving device 3) may include a first sensor 41 that detects that the first arm 31 has advanced to the arm advanced position Q1 (see Fig. 21). The first sensor 41 may be a proximity sensor 41a, a contact sensor, or another type of sensor (e.g., an ultrasonic sensor, an optical sensor, etc.). When the bucket 21 is moved to the receiving position P1, the movement of the first arm 31 may be stopped in response to the first sensor 41 detecting that the first arm 31 has advanced to the arm advanced position Q1.

[0104] 9, the first sensor 41 may be attached to a base 48. The first arm 31 may have a detection plate 32 that is detected by the first sensor 41 and / or a second sensor 42, which will be described later.

[0105] (Second sensor 42) As illustrated in FIG. 22, the parts catcher 2B (more specifically, the bucket moving device 3) may include a second sensor 42 that detects that the first arm 31 has retracted to the arm retraction position Q2 (see FIG. 22). The second sensor 42 may be a proximity sensor 42a, a contact sensor, or another type of sensor (e.g., an ultrasonic sensor, an optical sensor, etc.). When the bucket 21 is moved to the retraction position P2, the second sensor 42 may detect that the first arm 31 has retracted to the arm retraction position Q2, and in response, the movement of the first arm 31 may be stopped. As illustrated in FIG. 9, the second sensor 42 may be attached to a base 48.

[0106] (Third embodiment) A processing machine 1A according to a third embodiment will be described with reference to FIGS. 1 to 38. FIG. 23 is a schematic perspective view showing the processing machine 1A according to the third embodiment. FIG. 24 is a schematic front view showing a portion of the processing machine 1A according to the third embodiment. FIG. 25 is a schematic front view showing a portion of the processing machine 1A according to a first modified example of the third embodiment. FIGS. 26 to 29 are schematic perspective views showing a portion of the processing machine 1A according to the third embodiment. FIG. 30 is a schematic perspective view showing a portion of the processing machine 1A according to the third embodiment. FIG. 31 is a diagram showing a state in which a control device 9 can control a plurality of control target devices. FIG. 32 is a schematic perspective view showing a portion of the processing machine 1A according to the third embodiment. FIG. 33 is a diagram for explaining a first adjustment mechanism 46 and a second adjustment mechanism 47. FIG. 34 is a schematic cross-sectional view taken along the line A3-A3 in FIG. 24. FIG. 35 is a schematic perspective view showing a portion of the processing machine 1A according to the third embodiment. FIG. 36 is a diagram schematically showing a portion of a processing machine 1A in the third embodiment. FIG. 37 is a diagram schematically showing a portion of a processing machine 1A in the third embodiment. FIG. 38 is a diagram schematically showing a portion of a processing machine 1A in a second modified example of the third embodiment. In FIGS. 23 to 25, 30, and 34 to 38, the door 14 is shown in an open state to make it easier to understand the internal state of the processing machine 1A. In practice, the door 14 is closed while the workpiece W is being processed. Furthermore, it is preferable that the door 14 be closed while the bucket 21 is transporting the machined parts PT.

[0107] In the third embodiment, differences from the first and second embodiments will be mainly described. Meanwhile, in the third embodiment, repeated descriptions of matters already described in the first or second embodiment will be omitted. Therefore, even if not explicitly described in the third embodiment, it goes without saying that matters already described in the first or second embodiment can be applied to the third embodiment. Furthermore, matters related to the parts catcher 2 among the matters described in the third embodiment can also be adopted in the first and second embodiments.

[0108] 23, the processing machine 1A in the third embodiment includes a workpiece support device 6, a processing head 7, a moving device 8, and a parts catcher 2. The parts catcher 2 may be the parts catcher 2A in the first embodiment or the parts catcher 2B in the second embodiment. The parts catcher 2A in the first embodiment and the parts catcher 2B in the second embodiment have already been described, so repeated description thereof will be omitted.

[0109] As shown in FIG. 23, the workpiece supporting device 6 supports the workpiece W.

[0110] The machining head 7 forms a machined part PT from the workpiece W by machining the workpiece W using a tool or a laser. In the example shown in FIG. 24 , the machining head 7 holds a tool TL. Alternatively, or additionally, as illustrated in FIG. 25 , the machining head 7 may support a laser emitter 79. The machining head 7 may have a first head 7a that holds the tool TL and a second head 7b that supports the laser emitter 79.

[0111] The machining head 7 may form one machined part PT from one workpiece W by machining the workpiece W using a tool TL or a laser.

[0112] The machining head 7 may form a plurality of machined parts from one workpiece W by machining the workpiece W using the tool TL or a laser. For example, if a cut-off tool is held in the machining head 7, the cut-off tool can cut off the machined parts from the workpiece W. Alternatively, the machined parts may be cut off from the workpiece W by a laser emitted from the laser emission unit 79.

[0113] The moving device 8 moves the machining head 7 relative to the workpiece supporting device 6 .

[0114] In the example shown in Figures 27 to 29, the processing machine 1A (more specifically, the part catcher 2) includes: (1) a bucket 21 that can move between a receiving position P1 (see Figure 27) that receives a machined part PT from the work support device 6 and a retracted position P2 (see Figure 29); and (2) a bucket moving device 3 that moves the bucket 21 between the receiving position P1 (see Figure 27) and the retracted position P2 (see Figure 29) by performing an operation that includes rotating the bucket 21 around a first rotation axis AT1 and a second rotation axis AT2 that is not parallel to the first rotation axis AT1.

[0115] In the processing machine 1A of the second embodiment, the bucket 21 is rotated around at least two rotation axes AT that are not parallel to one another. When the bucket 21 is rotated around two rotation axes that are parallel to one another, the movement of the bucket 21 is an up-and-down movement, whereas when the bucket 21 is rotated around at least two rotation axes AT that are not parallel to one another, the movement of the bucket 21 is a twisting movement. In the latter case, there is a large degree of freedom in setting the retracted position P2 of the bucket 21. Therefore, the bucket 21 can be moved to a desired retracted position P2.

[0116] In the example shown in Figures 27 to 29, the bucket moving device 3 moves the bucket 21 between the receiving position P1 and the retracted position P2 by performing operations including moving the bucket 21 in a direction along the first linear axis AS1 and rotating the bucket 21 around at least two rotation axes AT that are not parallel to each other.

[0117] In the example shown in Figures 27 to 29, moving the bucket 21 between the receiving position P1 and the retracted position P2 includes (1) moving the bucket 21 in a direction along the first linear axis AS1, (2) rotating the bucket 21 around the first rotation axis AT1, and (3) rotating the bucket 21 around the second rotation axis AT2 that is not parallel to the first rotation axis AT1.

[0118] When the bucket 21 is moved along the first linear axis AS1, there is an even greater degree of freedom in setting the retracted position P2 of the bucket 21. Therefore, the bucket 21 can be moved to an even more desirable retracted position P2.

[0119] (Optional configuration) Next, optional additional configurations that can be employed in the processing machine 1A of the third embodiment will be described with reference to FIGS.

[0120] (Work W) The workpiece W is made of, for example, metal. The workpiece W may be a columnar workpiece, a cylindrical workpiece, or a workpiece of another shape. The workpiece W may be an elongated workpiece (for example, a shaft workpiece) or a short workpiece.

[0121] (Processing machine 1A) In the example shown in FIG. 23, the processing machine 1A is a machine tool. The processing machine 1A is, for example, a processing machine capable of turning (for example, a metal processing machine). The processing machine 1A may be a multi-tasking machine capable of performing turning and milling. The processing machine 1A may be a laser processing machine. The processing machine 1A may be capable of performing laser processing and cutting.

[0122] (Work support device 6) In the example shown in FIG. 26, the workpiece supporting device 6 includes a rotation driving device 61 that rotates the workpiece W around the first axis AX1.

[0123] 26, the workpiece support device 6 includes a chuck 62 that grips the workpiece, and a support 68 that supports the chuck 62 rotatably about a first axis AX1. In the example shown in Fig. 26, the chuck 62 includes a chuck body 63 and a plurality of jaws 64. The plurality of jaws 64 are attached to the chuck body 63 and grip the workpiece W.

[0124] The workpiece support device 6 (more specifically, the chuck body 63) may include a jaw drive device 65 that drives the plurality of jaws 64. The jaw drive device 65 can move the plurality of jaws 64 in a direction that brings them closer to the first axis AX1, and can move the plurality of jaws 64 in a direction that moves them away from the first axis AX1.

[0125] 27, the workpiece support device 6 (more specifically, the chuck body 63) may include a pusher 66 that pushes out the machined part PT formed from the workpiece W. The pusher 66 may push out the machined part PT by the biasing force of a biasing member.

[0126] (Processing head 7) The processing machine 1A includes at least one processing head 7. In the example shown in Fig. 30, the processing head 7 holds a tool TL. The processing machine 1A may have multiple processing heads 7. Furthermore, each of the multiple processing heads 7 may hold a tool.

[0127] 30, the machining head 7 may include a turret-type machining head 71. The turret-type machining head 71 may include a turret 711 and a turret turning device 713 that turns the turret 711 around the third axis AX3.

[0128] The turret-type machining head 71 can hold multiple tools. By rotating the turret 711 around the third axis AX3, one tool from the multiple tools is indexed to an index position for cutting the workpiece W.

[0129] 30, the turret 711 may be disposed below the first axis AX1. In this case, the tool held by the turret-type machining head 71 cuts the workpiece W from below. Alternatively, the turret 711 may be disposed above the first axis AX1. In this case, the tool held by the turret-type machining head 71 cuts the workpiece W from above.

[0130] In the example shown in Figure 30, the third axis AX3 is substantially parallel to the first axis AX1. Alternatively, the third axis AX3 may be substantially perpendicular to the first axis AX1 (see Figure 38).

[0131] Alternatively, or additionally, the machining head 7 may include a non-turret type machining head 72 .

[0132] The machining head 7 (for example, a turret-type machining head 71 and / or a non-turret-type machining head 72) may be provided with a tool rotation device 74 that rotates the tool TL around an axis along the tool longitudinal direction.

[0133] The moving device 8 moves the machining head 7 relative to the workpiece supporting device 6. In the example shown in FIG.

[0134] The machining head moving device 81 may include a first moving device 811 that moves the turret-type machining head 71. The first moving device 811 may include a device (e.g., a Z-axis moving device) that moves the turret 711 in a direction substantially parallel to the first axis AX1. The first moving device 811 may include a device (e.g., an X-axis moving device) that moves the turret 711 in a direction substantially perpendicular to the first axis AX1 (e.g., a vertical direction).

[0135] The machining head moving device 81 may include a second moving device 813 that moves the non-turret type machining head 72. The second moving device 813 may be a device that is capable of three-dimensionally moving the non-turret type machining head 72. The second moving device 813 may include a tilting device that tilts the non-turret type machining head 72.

[0136] 26, the moving device 8 may include a moving device (hereinafter referred to as a "third moving device 88") that moves the support body 68 of the workpiece supporting device 6. The third moving device 88 moves the support body 68 in a direction along the first axis AX1.

[0137] (Control device 9) As illustrated in FIG. 23, the processing machine 1A may include a control device 9 that controls a moving device 8 and the part catcher 2 (more specifically, a drive source M of the part catcher 2).

[0138] The control device 9 may be configured with one computer or multiple computers. As illustrated in FIG. 31 , the control device 9 includes a hardware processor 90 (hereinafter simply referred to as the “processor 90”), a memory 92, a communication circuit 94, and an input device 96 (e.g., a touch panel 96a on a display 97). The processor 90, the memory 92, the communication circuit 94, and the input device 96 are connected to each other via a bus 98. Data necessary for machining the workpiece W (e.g., workpiece data 926 including shape data of the workpiece W and machining position data of the workpiece W) may be input to the control device 9 via the input device 96, or may be input to the control device 9 from another computer via the communication circuit 94. The input device 96 is not limited to the touch panel 96a on the display 97. For example, the control device 9 may include an input device 96 such as a button 96b, a switch, a lever, a pointing device, or a keyboard, and a display 97 that displays the data input to the input device 96 or other information.

[0139] The control device 9 generates a plurality of control commands by executing the machining program 922 stored in the memory 92. Furthermore, the communication circuit 94 transmits the plurality of control commands generated by the control device 9 to a plurality of control target devices (for example, the moving device 8 and the parts catcher 2). In this way, the control device 9 can control a plurality of control target devices.

[0140] The plurality of control commands may include a first control command SA1 transmitted from the control device 9 to the machining head moving device 81 (for example, the first moving device 811 or the second moving device 813). The machining head moving device 81 (for example, the first moving device 811 or the second moving device 813) that receives the first control command SA1 moves the machining head 7 (for example, the turret-type machining head 71 or the non-turret-type machining head 72).

[0141] The multiple control commands may include a second control command SA2 transmitted from the control device 9 to the rotation drive device 61 of the workpiece support device 6. Upon receiving the second control command SA2, the rotation drive device 61 rotates the chuck 62 that grips the workpiece W around the first axis AX1.

[0142] The plurality of control commands may include a deployment command transmitted from the control device 9 to the parts catcher 2 (more specifically, the drive source M). The parts catcher 2 (more specifically, the drive source M) that receives the deployment command moves the bucket 21 from the retracted position P2 to the receiving position P1. The movement of the first arm 31 may be stopped in response to detection by the first sensor 41 (see FIG. 21) that the first arm 31 has advanced to the arm advanced position Q1.

[0143] 21 , the parts catcher 2 may include an air source 51 that supplies air to an air cylinder M1 serving as a drive source M, an air flow path 53 that fluidly connects the air source 51 and the air cylinder M1, a switching valve 55 disposed in the air flow path 53, and a valve drive device 57 that operates the switching valve 55. The control device 9 may send a deployment command to the valve drive device 57. The valve drive device 57, which receives the deployment command from the control device 9, switches the state of the switching valve 55 from the default state (more specifically, the shut-off state) to the first state S1 so that air is supplied from the air source 51 to the first chamber MB1 of the air cylinder M1. When air is supplied to the first chamber MB1, the driving force of the air cylinder M1 moves the bucket 21 from the retracted position P2 to the receiving position P1.

[0144] The multiple control commands may include a third control command transmitted from the control device 9 to the jaw drive device 65 of the workpiece support device 6. Upon receiving the third control command, the jaw drive device 65 moves the multiple jaws 64 in a direction away from the first axis AX1. In this way, the machined part PT falls from the workpiece support device 6 into the bucket 21 located at the receiving position P1 (see FIG. 27).

[0145] The multiple control commands may include a retraction command sent from the control device 9 to the parts catcher 2 (more specifically, the drive source M). The parts catcher 2 (more specifically, the drive source M) that receives the retraction command moves the bucket 21 from the receiving position P1 to the retraction position P2. In this way, the bucket 21 containing the machined parts PT moves to the retraction position P2. The movement of the first arm 31 may be stopped in response to the second sensor 42 (see FIG. 22) detecting that the first arm 31 has retracted to the arm retraction position Q2.

[0146] The control device 9 may send a retraction command to the valve drive device 57. As illustrated in Fig. 22, the valve drive device 57, which receives the retraction command from the control device 9, switches the state of the switching valve 55 from the default state (more specifically, the shut-off state) to the second state S2 so that air is supplied from the air source 51 to the second chamber MB2 of the air cylinder M1. When air is supplied to the second chamber MB2, the driving force of the air cylinder M1 moves the bucket 21 from the receiving position P1 to the retracted position P2.

[0147] (swivel axis AT) 27, the at least two rotation axes AT include a first rotation axis AT1 and a second rotation axis AT2 that is non-parallel to the first rotation axis AT1. In the examples shown in Figures 27 to 29, the bucket moving device 3 simultaneously rotates the bucket 21 around the first rotation axis AT1 and the second rotation axis AT2.

[0148] In the example shown in FIGS. 27 to 29, the orientation of the longitudinal direction DL1 of the bucket 21 can be changed by rotating the bucket 21 around at least two rotation axes AT.

[0149] In the example shown in FIG. 26, when the bucket 21 is located at the retracted position P2, the longitudinal direction DL1 of the bucket 21 is not parallel to the first axis AX1. In this case, when the bucket 21 is located at the retracted position P2, the visibility of the workpiece W supported by the workpiece support device 6 is improved (see FIG. 32). As illustrated in FIG. 26, when the bucket 21 is located at the retracted position P2, the longitudinal direction DL1 of the bucket 21 may be substantially parallel to a plane perpendicular to the first axis AX1. In this case, when the bucket 21 is located at the retracted position P2, the visibility of the workpiece W supported by the workpiece support device 6 is further improved.

[0150] In the example shown in Fig. 26, the first pivot axis AT1 is substantially parallel to a plane perpendicular to the first axis AX1. As illustrated in Fig. 26, the first pivot axis AT1 may be substantially parallel to the vertical direction.

[0151] As illustrated in Figure 26, the second pivot axis AT2 may be substantially perpendicular to the first pivot axis AT1. As illustrated in Figure 26, the second pivot axis AT2 may be substantially parallel to a horizontal plane.

[0152] In the example shown in FIGS. 27 to 29, when the bucket 21 moves from the receiving position P1 to the retracted position P2, the second pivot axis AT2 pivots around the first pivot axis AT1.

[0153] In the example shown in FIGS. 27 to 29 , when the bucket 21 moves from the receiving position P1 to the retracted position P2, the center of gravity of the bucket 21 moves in a direction along the first axis AX1. Part of the movement of the center of gravity of the bucket 21 in the direction along the first axis AX1 is caused by the rotation of the second arm 37 about the first pivot axis AT1, and part of the movement of the center of gravity of the bucket 21 in the direction along the first axis AX1 is caused by the rotation of the second arm 37 about the second pivot axis AT2. If the center of gravity of the bucket 21 can move in a direction along the first axis AX1, the bucket 21 located at the retracted position P2 and the workpiece W supported by the workpiece support device 6 can be shifted in a direction along the first axis AX1. In this case, the visibility of the workpiece W supported by the workpiece support device 6 is improved.

[0154] The first pivot axis AT1 and the second pivot axis AT2 have already been described in the first and second embodiments, so further description of the first pivot axis AT1 and the second pivot axis AT2 will be omitted.

[0155] (1st linear axis AS1) 27 to 29, the first linear axis AS1 is substantially parallel to the first axis AX1. In this case, the position of the bucket 21 in the direction along the first axis AX1 can be changed by moving the bucket 21 from the receiving position P1 to the retracted position P2.

[0156] When the workpiece W is supported by the workpiece support device 6 and the bucket 21 is located at the retracted position P2, the position of the bucket 21 in the direction along the first axis AX1 may be substantially offset from the position of the workpiece W in the direction along the first axis AX1. In this case, the visibility of the workpiece W supported by the workpiece support device 6 is improved.

[0157] In this specification, the direction parallel to the first axis AX1 and extending from the workpiece W supported by the workpiece support device 6 (or the machined part PT supported by the workpiece support device 6) toward the workpiece support device 6 is defined as the second direction DR2. The direction opposite to the second direction DR2 is defined as the third direction DR3. In the example shown in FIGS. 26 and 27, the retracted position P2 (see FIG. 26) is located closer to the second direction DR2 than the receiving position P1 (see FIG. 27). More specifically, moving the bucket 21 from the receiving position P1 to the retracted position P2 includes moving the first arm 31 in the second direction DR2 along the first linear axis AS1.

[0158] 27 to 29, when the bucket 21 moves from the receiving position P1 to the retracted position P2, the center of gravity of the bucket 21 moves in the direction along the first axis AX1. Part of the movement of the center of gravity of the bucket 21 in the direction along the first axis AX1 is caused by the movement of the first arm 31 in the direction along the first linear axis AS1.

[0159] 27 to 29, the movement stroke of the bucket 21 in the direction along the first axis AX1 when the bucket 21 moves from the receiving position P1 to the retracted position P2 may be smaller than the movement stroke of the first arm 31 in the direction along the first axis AX1 when the bucket 21 moves from the receiving position P1 to the retracted position P2. In this case, the movement trajectory of the bucket 21 in the direction along the first axis AX1 can be made compact.

[0160] The first linear axis AS1 has already been described in the second embodiment, so further description of the first linear axis AS1 will be omitted.

[0161] (Drive source M) 27, the driving source M moves the first arm 31 in a direction along the first linear axis AS1. The driving source M may include a fluid pressure cylinder (for example, an air cylinder M1 or a hydraulic cylinder).

[0162] In the example shown in FIG. 27, the fluid pressure cylinder serving as the driving source M is disposed substantially parallel to the first axis AX1. In this case, the movement stroke of the rod RD of the fluid pressure cylinder can be made relatively large. An air cylinder M1 with a relatively low drive output may be used as the fluid pressure cylinder. By employing a relatively large movement stroke and the above-described booster mechanism (T1-1; T2-1), the torque required for the swinging movement of the bucket 21 may be ensured. Alternatively, or additionally, the torque required for the swinging movement of the bucket 21 may be ensured by increasing the pressure-receiving area of ​​the piston within the cylinder body of the air cylinder M1. When the driving source M is an air cylinder M1, the environmental load is reduced compared to when the driving source M is a hydraulic cylinder.

[0163] The driving source M may be another type of driving source (for example, an electric cylinder, a motor, etc.). The driving source M has already been described in the second embodiment, so a repeated description of the driving source M will be omitted.

[0164] (Power transmission mechanism T) 27, the bucket moving device 3 includes a power transmission mechanism T. The power transmission mechanism T may include a first power transmission mechanism T1 and a second power transmission mechanism T2. Because the power transmission mechanism T, the first power transmission mechanism T1, and the second power transmission mechanism T2 have already been explained in the second embodiment, repeated explanations of the power transmission mechanism T, the first power transmission mechanism T1, and the second power transmission mechanism T2 will be omitted.

[0165] (Linear motion mechanism J) 27, the bucket moving device 3 includes a linear motion mechanism J. The linear motion mechanism J has already been described in the second embodiment, so a repeated description of the linear motion mechanism J will be omitted.

[0166] (First arm 31, rotating body 34, second arm 37) 27, the bucket moving device 3 includes a first arm 31, a revolving body 34, and a second arm 37. The first arm 31, the revolving body 34, and the second arm 37 have already been explained in the second embodiment, so repeated explanations of the first arm 31, the revolving body 34, and the second arm 37 will be omitted.

[0167] (Base 48) 27, the processing machine 1A (more specifically, the parts catcher 2) includes a base 48 that supports the bucket moving device 3. In the example shown in Fig. 27, the base 48 supports the first arm 31 so that the first arm 31 is movable in a direction along the first linear axis AS1.

[0168] The base 48 may have a bracket 481 that is attached to the workpiece support device 6 .

[0169] The base 48 has already been described in the second embodiment, so further description of the base 48 will be omitted.

[0170] (Connection part 27) 29, the processing machine 1A (more specifically, the parts catcher 2) includes a connecting portion 27 that connects the bucket 21 and the bucket moving device 3 (more specifically, the second arm 37). The connecting portion 27 may include a first member 27a fixed to the bucket 21 and a second member 27b fixed to the second arm 37.

[0171] The connecting portion 27, the first member 27a, and the second member 27b have already been described in the second embodiment, so repeated description of the connecting portion 27, the first member 27a, and the second member 27b will be omitted.

[0172] (First sensor 41, second sensor 42) As illustrated in Figure 28, the processing machine 1A (more specifically, the bucket moving device 3) may be equipped with a first sensor 41 that detects when the first arm 31 has advanced to the arm advance position Q1 (see Figure 21), and / or a second sensor 42 that detects when the first arm 31 has retracted to the arm retract position Q2 (see Figure 22).

[0173] The first sensor 41 and the second sensor 42 have already been described in the second embodiment, and therefore a repeated description of the first sensor 41 and the second sensor 42 will be omitted.

[0174] (1st adjustment mechanism 46) As illustrated in Figure 33, the processing machine 1A (more specifically, the bucket moving device 3) may be equipped with a first adjustment mechanism 46 that adjusts the first angular position of the bucket 21 around the first pivot axis AT1 when the bucket is located in the retracted position P2 (see Figure 30).

[0175] In the example shown in FIG. 33, the first adjustment mechanism 46 includes a position adjustment mechanism 461 that adjusts the position of a component (for example, rack RA) of the first power transmission mechanism T1.

[0176] The first adjustment mechanism 46 (more specifically, the position adjustment mechanism 461) may include an elongated hole 461h provided in one of the rack RA and the base 48, and a fixing member F2 (e.g., a bolt) that is inserted into the elongated hole 461h and fixes the rack RA and the base 48 to each other. In the example shown in FIG. 33, the relative position of the rack RA with respect to the base 48 can be adjusted along the elongated hole 461h. Furthermore, after the relative position of the rack RA with respect to the base 48 has been adjusted, the fixing member F2 can fix the relative position of the rack RA with respect to the base 48. In the example shown in FIG. 33, the elongated hole 461h extends in a direction along the first linear axis AS1.

[0177] 30 and 33, the first adjustment mechanism 46 can adjust the first angular position of the bucket 21 about the vertical axis when the bucket 21 is located at the retracted position P2 (more specifically, the first angular position of the bucket 21 about the first pivot axis AT1 along the vertical direction). Therefore, undesired tilt of the bucket 21 about the vertical axis due to manufacturing errors, assembly errors, etc. can be easily corrected.

[0178] (Second adjustment mechanism 47) As illustrated in Figure 33, the processing machine 1A (more specifically, the bucket moving device 3) may be equipped with a second adjustment mechanism 47 that adjusts the second angular position of the bucket 21 around the second rotation axis AT2 when the bucket is located in the retracted position P2.

[0179] In the example shown in FIGS. 11 and 33, the second adjustment mechanism 47 includes an angular position adjustment mechanism 471 that adjusts the angular position of a component of the second power transmission mechanism T2 (for example, the first bevel gear BG1).

[0180] The second adjustment mechanism 47 (more specifically, the angular position adjustment mechanism 471) may include an elongated hole 471h provided in one of the tip end 31e of the first arm 31 and the fixed shaft 39, and a fixing member F3 (e.g., a bolt) inserted into the elongated hole 471h to fix the tip end 31e of the first arm 31 and the fixed shaft 39 to each other. In the examples shown in FIGS. 11 and 33, the relative angular position of the fixed shaft 39 about the first pivot axis AT1 with respect to the tip end 31e of the first arm 31 can be adjusted along the elongated hole 471h. Furthermore, after the relative angular position of the fixed shaft 39 with respect to the tip end 31e of the first arm 31 is adjusted, the fixing member F3 can fix the relative angular position of the fixed shaft 39 with respect to the tip end 31e of the first arm 31. In the example shown in FIG. 33, the elongated hole 471h extends in a circumferential direction about the first pivot axis AT1.

[0181] 30 and 33, the second angular position of the bucket 21 about the horizontal axis when the bucket 21 is located at the retracted position P2 (more specifically, the second angular position of the bucket 21 about the second pivot axis AT2 that is substantially parallel to the horizontal plane) can be adjusted by the second adjustment mechanism 47. Therefore, undesired tilt of the bucket 21 about the horizontal axis due to manufacturing errors, assembly errors, etc. can be easily corrected.

[0182] When the bucket moving device 3 is equipped with the first adjustment mechanism 46 and / or the second adjustment mechanism 47, the posture of the bucket 21 can be easily adjusted when the bucket 21 is positioned at the retracted position P2 after the base 48 is attached to the workpiece (e.g., the work support device 6).

[0183] (Bucket 21) In the example shown in FIG. 27, the bucket 21 has an opening OP through which the machined part PT enters the bucket 21.

[0184] 27, when the bucket 21 is located at the receiving position P1, the opening OP of the bucket 21 faces upward. More specifically, when the bucket 21 is located at the receiving position P1, the first direction DR1 from the bottom wall 22 of the bucket 21 toward the opening OP of the bucket 21 is the upward direction (more specifically, the vertically upward direction).

[0185] In the example shown in FIG. 26, when the bucket 21 is located at the retracted position P2, the opening OP of the bucket 21 faces in a direction along the first axis AX1. In this case, when the bucket 21 is located at the retracted position P2, the visibility of the workpiece W supported by the work support device 6 is improved. In particular, when the dimension of the bucket 21 in the depth direction DD1 is relatively small, the visibility of the workpiece W supported by the work support device 6 is improved. In the example shown in FIG. 26, the dimension of the bucket 21 in the depth direction DD1 is smaller than the dimension of the bucket 21 in the longitudinal direction DL1. In this case, the visibility of the workpiece W supported by the work support device 6 is improved.

[0186] 26, when the bucket 21 is located at the retracted position P2, the first direction DR1 extending from the bottom wall 22 of the bucket 21 toward the opening OP of the bucket 21 coincides with the second direction DR2 (i.e., the direction extending from the workpiece W (or the machined part PT) toward the workpiece support device 6). Alternatively, when the bucket 21 is located at the retracted position P2, the first direction DR1 extending from the bottom wall 22 of the bucket 21 toward the opening OP of the bucket 21 may coincide with the third direction DR3.

[0187] 26, the retraction position P2 is a position where the bucket 21 waits when the workpiece W supported by the workpiece support device 6 is machined. In the example shown in FIG. 29, the retraction position P2 is a position where the machined part PT is discharged from the bucket 21.

[0188] The bucket 21 has already been described in the second embodiment, so further description of the bucket 21 will be omitted.

[0189] (Coolant liquid discharge device 11) 30 , the processing machine 1A may be equipped with a coolant liquid discharge device 11 that discharges coolant liquid toward at least one of the workpiece W and the tool TL. The coolant liquid discharge device 11 may include a nozzle 11n that discharges coolant liquid toward at least one of the workpiece W and the tool TL. The nozzle 11n may be disposed in the workpiece support device 6 (e.g., the support body 68). Alternatively, or additionally, the nozzle 11n that discharges coolant liquid may be disposed in the processing head 7.

[0190] The coolant liquid discharge device 11 discharges coolant into the processing region RG1 of the processing machine.

[0191] (Door 14) In the example shown in FIG. 34, the processing machine 1A includes a first wall 12a. The first wall 12a has an opening 121a (see FIG. 23) through which the workpiece W can pass. In the example shown in FIG. 23, the processing machine 1A includes a door 14 that opens and closes the opening 121a. The workpiece W is carried into the processing machine through the opening 121a (more specifically, carried into the processing region RG1 of the processing machine 1A). In the example shown in FIG. 23, the processing machine 1A includes a second wall 12b that is disposed opposite the first wall 12a. The second wall 12b faces the processing region RG1. A second moving device 813 that moves the non-turret-type processing head 72 so as to pass through the second wall 12b may be disposed.

[0192] In the example shown in Fig. 34, the back surface of the first wall 12a faces the processing region RG1. In the example shown in Fig. 34, the first wall 12a is a front wall, and the door 14 is a front door.

[0193] In the example shown in Figure 34, when bucket 21 is located at retracted position P2, bucket 21 is disposed between second arm 37 and first wall 12a or an opening 121a formed in first wall 12a. In the example shown in Figure 34, when bucket 21 is located at retracted position P2, opening OP (not shown in Figure 34) of bucket 21 faces in a direction along first axis AX1 (more specifically, second direction DR2). In this case, it is possible to reduce distance L1 between bucket 21 located at retracted position P2 and first wall 12a or an opening 121a formed in first wall 12a.

[0194] In this specification, the direction from the machining region RG1 of the processing machine 1A toward the opening 121a provided in the first wall 12a in a plan view is defined as a fourth direction DR4. In the example shown in Fig. 34, the fourth direction DR4 is substantially parallel to the depth direction of the processing machine 1A. In the example shown in Fig. 34, the fourth direction DR4 coincides with the direction from the second wall 12b toward the opening 121a provided in the first wall 12a.

[0195] In the example shown in FIG. 34, the distance L1 can be reduced, so that the size of the processing machine 1A in the depth direction (more specifically, the size in the direction along the fourth direction DR4) can be made compact.

[0196] 32, there is no need to open the door 14 when the machined parts PT are released from the bucket 21. Therefore, after the machined parts PT are released from the bucket 21, the next workpiece can be machined without stopping the operation of the processing machine 1A.

[0197] (Side wall 13) 34, the processing machine 1A has a side wall 13 through which the workpiece supporting device 6 passes. The side wall 13 faces the processing region RG1.

[0198] (Partition 15) 35 and 36, the processing machine 1A is provided with a partition 15 that divides the processing machine internal region RG into a processing region RG1 (see FIG. 35) and a part discharge region RG2 (see FIG. 36). The partition 15 also has a communication opening 15p that connects the processing region RG1 and the part discharge region RG2.

[0199] 36, when the bucket 21 is located at the retracted position P2, the opening OP of the bucket 21 faces the communication opening 15p. In this case, when the bucket 21 containing the machined parts PT is moved to the retracted position P2, the machined parts PT are discharged through the communication opening 15p into the part discharge region RG2.

[0200] 36, when the bucket 21 is located at the retracted position P2, the bucket 21 covers at least a portion of the communication opening 15p. In this case, chips, coolant, and the like are prevented or suppressed from entering the part discharge area RG2 during machining of the workpiece W. When the bucket 21 is located at the retracted position P2, the bucket 21 may cover substantially the entire communication opening 15p.

[0201] 36, the direction from bottom wall 22 of bucket 21 positioned at retracted position P2 toward communication opening 15p coincides with second direction DR2. In this case, the size of processing machine 1A in the direction along fourth direction DR4 can be made more compact than when communication opening 15p is positioned on the fourth direction DR4 side of bucket 21 positioned at retracted position P2.

[0202] In the example shown in FIG. 35, the processing machine 1A includes a canopy 151 disposed above the communication opening 15p. In the example shown in FIG. 35, the canopy 151 is disposed on the partition 15. The canopy 151 prevents foreign matter from entering the part discharge area RG2 through the communication opening 15p. As illustrated in FIG. 30, when the bucket 21 is located at the retracted position P2, the canopy 151 may cover a notch OS (see FIG. 16) provided in the side wall 23 of the bucket 21.

[0203] As illustrated in FIG. 35, the partition 15 may include an adjustment member 153 that adjusts the size of the communication opening 15p (for example, the size of the communication opening 15p in the vertical direction).

[0204] (Window 143) 32, the processing machine 1A is provided with a window 143 through which the processing region RG1 of the processing machine 1A can be seen from outside the processing machine 1A. As illustrated in FIG. 32, the window 143 may be arranged in the door 14.

[0205] 32, the longitudinal direction DL1 of the bucket 21 positioned at the retracted position P2 is not parallel to the first axis AX1 (more specifically, the longitudinal direction DL1 of the bucket 21 positioned at the retracted position P2 is substantially perpendicular to the first axis AX1). In this case, the worker can view the workpiece W supported by the workpiece support device 6 through the window 143 without being obstructed by the bucket 21.

[0206] 32, when the bucket 21 is located at the retracted position P2, the opening OP (not shown in FIG. 32) of the bucket 21 faces in a direction along the first axis AX1. In this case, the worker can view the workpiece W supported by the workpiece support device 6 through the window 143 without being obstructed by the bucket 21.

[0207] (Exit conveyor 17) As illustrated in Fig. 36, the processing machine 1A may include an output conveyor 17 that outputs the machined parts PT released from the bucket 21. In the example shown in Fig. 36, the output conveyor 17 is disposed in the part discharge area RG2. The output conveyor 17 may transport the machined parts PT in a second direction DR2.

[0208] When the processing machine 1A is equipped with the discharge conveyor 17, the machined parts PT released from the bucket 21 do not remain near the bucket 21. Therefore, after the machined parts PT are released from the bucket 21, the next workpiece can be processed without stopping the operation of the processing machine 1A. Multiple machined parts PT may be temporarily stored in the part discharge area RG2. Alternatively, the machined parts PT transported by the discharge conveyor 17 may be quickly discharged outside the processing machine 1A through the discharge opening 18.

[0209] 36, the discharge conveyor 17 is disposed on the second direction DR2 side of the communication opening 15p in a plan view. In the example shown in Fig. 36, the discharge conveyor 17 receives the machined parts PT discharged through the communication opening 15p from the bucket 21 located at the retracted position P2. The discharge conveyor 17 also transports the machined parts PT in the second direction DR2.

[0210] In the example shown in FIG. 36, in a plan view, the direction from the bucket 21 located at the retracted position P2 toward the discharge conveyor 17 coincides with the second direction DR2. In this case, an increase in size of the processing machine 1A in the direction along the fourth direction DR4 caused by the addition of the discharge conveyor 17 is suppressed. In the example shown in FIG. 36, in a plan view, the direction from the communication opening 15p toward the discharge conveyor 17 coincides with the second direction DR2. In this case, an increase in size of the processing machine 1A in the direction along the fourth direction DR4 caused by the addition of the discharge conveyor 17 is suppressed.

[0211] In the example shown in Figure 35, the discharge conveyor 17 (not shown in Figure 35) is arranged on the second direction DR2 side of the partition 15 that divides the processing machine internal area RG into a processing area RG1 and a part discharge area RG2.

[0212] As illustrated in Fig. 37, the carry-out conveyor 17 may be arranged on the fourth direction DR4 side of the workpiece supporting device 6 in a plan view. In the example shown in Fig. 37, the carry-out conveyor 17 is arranged between the workpiece supporting device 6 and the first wall 12a in a plan view. When the carry-out conveyor 17 is arranged in the space between the workpiece supporting device 6 and the first wall 12a as illustrated in Fig. 37, an increase in the size of the processing machine 1A due to the presence of the carry-out conveyor 17 is suppressed.

[0213] (Discharge opening 18) In the example shown in Fig. 37, the processing machine 1A has a discharge opening 18 that discharges the processed parts PT to the outside of the processing machine 1A. As shown in Fig. 37, the carry-out conveyor 17 may transport the processed parts PT to the discharge opening 18 formed in the outer wall of the processing machine 1A. In the example shown in Fig. 37, the processed parts PT transported to the discharge opening 18 by the carry-out conveyor 17 are discharged to the outside of the processing machine 1A through the discharge opening 18.

[0214] A cable guide 19a (see FIG. 18) that moves cables (e.g., electrical cables, signal cables) in accordance with the moving parts of the processing machine 1A may be arranged vertically below the carry-out conveyor 17. Alternatively, or additionally, piping that supplies fluid (e.g., coolant, air, oil, etc.) to the processing machine 1A may be arranged vertically below the carry-out conveyor 17. When the cable guide 19a and / or piping are arranged vertically below the carry-out conveyor 17, an increase in the size of the processing machine 1A in plan view is suppressed.

[0215] 23, the discharge opening 18 and the opening 121a through which the workpiece W is carried in may be provided on the same side of the processing machine 1A (more specifically, on the front side of the processing machine 1A). As illustrated in FIG. 23, the discharge opening 18 may be located at the end of the processing machine 1A on the second direction DR2 side.

[0216] (Arrangement of bucket 21 relative to workpiece support device 6) In the example shown in Fig. 35, when the bucket 21 is located at the receiving position P1, the height of the center of gravity of the bucket 21 is lower than the height of the first axis AX1. In the example shown in Fig. 34, when the bucket 21 is located at the retracted position P2, the height of the center of gravity of the bucket 21 is approximately the same as the height of the first axis AX1. The height of the center of gravity of the bucket 21 when the bucket 21 is located at the retracted position P2 (see Fig. 34) may be higher than the height of the center of gravity of the bucket 21 when the bucket 21 is located at the receiving position P1 (see Fig. 35). Alternatively, the height of the center of gravity of the bucket 21 when the bucket 21 is located at the retracted position P2 (see Fig. 34) may be lower than the height of the center of gravity of the bucket 21 when the bucket 21 is located at the receiving position P1 (see Fig. 35).

[0217] The difference in height between the center of gravity G of the bucket 21 located at receiving position P1 and the center of gravity G of the bucket 21 located at retracted position P2 may be 50 cm or less, 30 cm or less, 20 cm or less, or 10 cm or less. When this difference is small, a low-output drive source M can be used, allowing for the use of a smaller drive source M.

[0218] In the example shown in Fig. 23, when the bucket 21 is located at the retracted position P2, the entire bucket 21 is located on the fourth direction DR4 side of the first axis AX1. In the example shown in Fig. 23, when the bucket 21 is located at the retracted position P2, the entire bucket 21 is located on the third direction DR3 side of the side wall 13 through which the support body 68 of the workpiece support device 6 passes. Furthermore, when the bucket 21 is located at the retracted position P2, the first swing axis AT1 is located on the third direction DR3 side of the side wall 13 through which the support body 68 of the workpiece support device 6 passes.

[0219] In the example shown in FIG. 23, the door 14 can be opened and closed with the bucket 21 positioned at the retracted position P2.

[0220] (Arrangement of first rotation axis AT1 relative to workpiece support device 6) In the example shown in FIG. 37, the first pivot axis AT1 is located closer to the fourth direction DR4 than the first axis AX1.

[0221] 37, when the bucket 21 is located at the receiving position P1, the first pivot axis AT1 is located closer to the third direction DR3 than the end of the workpiece support device 6 on the third direction DR3 side. In the example shown in FIG. 29, when the bucket 21 is located at the retracted position P2, the first pivot axis AT1 is located closer to the second direction DR2 than the end of the workpiece support device 6 on the third direction DR3 side.

[0222] (Arrangement of first arm 31 relative to workpiece support device 6) In the example shown in FIG. 37, the first arm 31 is disposed on the fourth direction DR4 side of the first axis AX1.

[0223] 34, the first arm 31 is disposed above the first axis AX1. In the example shown in Fig. 34, the first arm 31 is disposed in a space positioned diagonally above the chuck 62.

[0224] When the first arm 31 is disposed above the first axis AX1, chips and the like are less likely to adhere to the first arm 31. Furthermore, when the first arm 31 is disposed above the first axis AX1, it is easy to use the space below the first axis AX1 to place other devices. For example, a turret-type machining head 71 may be disposed below the first axis AX1.

[0225] When the first arm 31 is positioned above the first axis AX1, the design of the parts catcher 2 does not need to be modified depending on whether or not a device is located in the space below the first axis AX1, or the type of device located in the space below the first axis AX1. For example, the design of the parts catcher 2 does not need to be modified depending on whether the turret-type machining head 71 is an orthogonal lowerblade type (see FIG. 34) or a slant lowerblade type (see FIG. 38). In the example shown in FIG. 34, the turret-type machining head 71 is an orthogonal lowerblade type. The orthogonal lowerblade type refers to a type in which the tool can be brought into contact with the workpiece by moving the tool vertically upward. In the example shown in FIG. 38, the turret-type machining head 71 is a slant lowerblade type. The slant lowerblade type refers to a type in which the tool can be brought into contact with the workpiece by moving the tool diagonally upward.

[0226] 34, the first arm 31 may be positioned above the first axis AX1 and below the upper end 6u of the workpiece support device 6. In this case, an increase in the height of the processing machine 1A due to the addition of the parts catcher 2 is suppressed.

[0227] 34, the first linear axis AS1 may be located between the first axis AX1 and the end 6f of the workpiece support device 6 on the fourth direction DR4 side in a plan view. The entire first arm 31 may be disposed between the first axis AX1 and the end 6f of the workpiece support device 6 on the fourth direction DR4 side in a plan view. In this case, an increase in the depth dimension of the processing machine 1A due to the addition of the part catcher 2 is suppressed.

[0228] (First unit U1) 8, the processing machine 1A (or the parts catcher 2) may include a first unit U1 that integrates a base 48, a drive source M, a first arm 31, a swivel 34, and a second arm 37. In this case, the first unit U1 is integrally attached to the workpiece (for example, the workpiece support device 6) by attaching the base 48 to the workpiece. This improves the efficiency of the assembly work of the processing machine 1A on-site.

[0229] The bucket 21 may be included in the first unit U1. Alternatively, the bucket 21 may be attached to the second arm 37 after the first unit U1 is attached to a workpiece (for example, the workpiece support device 6).

[0230] The first unit U1 may include a first sensor 41 and a second sensor 42. For example, the processing machine 1A (or the parts catcher 2) may include a first unit U1 in which the base 48, the drive source M, the first arm 31, the rotating body 34, the second arm 37, the first sensor 41, and the second sensor 42 are integrated.

[0231] (Fourth embodiment) A processing machine 1B according to the fourth embodiment will be described with reference to FIGS. 1 to 48. FIG. 39 is a schematic perspective view showing the processing machine 1B according to the fourth embodiment. FIG. 40 is a schematic perspective view showing a portion of the processing machine 1B according to the fourth embodiment. FIG. 41 is a diagram showing a portion of the processing machine 1B according to the fourth embodiment. FIG. 42 is a diagram showing a portion of the processing machine 1B according to a first modified example of the fourth embodiment. FIG. 43 is a schematic perspective view showing a portion of the processing machine 1B according to the fourth embodiment. FIG. 44 is a diagram showing a portion of the processing machine 1B according to the fourth embodiment. FIGS. 45 and 46 are schematic perspective views showing a portion of the processing machine 1B according to the fourth embodiment. FIG. 47 is a diagram showing a bucket 21 moving from a receiving position P1 to a retracted position P2. FIG. 48 is a diagram showing a control device 9 capable of controlling a plurality of control target devices. 39 to 47, the door 14 is shown in an open state to make it easier to understand the internal state of the processing machine 1B. In reality, the door 14 is kept in a closed state while the workpiece W is being processed.

[0232] In the fourth embodiment, differences from the first, second, and third embodiments will be mainly described. Meanwhile, in the fourth embodiment, repeated descriptions of matters already described in the first, second, or third embodiments will be omitted. Therefore, even if not explicitly described in the fourth embodiment, it goes without saying that matters already described in the first, second, or third embodiments can be applied to the fourth embodiment. Furthermore, matters described in the fourth embodiment can also be adopted in the third embodiment. Furthermore, matters related to the parts catcher 2 among the matters described in the fourth embodiment can also be adopted in the first and second embodiments.

[0233] 39, the processing machine 1B in the fourth embodiment includes (1) a workpiece support device 6 that supports a workpiece, (2) a processing head 7 that forms a processed part by processing the workpiece using a tool or a laser, (3) a moving device 8 that moves the processing head 7 relative to the workpiece support device 6, and (4) a part catcher 2. The part catcher 2 may be the part catcher 2A in the first embodiment or the part catcher 2B in the second embodiment. The part catcher 2A in the first embodiment and the part catcher 2B in the second embodiment have already been described, so repeated description thereof will be omitted.

[0234] In the example shown in FIG. 39, the workpiece supporting device 6 includes a first workpiece supporting device 6a and a second workpiece supporting device 6b.

[0235] The machining head 7 (for example, a turret-type machining head 71 and / or a non-turret-type machining head 72) uses a tool or a laser to machine the workpiece supported by the first workpiece supporting device 6a.

[0236] The second workpiece support device 6b is capable of receiving a workpiece from the first workpiece support device 6a. The second workpiece support device 6b receives the workpiece W directly or indirectly from the first workpiece support device 6a.

[0237] As illustrated in Fig. 40, when the second workpiece support device 6b receives the workpiece W directly from the first workpiece support device 6a, the processing machine 1B includes a third moving device 88 (see Fig. 41) that moves one of the first workpiece support device 6a and the second workpiece support device 6b in a direction approaching the other of the first workpiece support device 6a and the second workpiece support device 6b. In the example illustrated in Fig. 41, the third moving device 88 moves the second workpiece support device 6b in a direction parallel to the first axis AX1. Alternatively, the third moving device 88 may move the first workpiece support device 6a in a direction parallel to the first axis AX1.

[0238] As illustrated in Figure 42, when the second work support device 6b indirectly receives the work W from the first work support device 6a, the processing machine 1B is equipped with a transfer device 101 (e.g., a gantry loader or a robot hand) that transfers the work W from the first work support device 6a to the second work support device 6b.

[0239] As illustrated in FIG. 43, the machining head 7 (e.g., a turret-type machining head 71 and / or a non-turret-type machining head 72) can use a tool TL or a laser to machine the workpiece W supported by the first workpiece support device 6a.

[0240] As illustrated in FIG. 44, the machining head 7 (e.g., a turret-type machining head 71 and / or a non-turret-type machining head 72) can use a tool TL or a laser to machine the workpiece W supported by the second workpiece support device 6b.

[0241] As shown in FIG. 41, the bucket 21 located at the receiving position P1 can receive the machined part PT from the second workpiece supporting device 6b.

[0242] The processing machine 1B in the fourth embodiment achieves the same effects as the processing machine 1A in the third embodiment. In addition, since the processing machine 1B in the fourth embodiment is equipped with the first workpiece support device 6a and the second workpiece support device 6b, it is possible to process a first portion of the workpiece W while the workpiece W is supported by the first workpiece support device 6a, and to process a second portion of the workpiece W while the workpiece W is supported by the second workpiece support device 6b.

[0243] (Optional configuration) Next, optional additional configurations that can be employed in the processing machine 1B in the fourth embodiment will be described with reference to FIGS.

[0244] (Processing machine 1B) In the example shown in FIG. 39, the processing machine 1B is a machine tool. The processing machine 1B is, for example, a processing machine capable of turning (for example, a metal processing machine). The processing machine 1B may be a multi-tasking machine capable of performing turning and milling. The processing machine 1B may be a laser processing machine. The processing machine 1B may be capable of performing laser processing and cutting.

[0245] (Second workpiece support device 6b) 41, the part catcher 2 is attached to the second work support device 6b. In this case, in this specification, the description of the "work support device 6" in the third embodiment is replaced with the description of the "second work support device 6b," and the description of the "work support device 6" in the third embodiment is regarded as the description of the "second work support device 6b."

[0246] In the example shown in FIG. 41, the direction from the first work support device 6a to the second work support device 6b corresponds to the second direction DR2, and the direction from the second work support device 6b to the first work support device 6a corresponds to the third direction DR3.

[0247] 41, the processing machine 1B (more specifically, the moving device 8) may include a third moving device 88 that moves the support 68 of the second work support device 6b. The third moving device 88 moves the support 68 in a direction along the first axis AX1. The third moving device 88 can move the support 68 of the second work support device 6b in a direction approaching the first work support device 6a (more specifically, in the third direction DR3), and can move the support 68 of the second work support device 6b in a direction away from the first work support device 6a (more specifically, in the second direction DR2).

[0248] (First workpiece supporting device 6a) In the example shown in FIG. 41, the first workpiece supporting device 6a is equipped with a rotation drive device (hereinafter referred to as "second rotation drive device 61a") that rotates the workpiece W about the second axis AX2.

[0249] In the example shown in FIG. 41, the first workpiece support device 6a includes a chuck (hereinafter referred to as a "second chuck 62a") that grips the workpiece W, and a support (hereinafter referred to as a "second support 68a") that supports the second chuck 62a rotatably about the second axis AX2. The second chuck 62a includes a chuck body (hereinafter referred to as a "second chuck body 63a") and a plurality of jaws (hereinafter referred to as a "second group of jaws 64a"). The second group of jaws 64a is attached to the second chuck body 63a and grips the workpiece W.

[0250] The first workpiece support device 6a (more specifically, the second chuck body 63a) may include a jaw drive device (hereinafter referred to as the "second jaw drive device 65a") that drives the second group of jaws 64a. The second jaw drive device 65a can move the second group of jaws 64a in a direction toward the second axis AX2, and can move the second group of jaws 64a in a direction away from the second axis AX2.

[0251] 41, the direction in which the second axis AX2 extends is substantially the same as the direction in which the first axis AX1 extends. The second axis AX2 may be substantially coaxial with the first axis AX1.

[0252] 45, the bucket 21 positioned at the receiving position P1 may be capable of receiving the machined part PT from the first workpiece supporting device 6a. For example, the bucket 21 positioned at the receiving position P1 may be configured to receive the machined part PT released from the second group of jaws 64a. Furthermore, when a machined part is cut off from the workpiece W supported by the first workpiece supporting device 6a, the cut-off machined part may be received by the bucket 21 positioned at the receiving position P1.

[0253] 41 and 45, the bucket 21 positioned at the receiving position P1 may be able to selectively receive the machined part PT from both the first workpiece support device 6a and the second workpiece support device 6b. More specifically, the bucket 21 positioned at the receiving position P1 can receive the machined part PT from the first workpiece support device 6a (see FIG. 45), and the bucket 21 positioned at the receiving position P1 can receive the machined part PT from the second workpiece support device 6b (see FIG. 41).

[0254] 41, the entire part catcher 2 is movable in a direction substantially parallel to the first axis AX1. More specifically, the part catcher 2 is attached to the support 68 of the second workpiece support device 6b, and the third moving device 88 moves the support 68 and the entire part catcher 2 together in a direction substantially parallel to the first axis AX1.

[0255] In the example shown in FIG. 45, with the entire part catcher 2 approaching the first workpiece support device 6a, the bucket 21 located at the receiving position P1 receives the machined parts PT from the first workpiece support device 6a. Then, the third moving device 88 (see FIG. 41) moves the support body 68 and the entire part catcher 2 together in the second direction DR2 along the first axis AX1. Then, the driving source M moves the bucket 21 containing the machined parts PT from the receiving position P1 to the retracted position P2. The machined parts PT released from the bucket 21 located at the retracted position P2 may be moved to the part discharge area RG2 through the communication opening 15p (see FIG. 41). The machined parts PT in the part discharge area RG2 may be transported by the discharge conveyor 17 toward the discharge opening 18.

[0256] 30, a nozzle 11n that sprays coolant toward at least one of the workpiece W and the tool TL may be arranged on the support 68 of the second workpiece support device 6b. Alternatively, or additionally, a second nozzle that sprays coolant toward at least one of the workpiece W and the tool TL may be arranged on the second support 68a of the first workpiece support device 6a.

[0257] (Processing head 7) The processing machine 1B includes at least one processing head 7. A processing head for processing the workpiece W supported by the first workpiece support device 6a and a processing head for processing the workpiece W supported by the second workpiece support device 6b may be provided separately.

[0258] Alternatively, one machining head may be capable of selectively machining both the workpiece W supported by the first workpiece support device 6a and the workpiece W supported by the second workpiece support device 6b. More specifically, one machining head 7 may be capable of machining a portion of the workpiece W supported by the first workpiece support device 6a, and may be capable of machining another portion of the workpiece W supported by the second workpiece support device 6b.

[0259] 43 and 44, at least one machining head 7 includes a turret-type machining head 71. As illustrated in FIG. 43, the turret-type machining head 71 is capable of machining a workpiece W supported by the first workpiece support device 6a using a first tool TL1. As illustrated in FIG. 44, the turret-type machining head 71 is capable of machining a workpiece W supported by the second workpiece support device 6b using the first tool or a second tool TL2 different from the first tool.

[0260] 41, the processing machine 1B includes a first moving device 811 that moves a turret-type processing head 71. The first moving device 811 may include a device (e.g., a Z-axis moving device 811a) that moves the turret 711 in a direction substantially parallel to the first axis AX1. The first moving device 811 may include a device (e.g., an X-axis moving device 811b) that moves the turret 711 in a direction substantially perpendicular to the first axis AX1 (e.g., a vertical direction).

[0261] 39, at least one machining head 7 includes a non-turret type machining head 72. As illustrated in FIG. 46, the non-turret type machining head 72 is capable of machining the workpiece W supported by the first workpiece support device 6a using a third tool TL3. The non-turret type machining head 72 may also be capable of machining the workpiece W supported by the second workpiece support device 6b using the third tool TL3 or a fourth tool different from the third tool TL3.

[0262] When the non-turret type machining head 72 is machining a workpiece W supported by the first workpiece support device 6a, the turret type machining head 71 may machine another workpiece supported by the second workpiece support device 6b. Alternatively, when the turret type machining head 71 is machining a workpiece W supported by the first workpiece support device 6a, the non-turret type machining head 72 may machine another workpiece supported by the second workpiece support device 6b.

[0263] The machining of the workpiece W supported by the first workpiece support device 6a may be performed sequentially or simultaneously using a first tool TL1 held by a turret-type machining head 71 and a third tool TL3 held by a non-turret-type machining head 72. The machining of the workpiece W supported by the second workpiece support device 6b may be performed sequentially or simultaneously using a second tool TL2 held by a turret-type machining head 71 and a third tool TL3 (or a fourth tool) held by a non-turret-type machining head 72.

[0264] Since the machining head 7, the turret-type machining head 71, and the non-turret-type machining head 72 have already been described in the third embodiment, further description of the machining head 7, the turret-type machining head 71, and the non-turret-type machining head 72 will be omitted.

[0265] (Bucket 21) 47, the retraction position P2 is located closer to the second direction DR2 than the receiving position P1. More specifically, the end E2 of the bucket 21 located at the retraction position P2 on the side of the third direction DR3 is located closer to the second direction DR2 than the end E1 of the bucket 21 located at the receiving position P1 on the side of the third direction DR3. In this case, the bucket 21 located at the retraction position P2 is less likely to get in the way when the workpiece W is transferred from the first workpiece support device 6a to the second workpiece support device 6b. Therefore, when the workpiece W is transferred from the first workpiece support device 6a to the second workpiece support device 6b, the second workpiece support device 6b can be brought closer to the first workpiece support device 6a.

[0266] In the example shown in FIG. 47, the opening OP (not shown in FIG. 47) of the bucket 21 positioned at the retracted position P2 faces in the direction along the first axis AX1 (more specifically, in the second direction DR2). In this case, the bucket 21 positioned at the retracted position P2 is less likely to get in the way when the workpiece W is transferred from the first workpiece support device 6a to the second workpiece support device 6b. Therefore, when the workpiece W is transferred from the first workpiece support device 6a to the second workpiece support device 6b, the second workpiece support device 6b can be brought closer to the first workpiece support device 6a.

[0267] The bucket 21 has already been described in the second and third embodiments, so further description of the bucket 21 will be omitted.

[0268] (First arm 31) In the example shown in Fig. 44, the first arm 31 is disposed above the first axis AX1. In the example shown in Fig. 44, the first arm 31 is disposed on the fourth direction DR4 side of the first axis AX1.

[0269] When the first arm 31 is disposed above the first axis AX1, it is easy to use the space below the first axis AX1 to place other devices. For example, a turret-type machining head 71 may be disposed below the first axis AX1.

[0270] When the first arm 31 is positioned above the first axis AX1, the bucket 21 positioned at the retracted position P2 is less likely to get in the way when the workpiece W is transferred from the first workpiece support device 6a to the second workpiece support device 6b. Therefore, when the workpiece W is transferred from the first workpiece support device 6a to the second workpiece support device 6b, the second workpiece support device 6b can be brought closer to the first workpiece support device 6a.

[0271] The first arm 31 has already been described in the second and third embodiments, so further description of the first arm 31 will be omitted.

[0272] (Control device 9) In the example shown in FIG. 48 , the processing machine 1B includes a control device 9 that controls the moving device 8 and the part catcher 2 (more specifically, the drive source M of the part catcher 2, and even more specifically, the valve drive device 57). The control device 9 may control the rotation drive device 61 that rotates the workpiece W about the first axis AX1 and / or the jaw drive device 65. The control device 9 may control the second rotation drive device 61 a that rotates the workpiece W about the second axis AX2 and / or the second jaw drive device 65 a. The control device 9 may control the turret turning device 713. The control device 9 may control the tool rotation device 74. The control device 9 may control the discharge conveyor 17. The control device 9 may control the coolant liquid discharge device 11.

[0273] The control device 9 has already been described in the third embodiment, so further description of the control device 9 will be omitted.

[0274] The present invention is not limited to the above-described embodiments or modifications, and it is clear that each embodiment or modification can be appropriately modified or changed within the scope of the technical concept of the present invention. Furthermore, various techniques used in each embodiment or modification can be applied to other embodiments or modifications as long as no technical contradiction occurs. Furthermore, optional additional configurations in each embodiment or modification can be omitted as appropriate. [Explanation of symbols]

[0275] 1, 1A, 1B... processing machine, 2, 2A, 2B... parts catcher, 3... bucket moving device, 6... work support device, 6a... first work support device, 6b... second work support device, 6f... end of work support device on the fourth direction side, 6u... upper end of work support device, 7... processing head, 7a... first head, 7b... second head, 8... moving device, 9... control device, 11... coolant liquid discharge device, 11n... nozzle, 12a... first wall, 12b... second wall, 13... side wall, 14... door, 15... partition, 15p... communication opening, 17... carry-out conveyor, 18... discharge opening, 19a... cable guide, 21... Bucket, 22...bottom wall, 23...side wall, 23a...first side wall, 23b...second side wall, 23c...third side wall, 23d...fourth side wall, 23e...upper edge, 27...connecting portion, 27a...first member, 27b...second member, 31...first arm, 31e...tip portion of first arm, 32...detection plate, 34...swivel body, 34b...base end portion of swivel body, 34e...tip portion of swivel body, 37...second arm, 37b...base end portion of second arm, 39...fixed shaft, 39e...tip portion of fixed shaft, 41...first sensor, 41a...proximity sensor, 42...second sensor, 42a...proximity sensor, 46...first adjustment mechanism, 47... Second adjustment mechanism, 48...base, 51...air source, 53...air flow path, 55...switching valve, 57...valve drive device, 61...rotation drive device, 61a...second rotation drive device, 62...chuck, 62a...second chuck, 63...chuck body, 63a...second chuck body, 64...jaw, 64a...jaw, 65...jaw drive device, 65a...second jaw drive device, 66...pusher, 68...support, 68a...second support, 71...turret-type machining head, 72...non-turret-type machining head, 74...tool rotation device, 79...laser emission unit, 81...machining head moving device, 88...third moving device, 90...pusher processor, 92...memory, 94...communication circuit, 96...input device, 96a...touch panel, 96b...button, 97...display, 98...bus, 101...transfer device, 121a...opening, 143...window, 151...eaves, 153...adjustment member, 271...rod-shaped body, 272...slider, 341...intermediate arm, 341s...rotating shaft, 461...position adjustment mechanism, 461h...long hole, 471...angle position adjustment mechanism, 471h...long hole, 481...bracket, 711...turret, 713...turret rotation device, 811...first movement device, 811a...Z-axis movement device, 811b...X-axis movement device,813...second moving device, 922...machining program, 926...workpiece data, AS1...first linear axis, AT...swivel axis, AT1...first swivel axis, AT2...second swivel axis, AT3...rotation axis, AX1...first axis, AX2...second axis, AX3...third axis, B...flexible member, B1...belt, BG...bevel gear, BG1...first bevel gear, BG2...second bevel gear, DD1...depth direction, DL1...longitudinal direction, DR1...first direction, DR2...second direction, DR3...third direction, DR4...fourth direction, DW1...width direction, E1...end of bucket located at receiving position on the third direction side, E2...end of bucket located at retracted position on the third direction side, F1, F2, F3...fixed member, G...center of gravity, GE1...first gear, J...linear motion mechanism, J1...linear guide, J11...rail, J12...slider, M ...Drive source, M1...Air cylinder, M2...Motor, MB...Cylinder body, MB1...First chamber, MB2...Second chamber, OP...Opening, OS...Notch, P1...Receiving position, P2...Retracting position, PT...Machine-machined part, PU1...First pulley, PU2...Second pulley, Q1...Arm advance position, Q2...Arm retracting position, RA...Rack, RD...Rod, RG...Inner area of ​​the machining center, RG1...Machining area, RG2...Part ejection area, S1...First state, S2...Second state, SA1...First control command, SA2...Second control command, T...Power transmission mechanism, T1...First power transmission mechanism, T1-1...First booster mechanism, T2...Second power transmission mechanism, T2-1...Second booster mechanism, TL...Tool, TL1...First tool, TL2...Second tool, TL3...Third tool, U1...First unit, W...Workpiece,

Claims

1. a bucket that is movable between a receiving position that receives a machined part from a workpiece support device of the processing machine and a retreat position; a bucket moving device that moves the bucket between the receiving position and the retracted position by performing an operation including: moving the bucket in a direction along a first linear axis; and rotating the bucket about a first pivot axis and a second pivot axis that is not parallel to the first pivot axis; Equipped with The bucket moving device is One driving source; a linear motion mechanism that uses power from the drive source to move the bucket in a direction along the first linear axis; a first power transmission mechanism that converts power of the drive source into a first rotational motion of the bucket about the first rotation axis; a second power transmission mechanism that converts the power of the drive source into a second rotational motion of the bucket about the second rotation axis; Equipped with Using power from one of the driving sources, a linear movement of the bucket in a direction along the first linear axis, a first rotation of the bucket about the first rotation axis, and a second rotation of the bucket about the second rotation axis are performed. Parts catcher.

2. A bucket that is movable between a receiving position that receives a machined part from a work support device of a processing machine and a retracted position; a bucket moving device that moves the bucket between the receiving position and the retracted position by performing an operation including: moving the bucket in a direction along a first linear axis; and rotating the bucket about a first pivot axis and a second pivot axis that is not parallel to the first pivot axis; Equipped with The bucket moving device is A driving source; a linear motion mechanism that uses power from the drive source to move the bucket in a direction along the first linear axis; a first power transmission mechanism that converts power of the drive source into a first rotational motion of the bucket about the first rotation axis; a second power transmission mechanism that converts the power of the drive source into a second rotational motion of the bucket about the second rotation axis; Equipped with The drive source and the power transmission mechanism including the first power transmission mechanism and the second power transmission mechanism simultaneously move the bucket in a direction along the first linear axis, rotate the bucket about the first rotation axis, and rotate the bucket about the second rotation axis. Parts catcher.

3. The bucket moving device is a first arm that moves along the first linear axis; a rotating body supported by the first arm so as to be rotatable about the first rotation axis; a second arm that is supported by the rotating body so as to be rotatable about the second rotating shaft and that supports the bucket; Equipped with 3. The parts catcher according to claim 1 or 2.

4. a base that supports the first arm movably in a direction along the first linear axis; the first arm extends along the first linear axis; The first power transmission mechanism converts linear motion of the first arm relative to the base in a direction along the first linear axis into first rotational motion of the rotating body around the first rotational axis. The parts catcher according to claim 3.

5. When the bucket moves from the receiving position to the retracted position, the center of gravity of the bucket either descends and then rises, or rises and then descends.

3. The parts catcher according to claim 1 or 2.

6. a workpiece support device that supports the workpiece; a machining head that processes the workpiece using a tool or a laser to form a machined part; a moving device that moves the processing head relative to the workpiece supporting device; a bucket movable between a receiving position for receiving the machined part from the workpiece support device and a retracted position; a bucket moving device that moves the bucket between the receiving position and the retracted position by performing an operation including: moving the bucket in a direction along a first linear axis; and rotating the bucket about a first pivot axis and a second pivot axis that is not parallel to the first pivot axis; Equipped with The bucket moving device is One driving source; a linear motion mechanism that uses power from the drive source to move the bucket in a direction along the first linear axis; a first power transmission mechanism that converts power of the drive source into a first rotational motion of the bucket about the first rotation axis; a second power transmission mechanism that converts the power of the drive source into a second rotational motion of the bucket about the second rotation axis; Equipped with Using power from one of the driving sources, a linear movement of the bucket in a direction along the first linear axis, a first rotation of the bucket about the first rotation axis, and a second rotation of the bucket about the second rotation axis are performed. processing machine.

7. A work support device that supports a work; a machining head that processes the workpiece using a tool or a laser to form a machined part; a moving device that moves the processing head relative to the workpiece supporting device; a bucket movable between a receiving position for receiving the machined part from the workpiece support device and a retracted position; a bucket moving device that moves the bucket between the receiving position and the retracted position by performing an operation including: moving the bucket in a direction along a first linear axis; and rotating the bucket about a first pivot axis and a second pivot axis that is not parallel to the first pivot axis; Equipped with The bucket moving device is A driving source; a linear motion mechanism that uses power from the drive source to move the bucket in a direction along the first linear axis; a first power transmission mechanism that converts power of the drive source into a first rotational motion of the bucket about the first rotation axis; a second power transmission mechanism that converts the power of the drive source into a second rotational motion of the bucket about the second rotation axis; Equipped with The drive source and the power transmission mechanism including the first power transmission mechanism and the second power transmission mechanism simultaneously move the bucket in a direction along the first linear axis, rotate the bucket about the first rotation axis, and rotate the bucket about the second rotation axis. processing machine.

8. The bucket moving device is a first arm that moves along the first linear axis; a rotating body supported by the first arm so as to be rotatable about the first rotation axis; a second arm that is supported by the rotating body so as to be rotatable about the second rotating shaft and that supports the bucket; Equipped with 8. The processing machine according to claim 6 or 7.

9. the workpiece support device includes a rotation drive device that rotates the workpiece around a first axis; the first linear axis is substantially parallel to the first axis; the bucket has an opening through which the machined part enters the bucket; When the bucket is located at the receiving position, the opening faces upward, When the bucket is located at the retracted position, the opening faces in a direction along the first axis.

8. The processing machine according to claim 6 or 7.

10. A partition is provided to separate the interior area of ​​the processing machine into a processing area and a part discharge area, a communication opening is formed in the partition to connect the processing area and the part discharge area; the bucket has an opening through which the machined part enters the bucket; When the bucket is located at the retracted position, the opening of the bucket faces the communication opening.

8. The processing machine according to claim 6 or 7.

11. The workpiece supporting device is a first workpiece supporting device; a second work support device capable of receiving the work from the first work support device; Equipped with The bucket positioned at the receiving position is capable of receiving the machined part from the second workpiece support device.

8. The processing machine according to claim 6 or 7.

12. a first adjustment mechanism that adjusts a first angular position of the bucket about the first pivot shaft when the bucket is located at the retracted position; a second adjustment mechanism that adjusts a second angular position of the bucket about the second pivot shaft when the bucket is located at the retracted position; Further provided with 8. The processing machine according to claim 6 or 7.

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