JPH10118884A - Cutting liquid spraying system in machining - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow long time unmanned operation of a machine tool by surely removing cutting ships from the workpiece and table of the machine tool. SOLUTION: The supply of cutting liquid and the removal of cutting chip are conducted by adjusting the spray travel of the liquid spouted from the tip of the nozzle 12 mounted on the tip of a robot 10 and the spray angle of the nozzle 12 by controlling the attitude and position of the nozzle 12. Since the liquid spray arrival position and spray angle can be freely adjusted, all the corners of workpieces 22, mounting jigs and a table 2 can be cleaned by the liquid jet from the single nozzle 12, eliminating the necessity of large scale peripheral equipment. The supply of cutting liquid and work for cleaning the workpieces 22 and the periphery can be completely automated by storing the operation program of the robot 10 of every machining program in a control device, allowing unmanned operation of a machine tool for a long time.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to the field of machining with a machine tool.

[0002]

2. Description of the Related Art As a device for supplying a cutting fluid to a machine tool or a machining center, a nozzle with a snake pipe is provided in the vicinity of a spindle head, and the position and angle of the nozzle are adjusted in various ways to cut the cutting portion. What supplies a liquid is well known.

[0003] This type of cutting fluid supply device is mainly intended for cooling a tool or a work, reducing cutting resistance and preventing clogging of a tool, and is not intended for removing chips. The range in which chips can be removed is limited to the periphery of the cutting portion of the tool and the work. That is,
There is no guarantee on the chip removal function for the entire part of the work, on the table on which the work is placed, or around the jig for mounting the work.

[0004] In machining using a machining center, a plurality of types of machining such as hole drilling, boring, milling, and the like are continuously performed by changing the tool of the spindle head or turning the table while the work is fixed to the table. This is different from conventional machining, in which different types of dedicated machine tools are mounted and replaced in parallel, while setting up the work, i.e., attaching and detaching the work to and from the table and mounting jig. No positioning work is required, and no foreign matter enters between the work and the table or the mounting jig, so even if chips are scattered on the table or around the mounting jig, In short, short-time operation does not adversely affect machining accuracy and the like. However, when multiple workpieces are sequentially machined by performing unattended operation for a long time, it is necessary to change the setup of the workpieces (transfer of workpieces, etc.), as in the case of using different types of special machine tools in parallel. If chips are left on the table or around the mounting jig, it will interfere with the mounting and repositioning of the work, and will cause a large amount of chips, There is a problem that a problem such as a processing error occurs due to thermal expansion.

Conventionally, such chip removal operation has been performed by a method such as sweeping with a brush or blowing off with a blower or the like at the stage when processing has been completed, and such manual intervention is required. This hindered long unmanned driving.

[0006] In addition, some devices for removing chips by attaching a blower or a shower device to a machining center or a machine tool rigidly have been implemented. However, any of these devices is intended to completely remove chips. Has a drawback in that it requires a strong air volume and wind pressure and a liquid volume and liquid pressure, and the peripheral equipment becomes large-scale.

[0007]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a cutting fluid spraying system which can solve the problem of chips remaining and can carry out unattended operation of a machine tool or a machining center for a long time with inexpensive equipment. Is to do.

[0008]

SUMMARY OF THE INVENTION According to the present invention, a nozzle for ejecting a liquid used for removing chips or assisting cutting is attached to the tip of a robot, and the position and position of the nozzle are controlled by controlling the attitude and position of the nozzle. The above object has been achieved by adjusting the spray angle at the reaching position and performing the chip removing operation. Since the liquid arrival position and spray angle can be controlled freely, the liquid, jet from a single nozzle can be used to clean the work, mounting jigs and every corner of the table. do not need.

By controlling the pressure of the ejected liquid in addition to the attitude and position of the nozzle, a cleaning operation with a higher degree of freedom can be performed.

Further, by disposing the robot above the machine tool while avoiding interference with the work table or the like, the drop distance of the liquid is increased, and more powerful cleaning work can be performed by utilizing the gravitational acceleration. Further, since the time required for dropping the liquid increases, it becomes possible to perform the cleaning operation over a wider range (horizontal direction) at the same ejection pressure.

In addition, the operation program of the robot is stored in the control device for each processing program, and the operation program is selected in accordance with the processing program to control the attitude and position of the nozzle, the pressure of the ejected liquid, and ON / OFF. As a result, it is possible to perform an optimum cleaning operation according to the shape and the mounting position of the work.

As the control device for storing the operation program of the robot, a robot control device or a control device of a machine tool can be used.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a front view schematically showing a machining center 1 according to an embodiment equipped with a cutting fluid spray system to which the present invention is applied.

The structure of the machining center 1 is the same as that of the conventional one, and the table 2 is arranged in the X-axis direction of the standard coordinate system (FIG. 1) in order to satisfy the need for the line configuration and to maintain the accessibility to the automatic transfer device. The column 4 provided with the turning spindle head 3 moves in the Y-axis direction (the front-rear direction in FIG. 1), and the turning spindle head 3 itself moves along the column 4 in the Z direction. It can be moved in the axial direction (vertical direction with FIG. 1 placed right). In some cases, an index table may be added in place of the turning spindle head 3 to process four surfaces. The shield 5 is for preventing chips, moisture and the like from entering the components of the feed shaft of the table 2, and is constituted by a telescopic cover or a bellows-like cover.

On the outer periphery of the base 6 which supports the machining center 1, a housing 7 for preventing the rebound of liquid used for removing chips or assisting cutting and the rebound of chips is provided so as to surround four sides. And at least a part of the front panel 8 is formed of a transparent or translucent panel for confirming a processing state, and the like.
Further, a collecting gutter 9 is provided on the outer peripheral portion of the upper surface of the base 6 for collecting a liquid used for removing chips or assisting cutting.

The robot 10 is fixedly suspended from the top plate 11 of the housing 7 so as to be located above the machining center 1 while avoiding interference with the table 2 and the like. The robot 10 itself has a pivot axis around the θ axis, a pivot axis around the W axis and the U axis, and a pivot axis and pivot axes α, β, γ at the tip of the wrist.
And a nozzle 12 for ejecting or spraying a liquid used for removing chips or assisting cutting is attached to the tip of the robot.

Of course, the axis configuration of the robot is such that
Depending on the form of spraying, other configurations such as an orthogonal type may be used, and the number of axes may be 3 to 5 in some cases.

The hanging position of the robot 10 on the top plate 11 is not particularly limited as long as the robot 10 does not interfere with the rotating spindle head 3, column 4, or table 2, but as shown by a two-dot chain line in FIG. Within the swing and swivel limits of each axis of the robot 10, the jet
It is desirable that all of the above positions be positions that can be cleaned.

The supply of the liquid to the nozzle 12 is performed from a storage tank 15 disposed near the machining center 1 via a pump 13 and a flexible pipe 14. The ON / OFF of the motor of the pump 13 and the control of the rotation speed are controlled by a robot. As with the motors for each axis of 10, the control is performed by a robot controller (not shown). Further, from the collecting gutter 9 of the base 6, the used liquid is filtered by the impurity removing filter and the pipe 1.
6 and is returned to the storage tank 15.

An opening, an automatic opening / closing door and the like are provided in a part of the panel components of the housing 7 for connection to a production line, an automatic conveying device, or the like, so that the table 2 can be connected to the production line or the automatic conveying device. In some cases, a workpiece is transferred by a handling robot or the like.

In FIG. 1, the clamps 18, 19, 20, 21
Work pallet 1 with work 22 integrally fixed
7 illustrates an example in which the workpiece 7 is placed on the table 2 and machining is performed with the tool of the rotary spindle head 3. The work 22 in this case is a constituent member of the waist portion of the industrial robot.

As already described in the section of the prior art, in the machining using the machining center 1, the tool of the rotary spindle head 3 is exchanged by exchanging the tool of the rotary spindle head 3 while the work pallet 17 on which the work 22 is mounted is fixed to the table 2. Since multiple types of machining such as centering and milling can be performed continuously,
It is not necessary to frequently change the setup of the work 22 or reload the work pallets 17 as in the case of processing in which different kinds of dedicated machine tools are performed in parallel. It is necessary to carry out the pallet 17 at the stage when the processing is completed, and to reload the next pallet 17 (on which the unprocessed work 22 is placed) on the table 2.

At this time, when the chips 23 accumulated on the pallet 17 fall onto the table 2, the next pallet 1
There is a problem in that the mounting accuracy when mounting 7 is not ensured. Even if the chips 23 on the pallet 17 do not fall, the same problem as described above occurs if the pallet 17 on which the chips 23 are placed is directly transferred to the next processing step or assembling step. Pallet 1 before taking it out of housing 7
It is necessary to dispose of the chips 23 accumulated on the workpiece 7 and the work 22.

Therefore, in the present embodiment, the robot controller for driving and controlling the robot 10 and the pump 13 is used for spraying liquid for the purpose of cooling the work 22 and the tool, reducing the cutting resistance and preventing the tool from being clogged. Operation program of the robot 10 and the pump 13 for
A cutting fluid supply program), and a robot 10 and a pump 1 for use in spraying liquid for the purpose of flushing chips from the work 22 and the work pallet 17 or the like.
An operation program 3 (hereinafter referred to as a cleaning liquid supply program) is stored, and the cutting liquid supply program is executed during the processing of the work 22 and the cleaning liquid supply program is executed after the processing is completed.

The cutting fluid supply program differs depending on the type of tool to be used and the moving path of the tool, and the cleaning fluid supply program also varies depending on the overall shape and size of the work 22. It is necessary to separately edit each machining program to be machined and store it in association with each machining program. Note that the cutting fluid and the cleaning fluid here are the same, for example,
Emulsion type lubrication and cooling liquid, mineral oil, etc.

The cutting fluid supply program supplies the cutting fluid to the machining section by following the arrival position of the cutting fluid ejected from the nozzle 12 on the tool moving path of the rotating spindle head 3 to reduce the cutting resistance, and at the same time, This is for promoting the cooling of the tool and the cutting section and the discharge of the chips from the cutting section. Basically, the movement trajectory of the reaching position of the cutting fluid may be the same as the machining path of the tool.

When the motor of the pump 13 is driven at a constant speed, the initial speed of the cutting fluid ejected from the nozzle 12 is uniquely determined. Therefore, theoretically, by setting the tip position of the robot 10 to an appropriate position, The relative positional relationship between the tool and the tip position of the robot 10 at each position on the machining path, in other words, the relative position between the tool position at each time point on the machining program and the tip position of the robot 10 defined at that time point From the positional relationship, the nozzle 12 is controlled by a machine tool controller, a robot controller, or another computer.
Is automatically determined for each tool position to automatically generate a posture control program for the robot 10 (including an interpolative posture change program between postures discontinuously determined in time series). It is possible.

This is because, for example, when the tool position is a, the optimum attitude of the nozzle 12 is b and the tool position is a '.
When the optimal attitude of the nozzle 12 is b 'when the tool moves continuously, the attitude of the nozzle 12 continuously changes from b to b' while the tool continuously moves from a to a '. This means that an interpolation program is generated.

Needless to say, although the tip position of the robot 10 is determined to be an appropriate position, the position is not necessarily required to be fixed. As long as the tip position of the robot 10 is known, the relative positional relationship between the tool and the tip position of the robot 10 can be determined. Therefore, the posture of the robot 10 for setting the cutting part as the arrival position (target) of the cutting fluid. Can be obtained based on the initial speed of the cutting fluid. In the example of FIG. 1, the column 4 does not move in the X-axis direction, and furthermore, there is sufficient clearance between the column 4 and the robot 10, so that the column 4 and the robot 10 do not interfere with each other. Even if the column 4 and the robot 10 temporarily interfere with each other due to the movement of the column 4 as a result of using another configuration, in such a case, the first decision is made only during the period in which the interference is expected to occur. The robot 1 retracts the tip of the robot 10 from the retracted position, and determines the robot 1 based on the relative positional relationship between the retracted position and the tool and the initial velocity of the liquid.
A posture of 0 can be obtained, and even when the space where the robot 10 can be mounted is narrow, the cutting fluid can be supplied to the cutting portion while the robot 10 is retracted.

The rotation speed of the motor of the pump 13 (nozzle 1
The same is true for the initial velocity of the cutting fluid ejected from the nozzle 2). That is, although the motor of the pump 13 is driven at a constant speed, the rotation speed does not need to be the same throughout. The initial speed and the tip position of the robot 10 are known, and
As long as the rotation speed of the motor of the pump 13 (the initial speed of the cutting fluid ejected from the nozzle 12) is defined, the relative positional relationship between the tool and the position of the tip of the robot 10 is determined, and the cutting portion reaches the cutting fluid arrival position. This means that the posture of the robot 10 can be obtained based on the initial velocity of the cutting fluid.

That is, the position of the tip of the robot 10 and the rotation speed of the motor of the pump 13 (the initial speed of the cutting fluid ejected from the nozzle 12) may be any values, and these values may be determined in advance or The values are set or changed at appropriate timing (meaning an opportunity, not a time series) according to the relative position relationship between the tool and the tip position of the robot 10 or the pump 13. That is, the posture of the robot 10 for setting the cutting portion at the position at which the cutting fluid reaches can be obtained in accordance with the rotation speed of the motor.

In practice, however, the position of the tip of the robot 10 and the rotational speed of the motor of the pump 13 are determined in this way, and the posture of the robot 10 for setting the cutting portion to the position where the cutting fluid reaches is obtained. Even if a cutting fluid supply program is generated such that the movement trajectory of the arrival position of the cutting fluid is the same as the machining path of the tool, the cutting fluid is not always supplied appropriately to the cutting portion at each time. . This is because the projecting portion of the work 22 may block the jet path of the cutting fluid and prevent the cutting fluid from reaching the cutting portion. In such a case, the position at which the cutting fluid has reached
It is shifted to the other part on the upper part or the other part on the clamps 18, 19, 20, 21 so that the cutting fluid is transmitted to the work 22 or the clamps 18, 19, 20, 21 or the like from the position where the cutting fluid arrives, and the desired cutting process is performed. It becomes necessary to supply cutting fluid to the part.

Further, as described above, a cutting fluid supply program is generated such that the movement trajectory of the reaching position of the cutting fluid is the same as the machining path of the tool, and the cutting fluid is always supplied to the cutting portion. However, this is not always the most suitable mode of supply of the cutting fluid for cooling, lubrication and chip discharge. Depending on the shape of the work 22 and the moving direction of the tool,
This is because there is a difference in the flow direction of the cutting fluid suitable for cooling, lubrication, and chip discharge. In the case of this embodiment, the nozzle 1
2 and the initial speed of the cutting fluid ejected from the nozzle 12 can be arbitrarily set within a predetermined range.
The position of the cutting fluid and the initial speed of the cutting fluid are changed.
By adjusting the posture of the cutting fluid, it is possible to achieve a cutting fluid supply state close to an ideal supply state.

In order for the work 22 to block the jet path of the cutting fluid, the cutting fluid must be transmitted to the workpiece 22, the clamps 18, 19, 20, 21 and the like to supply the cutting fluid to a desired cutting portion. In such a case, or when an attempt is made to realize a cutting fluid supply state more suitable for cooling, lubrication, and chip discharge, the work 22 and the clamps 18, 19,
20 and 21 are mounted on the table 2 and the actual table 2
And the like along the machining path, and manually adjusting the position of the nozzle 12, the initial speed of the cutting fluid (the rotation speed of the motor of the pump 13), and the attitude of the nozzle 12 via the robot controller, and For each position, the position of the nozzle 12,
The optimum combination of the initial speed of the cutting fluid and the attitude of the nozzle 12 is experimentally determined, and these three data are taught to the robot controller in correspondence with each position, and the attitude control program of the robot 10 (time-series discontinuous (Including an interpolated posture change program between the determined postures and a rotation speed control program of the motor of the pump 13).

Of course, as described above, a cutting fluid supply program is generated such that the movement trajectory of the reaching position of the cutting fluid is the same as the machining path of the tool. When the drive 13 is driven, the position on the machining path where the work 22 blocks the ejection path of the cutting fluid or the supply state of the cutting fluid becomes inappropriate is detected, and only the inappropriate portion is detected as described above. The position of the nozzle 12, the initial speed of the cutting fluid, the nozzle 12
It is also possible to experimentally determine an appropriate combination of the positions of the cutting fluid and to perform the debugging work of the cutting fluid supply program only on the inappropriate portion.

By executing the cutting fluid supply program in synchronization with the machining program in the actual machining, the work 22
The cutting fluid is always supplied to the cutting portion, thereby reducing the cutting resistance in the cutting portion, and achieving the cooling action and the chip discharging action. However, this is mainly for the purpose of cooling and reducing cutting resistance and preventing clogging of tools.
Since the portion through which the cutting fluid flows is limited on the processing path of the work 22, it is not suitable for removing chips from the entire area of the work 22 and the work pallet 17. For example, as shown in FIG. 1, there is a possibility that chips 23 accumulate on the work pallet 17. Of course, it is possible to temporarily deviate the reaching position of the cutting fluid from the machining path at an appropriate timing to clean the other part, but the problem that the cutting fluid is not supplied to the marginal cutting part temporarily There is.

Therefore, in the present embodiment, as described above, the operation program of the robot 10 and the pump 13 for washing away the chips from the work 22 and the work pallet 17, etc., ie, the cleaning liquid supply program, becomes independent after the machining is completed. And run it.

The operation of the robot 10 for washing away the chips from the work 22 and the work pallet 17 does not need to be as strict as that of the cutting fluid supply program, and the cleaning fluid jetted from the tip of the nozzle 12 (same as the cutting fluid) thing)
By doing so, it is sufficient that the chips accumulated on the work 22 and the work pallet 17 can be washed away. In this embodiment, the periphery of the machining center 1 is a housing 7.
Since the cleaning liquid is covered with the pump 13, there is no fear that the cleaning liquid is scattered to the outside.
It is better to set the rotation speed of the motor, that is, the initial speed of the cleaning liquid, higher.

Robot 1 for changing attitude of nozzle 12
It is desirable that the posture control program of 0 is assembled so that the movement locus of the arrival position of the cleaning liquid passes through the entire area of the projection surface of the work 22 and the work pallet 17 viewed from the robot 10 side. For example, if the projection plane of the work 22 and the work pallet 17 viewed from the robot 10 side is like AA ′ in FIG. 1, the projection plane AA ′ is shown in FIG. An attitude control program that achieves the movement trajectory of the cleaning liquid arrival position as shown in FIGS. 2B and 2C is appropriate. This movement locus is the same as pocket machining by milling or the like, and can be easily generated by an ordinary control device by specifying the pitch between the loci and the maximum contour of the projection plane A-A '. It is possible.

When the machining center 1 has an index table for indexing the processing surface, the index table is driven during the execution of the cleaning liquid supply program to rotate the work 22 and the work pallet 17 in a horizontal plane. Thus, a more reliable cleaning effect can be obtained.

Depending on the shape of the work 22, it may be more effective to change the angle at which the jet is applied to each part. For a portion where the jet is desired to be applied to the workpiece 22 from above vertically, the initial speed of the cleaning liquid (the rotation speed of the motor of the pump 13) is reduced by setting the attitude of the nozzle 12 close to a horizontal state or substantially upward. The cleaning liquid is sprayed from above the work 22 exclusively by using the free fall of the cleaning liquid, and for a portion where the jet is to be applied obliquely from above the work 22, the initial velocity of the cleaning liquid is increased and the tip of the nozzle 12 is raised. The cleaning liquid can be sprayed from obliquely above the work 22 only by a linear trajectory so as to aim at a target portion. In a series of cleaning operations, the optimum combination of the position of the nozzle 12, the initial speed of the cutting fluid, and the attitude of the nozzle 12 is experimentally obtained as in the case of the teaching operation of the cutting fluid supply program. The robot control device stores the position control program of the robot 10 (the interpolated posture change program between the postures discontinuously indexed in time series and the control program of the rotation speed of the motor of the pump 13) for each position. ) Can be achieved.

Further, by moving and rotating the table 2 side, the relative position between the nozzle 12 and the work 22 can be greatly changed, and the cleaning liquid can be sprayed from various directions on the work 22 from a desired direction. The cooperative operation between the table 2 and the robot 10 at this time is basically the same as the relationship between the movement of the table 2 during machining and the cutting fluid supply program. Therefore, the operation program of the table 2 for cleaning may be prepared in advance in the same manner as the machining program, and the cleaning liquid supply program may be executed in synchronization with the program.

In addition to the case where one day's work is completed, not only the nozzle 12 and the work 22 but also the housing 7 can be used.
Sometimes you want to clean the whole area. In such a case, the base 6 is used as a projection plane instead of the projection plane AA 'of the work 22 and the work pallet 17, and the movement trajectory of the arrival position of the cleaning liquid is shown in FIGS. 2 (a), 2 (b) and 2 (b). 2 (c)
The cleaning liquid supply program is generated so as to be as follows.

In this embodiment, since the robot 10 is fixedly suspended from the top plate 11 of the housing 7 so as to be located above the machining center 1, the nozzle 1
The vertical separation distance between the base 2 and the base 6, the table 2, the work 22, etc. can be increased, and as a result, the pump 1
Even in the case where the driving force of the motor 3 is weak and the initial velocity of the jetting cleaning liquid cannot be made large, the reaching distance of the cleaning liquid falling in a parabolic manner can be made large in the horizontal direction. In addition, since the impact force at the drop point of the cleaning liquid also increases, it is possible to strongly clean the base 6, the table 2, the work 22, and the like to blow off chips.

As the nozzle 12, a nozzle that spouts the cleaning liquid straight in a water column shape is exclusively used. Alternatively, a nozzle that sprays the cleaning liquid in a shower shape or a mist shape can be used. The rotation operation of the α-axis or the γ-axis in the robot 10 is meaningless when the cleaning liquid is spouted straight in a water column or when the cleaning liquid is sprayed as a conical shower or mist. In the case of spraying in an elliptical shape, it is convenient to rotate the nozzle 12 so that the spraying region of the cleaning liquid can be variously changed. Needless to say, by installing a needle or the like in the nozzle 12, it is also possible to switch between a water column-shaped jet and a shower or mist-like spray state.

Needless to say, when the work fluid and the cleaning of the work 22 and the table 2 are performed simultaneously with the supply of the work fluid only by the work fluid supply program, for example, the size of the work 22 is small or the flow rate of the coolant from the nozzle 12. Is large, it is not necessary to execute the cleaning liquid supply program, and the cutting liquid supply program alone is sufficient.

If the control device of the machining center 1 is provided with a sufficient number of additional axis control drivers for drive control of the robot 10, the control device of the machining center 1 does not need to use a robot control device. The drive control of the motor of the robot 10 and the pump 13 can be performed.

[0048]

The cutting fluid spraying system according to the present invention controls the attitude and position of the nozzle attached to the tip of the robot to adjust the arrival position and the spray angle of the liquid ejected from the tip of the nozzle and to adjust the spray angle. Since the supply operation is performed, the cutting fluid is accurately supplied to the cutting part of the work even when it is mounted on a complicated machine tool equipped with a rotating spindle head and a table turning mechanism. be able to.

Further, since the liquid arrival position and the spray angle can be freely controlled, the work, the mounting jig and the table can be thoroughly washed with a liquid jet from a single nozzle. The supply of the cutting fluid and the application of the cleaning fluid can be performed by an inexpensive device without requiring large-scale peripheral equipment such as a simple blower and a shower device. In addition, since the amount of liquid used is small, the size of the liquid storage tank and the filtration equipment are also reduced.

Also, since the robot is arranged above the machine tool to avoid interference with the work table, etc.,
When the vertical separation distance between the nozzle and the object to be cleaned is large, powerful cleaning work can be performed using the gravitational acceleration, and the time required for the liquid to drop is increased, so that the liquid jet output is weak. However, the cleaning operation can be performed on a wider horizontal surface.

Further, by storing the operation program of the robot in the control device for each machining program, the supply of the cutting fluid and the cleaning work of the work and its surroundings can be completely automated, and the machine tool can be operated unattended for a long time. Driving becomes possible.

[Brief description of the drawings]

FIG. 1 is a front view schematically showing a machining center according to an embodiment equipped with a cutting fluid spray system to which the present invention is applied.

FIG. 2 is a diagram illustrating an example of a movement path of a cleaning liquid.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Machining center 2 Table 3 Rotating spindle head 4 Column 5 Shield 6 Base 7 Housing 8 Front panel 9 Recovery gutter 10 Robot 11 Top plate 12 Nozzle 13 Pump 14 Flexible pipe 15 Storage tank 16 Pipe line 17 Work pallet 18 Clamp 19 Clamp 20 Clamp 21 Clamp 22 Work 23 Chips

Claims (6)

[Claims] 1. A nozzle for ejecting a liquid used for removing chips or assisting in cutting is attached to a tip of a robot, and a posture and a position of the nozzle are controlled to adjust a liquid arrival position and a spray angle at the arrival position. A cutting fluid spraying system characterized in that a chip removal operation is performed by adjusting. 2. The cutting fluid spray system according to claim 1, wherein the pressure of the ejected liquid is controlled in addition to the attitude and position of the nozzle. 3. The cutting fluid spraying system according to claim 1, wherein the robot is arranged above the machine tool so as to avoid interference with a work table or the like. 4. An operation program of the robot is stored in the control device for each processing program, and the operation program is selected in accordance with the processing program, and the attitude and position of the nozzle, the pressure of the ejected liquid, and ON / OFF are determined. The cutting fluid spray system according to claim 1, wherein the cutting fluid spray system is controlled. 5. The cutting fluid spray system according to claim 4, wherein the control device is a robot control device. 6. The cutting fluid spray system according to claim 4, wherein the control device is a control device of a machine tool.