JP6420227B2 - In-machine cleaning device for machine tools - Google Patents

Description

  The present invention relates to an in-machine cleaning device for a machine tool using a robot and a detection device.

  In a machine tool, when chips generated during machining accumulate in the machine, there is a possibility of various failures such as moving parts biting into the chips. As one of the chip removal means, a nozzle having a snake pipe is provided, and the chip is discharged out of the machine with a cutting fluid during processing. However, the movable range of the nozzle is limited, and it is difficult to accurately clean the chip accumulation location, and it is necessary to periodically clean the inside of the machine by human hands.

  On the other hand, a system has been proposed in which a cleaning device is attached to a robot or the like and the posture and position of the cleaning device are controlled. In these prior arts, it is possible to remove chips over a wide range in the machine by moving the cleaning device in the machine.

  In Patent Document 1, an air nozzle that removes chips and cutting oil scattered during workpiece processing to the outside by air blow is independent of the movement of the spindle head and relative to the workpiece in three orthogonal directions. An automatic cleaning device for a machine tool that is movable is disclosed.

  In Patent Document 2, a cleaning robot provided with a nozzle for sucking chips at the tip of an arm is provided on a moving body such as a cross rail or spindle head of a machine tool, and the tool is within a time determined by a machining program when machining a workpiece. In addition, we designed a moving path that allows the nozzle to move and suck chips, and outputs only the path data of the interference area excluding the area that interferes with the tool being processed to control the cleaning robot to suck the chips. A device for discharging is disclosed.

JP 2009-113182 A JP 2001-322049 A

These cleaning robots described in the background art operate according to a preset program, and do not consider the actual state of chip accumulation. Therefore, there is a possibility of moving to the next processing when cleaning is performed more than necessary or with chips remaining.
Therefore, an object of the present invention is to use a visual sensor or a distance sensor that detects the accumulation state of chips inside the machine, and to determine the location where cleaning is necessary based on the accumulation state of chips and perform in-machine cleaning. It is an object to provide an in-machine cleaning device for a machine tool using a possible robot and a visual sensor or a distance sensor .

The invention according to claim 1 of the present application is an in-machine cleaning device for removing chips accumulated in the cover of a machine tool having a cover that isolates the inside of the machine that is a processing space from the outside. A chip removing device, a robot capable of gripping the chip removing device, a visual sensor or a distance sensor that is attached to a tip of an arm of the robot and detects a state of chip accumulation inside the machine, An information processing apparatus that processes information related to the accumulation state of the chips obtained by the visual sensor or the distance sensor and determines a place where the chips need to be removed, and chip removal is required by the information processing apparatus. moving the chip removing device in the determined location and a control device of the robot, the information processing apparatus, the control device of the robot is independent of the machine tool controller That it is built a cabin cleaning device for a machine tool according to claim.

According to a second aspect of the present invention, after chip removal is performed by the chip removal device, the state of chip accumulation in the machine is detected by the visual sensor or the distance sensor , and the chip is processed by the information processing device. The machine tool cleaning apparatus for machine tools according to claim 1, wherein the removal of chips is repeatedly executed until it is determined that is removed.
The invention according to claim 3 is the in-machine cleaning device for machine tools according to claim 2, wherein the repeated execution of the removal of the chips makes the operation of the chip removal device different from the previous operation. is there.
The invention according to claim 4 is the in-machine cleaning device for machine tools according to any one of claims 1 to 3, wherein the chip removing device ejects fluid to remove chips. is there.

The invention according to claim 5 is characterized in that the chip removing device removes the chips by sucking the chips together with the fluid. cleaning device der Ru.

The invention according to claim 6 is characterized in that a mark or pattern is provided inside the machine, and the information processing apparatus determines that a place where the mark or the pattern cannot be recognized after processing is a place that needs cleaning. Item 6. The machine tool cleaning device according to any one of Items 1 to 5 .
In the invention according to claim 7 , it is determined whether the chip removal is performed by the chip removal device or the manual chip removal is performed, and the chip removal is necessary when it is determined that the manual chip removal is necessary. The machine cleaning apparatus for machine tools according to any one of claims 1 to 6 , further comprising means for notifying the effect.

According to the present invention, by using a visual sensor or a distance sensor for detecting the accumulation state of chips inside the machine, it is possible to determine a location where cleaning is necessary from the accumulation state of chips and perform in-machine cleaning. In addition, an in-machine cleaning device for a machine tool using a visual sensor or a distance sensor can be provided.

It is a figure which shows the in-machine cleaning apparatus of the machine tool using the detection apparatus which detects the accumulation state of the chip inside the robot and the machine. It is a figure which shows the flow of the process which the in-machine cleaning apparatus of a machine tool using the detection apparatus which detects the accumulation state of the chip inside a robot and a machine performs. It is a figure which shows the example of arrangement | positioning of a mark. It is a figure which shows the other flow of the process which the in-machine cleaning apparatus of a machine tool using the detection apparatus which detects the accumulation state of the chip inside a robot and a machine.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a view showing an in-machine cleaning device for a machine tool using a robot and a detection device. The machine tool cleaning device includes a machine tool 1, a robot 2 installed outside the machine tool 1, a chip removing device such as a coolant gun 4 attached to the robot 2, and a robot 2 which is a moving device. And a detection device such as the visual sensor 3 and an information processing device 21 mounted on the robot 2.

  The machine tool 1 includes a splash guard 7 on the bed 5 that blocks the inside of the machine, which is a machining space, from the outside, and prevents machining fluid and chips generated by machining the workpiece from scattering from the inside of the machine to the outside. ing. The splash guard 7 is provided with openings 9a and 9b, and openable and closable doors 8a and 8b are attached to the openings 9a and 9b, respectively. A table 6 on which a work (not shown) is placed and a tool changer 10 for changing tools are arranged inside the machine. The machine tool 1 is controlled by a machine tool control device (not shown) to process a workpiece.

  The robot 2 is a robot having an articulated arm controlled by the control device 20 of the robot 2, and a coolant gun 4 is attached to the tip of the arm. The control device 20 of the robot 2 includes an information processing device 21. The coolant gun 4 may be gripped by a hand attached to the tip of the robot arm.

  During the period when the machine tool 1 does not process the workpiece, the robot 2 causes the tip of the arm to enter the inside of the machine through the opening 9b, and the chip 2 is accumulated by a detection device such as the visual sensor 3 attached to the robot 2. The coolant that is used to machine the workpiece, that is, coolant, is sprayed from the coolant gun 4 attached to the tip of the arm against the accumulated chips, and the accumulated chips are cleaned inside the machine. Drain the chips out of the machine. Further, the removal of the chips may be a form in which the chips are sucked together with a fluid such as air and cutting fluid as well as the injection of the chips. The information processing device 21 processes information related to the accumulation state of chips detected by a detection device such as the visual sensor 3 and performs a process of determining a location where the removal of chips is necessary. The information processing device 21 may be built in the robot control device 20 or may be configured independently of the robot control device 20.

  FIG. 2 is a diagram showing a flow of processing executed by an in-machine cleaning device for a machine tool using a detection device that detects the accumulation state of chips inside the robot and the machine. After the processing of the workpiece by the machine tool is finished, the robot enters the machine, the state inside the machine is acquired by the detection device, the acquired information is processed by the information processing device, and a portion requiring cleaning is determined.

Hereinafter, it demonstrates according to each step.
[Step sa01] It is determined whether or not a predetermined number of times of machining have been completed. If completed (YES), the process proceeds to step sa02. If not completed (NO), cleaning inside the machine is completed as no cleaning is required.
[Step sa02] The inside of the machine tool is photographed.
[Step sa03] It is determined whether or not chips are accumulated inside the machine tool. If accumulated (YES), the process proceeds to step sa04, and if not accumulated (NO), no cleaning is required. Complete in-flight cleaning.
[Step sa04] In-machine cleaning is performed to remove chips from the inside of the machine tool, and the process returns to step sa02.

Here, an example of a method for determining a location requiring cleaning using a detection device that detects the accumulation state of chips inside the machine will be described.
(1) Method Using Template Image The visual sensor 3 is used as a detection device. The visual sensor 3 images the work inside the machine, the table 6 and the bottom of the splash guard 7. Here, an image taken in a state where there is no chip accumulation is stored as a template, and is compared with an image taken after processing the workpiece. Since the brightness of the image is different from the template image at the chip accumulation location, the location where the brightness difference between the two is equal to or greater than a preset threshold is determined as a location requiring cleaning.
(2) Method of providing a mark in the machine The visual sensor 3 is used as a detection device. FIG. 3 is a diagram showing an example of mark arrangement. A specific mark 13 or pattern (not shown) is provided in the machine, and a place where the mark 13 or pattern cannot be recognized after processing is determined as a place requiring cleaning. In FIG. 3, the mark 13 is provided on the bottom surface 12 of the splash guard 7.
(3) Method using depth information A distance sensor is used as a detection device. A distance sensor is a device that measures the depth to an object. As a general method, there is an apparatus that projects an infrared ray or a laser onto an object and calculates a distance from the time that light travels back and forth between the object. . The in-machine depth information without chip accumulation is compared with the depth information after processing. A portion where the depth has changed more than the threshold is determined as a portion that needs to be cleaned.

The chip removal means such as the coolant gun 4 is moved to a place requiring cleaning by using the robot 2 to remove the chips. Using the detection devices such as the visual sensor 3 and the distance sensor, the state in the machine is acquired again, and the part that needs to be cleaned is determined again to confirm whether the chips are correctly removed. Even after cleaning, if the difference in brightness between the image without chip accumulation and the image after cleaning is equal to or greater than the threshold value, it is determined that the cleaning is insufficient and cleaning is performed again. This is repeated until the brightness difference becomes equal to or less than the threshold value and it is determined that the chips have been removed. The repeated execution of the removal of chips may be performed differently every time the operation of the chip removal device is repeated. For example, the spray pressure of the fluid to be sprayed may be changed, the spray pressure of the fluid to be sprayed may be changed, or the spray direction of the fluid to the chip accumulation location may be changed. Further, when suctioning chips together with the fluid, the suction pressure of the fluid to be sucked may be changed, the suction pressure of the fluid to be sucked may be changed, or the suction direction of the fluid to the chip accumulation location may be changed. . In addition to the cleaning fluid, the fluid to be ejected includes cutting fluid, compressed air, or a mixture thereof. The fluid to be sucked includes cutting fluid and the like in addition to air.
After it is determined that the chips have been removed, the process proceeds to the next step.

  It should be noted that in-machine shooting and in-machine cleaning by the visual sensor 3 are not necessarily performed after every processing, but are performed after a preset number of times of processing. This is to reduce the cleaning time without operating the cleaning device when it is known in advance that there is little accumulation of chips and cleaning is not necessary.

  Depending on the location where chips are deposited, manual removal of chips may be faster than removal by robots. When the specified number of times or repetition of time or more has occurred, it may be determined that manual chip removal should be performed, and the operator may be notified of chip accumulation. The area notified to the operator is stored, or the operator has previously registered a manual cleaning location, and when the detection device determines that there is chip accumulation in the corresponding area, the operator is notified and the cutting The cleaning time by the powder removing means may be omitted. In either case, the machine tool moves to the next step after the chips are removed by the operator. Further, chips may be removed by an operator during the day, and switching to cleaning by the chip removing device may be performed at midnight when there is no operator. The notifying means may be a means for notifying only the deposition using Patlite (registered trademark) or the like, or a means for notifying the deposition location such as the illustration of the corresponding location or the display of the number assigned to each area.

  FIG. 4 is a diagram showing another flow of processing executed by the in-machine cleaning device of the machine tool using the detection device for detecting the accumulation state of chips inside the robot and the machine. After the processing of the workpiece by the machine tool is finished, the robot enters the machine, the state inside the machine is acquired by the detection device, the acquired information is processed by the information processing device, and a portion requiring cleaning is determined. Furthermore, when chips are accumulated and cleaning is performed for a specified number of times and for a specified time, the operator is notified of the accumulation of chips by the notification means.

Hereinafter, it demonstrates according to each step.
[Step sb01] It is determined whether or not the predetermined number of times of machining has been completed. If completed (YES), the process proceeds to step sb02. If not completed (NO), cleaning inside the apparatus is completed as no cleaning is required.
[Step sb02] The inside of the machine tool is photographed.
[Step sb03] It is determined whether or not chips are accumulated inside the machine tool. If accumulated (YES), the process proceeds to step sb04. If not accumulated (NO), no cleaning is required. Complete in-flight cleaning.

[Step sb04] It is determined whether or not the number of executions of in-machine cleaning is equal to or less than the specified number of times. If the number of executions is equal to or less than the specified number of times (YES), the process proceeds to step sb05. In the case (NO), the process proceeds to step sb09.
[Step sb05] If the in-machine cleaning execution time is less than the specified time (YES), the process proceeds to step sb06. If the execution time is not less than the specified time (NO), the process proceeds to step sb09.

[Step sb06] In-machine cleaning is performed to remove chips from the inside of the machine tool, and the process proceeds to step sb07.
[Step sb07] The number of in-machine cleanings performed in step sb06 is counted, and the process proceeds to step sb08.
[Step sb08] The in-machine cleaning time performed in step sb06 is counted, and the process returns to step sb02.

[Step sb09] Reset the number of times cleaning is performed to the initial value.
[Step sb10] The in-machine cleaning execution time is reset to the initial value.
[Step sb11] The operator is notified that in-machine cleaning has not been completed. That is, the operator is notified that manual chip removal is necessary.

  It should be noted that in-machine shooting and in-machine cleaning by the visual sensor 3 are not necessarily performed after every processing, but are performed after a preset number of times of processing. This is to reduce the cleaning time without operating the cleaning device when it is known in advance that there is little accumulation of chips and cleaning is not necessary.

  Although FIG. 1 shows the machine tool 1 provided with the splash guard 7, the present invention can also be applied to a machine tool that does not use the splash guard 7. In FIG. 1, a robot 2 is shown as an example of the moving device, and the robot 2 is installed outside the machine tool 1 having the splash guard 7. The position where the moving device is installed is the splash guard 7 It can also be made the inside of the machine tool 1 provided with. The present invention can also be applied to the removal of chips accumulated on the table. In addition, the chip removal device uses not only a coolant gun that ejects fluid and a suction nozzle that sucks fluid, but also means that do not depend on fluid, such as using a brush, a wiper, or a part of the casing of a moving device. Also good.

DESCRIPTION OF SYMBOLS 1 Machine tool 2 Robot 3 Visual sensor 4 Coolant gun 5 Bed 6 Table 7 Splash guard 8a, 8b Open / close door 9a, 9b Opening 10 Tool changer 11 Column 12 Splash guard bottom 13 Mark 14 Accumulated chips

20 Robot control device 21 Information processing device

Claims (7)

An in-machine cleaning device for removing chips accumulated in the cover of a machine tool having a cover that isolates the inside of the machine that is a processing space from the outside,
A chip removing device for removing the chips;
A robot capable of gripping the chip removal device;
A visual sensor or a distance sensor that is attached to the tip of the arm of the robot and detects the accumulation state of chips inside the machine;
An information processing device that processes information related to the accumulation state of the chips obtained by the visual sensor or the distance sensor, and determines a location where chip removal is necessary;
A controller for the robot that moves the chip removal device to a location where the chip removal is determined to be necessary by the information processing device;
An in-machine cleaning device for a machine tool, wherein the information processing device is incorporated in the robot control device independent of the machine tool control device.   After removing the chips with the chip removing device, detecting the accumulation state of the chips in the machine with the visual sensor or the distance sensor, and until the information processing device determines that the chips have been removed The machine cleaning apparatus for machine tools according to claim 1, wherein the removal of chips is repeatedly executed.   The in-machine cleaning device for a machine tool according to claim 2, wherein the repeated execution of the removal of chips makes the operation of the chip removal device different from the previous operation.   The in-machine cleaning device for a machine tool according to any one of claims 1 to 3, wherein the chip removing device ejects fluid to remove chips.   The in-machine cleaning device for a machine tool according to any one of claims 1 to 3, wherein the chip removing device sucks the chip together with the fluid to remove the chip.   The mark or pattern is provided inside the machine, and the information processing apparatus determines that a place where the mark or the pattern cannot be recognized after processing is a place that needs to be cleaned. In-machine cleaning device for machine tools described in 1.   It has means to determine whether to remove chips by the chip removing device or to manually remove chips, and to notify that chip removal is necessary when it is determined that manual chip removal is necessary. An in-machine cleaning device for a machine tool according to any one of claims 1 to 6.

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