CN113453849A

CN113453849A - Machine tool

Info

Publication number: CN113453849A
Application number: CN201980092551.6A
Authority: CN
Inventors: 太田章博
Original assignee: Fuji Corp
Current assignee: Fuji Corp
Priority date: 2019-02-26
Filing date: 2019-02-26
Publication date: 2021-09-28
Also published as: WO2020174576A1; JP7186276B2; JPWO2020174576A1

Abstract

A machine tool of the present invention includes: a machining region in which a workpiece is machined; a multi-joint robot which is provided with a robot chuck for holding a workpiece and which feeds the workpiece to a processing area; and a control device for judging the divided processing area with the robot chuck in the divided processing area formed by dividing the processing area into a plurality of divided processing areas, and returning the origin of the multi-joint robot by the action corresponding to the judged divided processing area.

Description

Machine tool

Technical Field

This description relates to machine tools.

Background

In general, when the robot is unexpectedly stopped, the machine tool performs an origin return for returning the robot from the stop position to the work origin position. As a form of origin return, patent document 1 discloses: in a matrix-like area map including an interference area interfering with the movement of the robot and an operation area in which the robot operates, the return direction of the robot is set for each block. Further, patent document 1 discloses the following method: a return path from the stop position is set based on the set return direction, and the robot is moved to a work origin position based on the return path, and finally the origin is returned.

Documents of the prior art

Patent document

Patent document 1: japanese laid-open patent publication No. 2009-090383

Disclosure of Invention

Problems to be solved by the invention

In the machine tool described in patent document 1, although the burden on the operator can be reduced by automatically returning the origin by the robot, it is necessary to set a returning direction for each block and a returning path based on the returning direction, and therefore, the number of steps for returning the origin is large, which causes a problem that it takes time to complete the returning of the origin.

In view of such circumstances, the present specification discloses a machine tool capable of reducing the burden on the operator when returning to the origin, reducing the number of man-hours, and shortening the time.

Means for solving the problems

The present specification discloses a machine tool including: a machining area in which a workpiece is machined; a multi-joint robot which is provided with a robot chuck for holding the workpiece and which feeds the workpiece to the machining area; and a control device which judges the divided machining region in which the robot chuck exists in the divided machining region obtained by dividing the machining region into a plurality of parts and returns the origin of the articulated robot by the action corresponding to the judged divided machining region.

Effects of the invention

According to the present disclosure, the origin of the articulated robot can be returned by the operation corresponding to the divided processing region where the robot chuck exists, and therefore, the number of steps required for returning the origin can be reduced, and the time can be shortened. Therefore, the machine tool can reduce the burden on the operator and the man-hours and shorten the time when returning the origin.

Drawings

Fig. 1 is a front view showing a machining system 10 to which a machine tool is applied.

Fig. 2 is a side view showing the lathe module 30A shown in fig. 1.

Fig. 3 is a diagram showing the divided machining regions Aa1-Aa3 and the origin return operation of the lathe module 30A.

Fig. 4 is a side view illustrating the drilling and milling module 30B shown in fig. 1.

Fig. 5 is a diagram showing the divided processing regions Ab1-Ab3 and the origin return operation of the milling and drilling module 30B.

Fig. 6 is a side view showing the pre-processing storage module 30C shown in fig. 1.

Fig. 7 is a diagram showing the divided bin regions Ac1, Ac21, Ac22 and the origin return operation of the pre-machining bin module 30C.

Fig. 8 is a side view showing the articulated robot 70.

Fig. 9 is a plan view showing the articulated robot 70.

Fig. 10 is a block diagram showing the articulated robot 70.

Fig. 11 is a flowchart showing a routine executed by the control device 90 shown in fig. 10.

Fig. 12 is a flowchart showing a routine (return to the origin of the storage area) executed by the control device 90 shown in fig. 10.

Fig. 13 is a flowchart showing a program (return to the origin of the machining region) executed by the control device 90 shown in fig. 10.

Fig. 14 is a flowchart showing a program (return to the origin of the machining region) executed by the controller 90 shown in fig. 10.

Detailed Description

(processing System)

An example of a machining system to which a machine tool (work implement module 30) is applied will be described below. As shown in fig. 1, the machining system 10 includes a plurality of bases 20, a plurality of (10 in the present embodiment) work implement modules 30 provided on the bases 20, and an articulated robot (hereinafter, also referred to as a robot) 70 (see, for example, fig. 2). In the following description, "front-back", "right-left", "up-down" relating to the machining system 10 are treated as front-back, right-left, and up-down in the case where the machining system 10 is viewed from the front side.

The working machine modules 30 are of a plurality of types, including a lathe module 30A, a drilling and milling module 30B, a pre-machining storage module 30C, a post-machining storage module 30D, a detection module 30E, a temporary placement module 30F, and the like.

(lathe module)

The lathe module 30A is made up of a lathe module. The lathe is a machine tool that rotates a workpiece W as a processing object and performs processing with a fixed cutting tool 43 a. As shown in fig. 2, the lathe module 30A includes a movable bed 41, a headstock 42, a tool table 43, a tool table moving device 44, a machining chamber 45, a travel chamber 46, and a module control device 47.

The movable bed 41 moves in the front-rear direction on a guide rail (not shown) provided on the base 20 via a plurality of wheels 41 a. The headstock 42 rotatably holds the workpiece W. The headstock 42 rotatably supports a spindle 42a horizontally disposed along the front-rear direction. A chuck 42b for gripping the workpiece W is provided at the tip of the spindle 42 a. The spindle 42a is rotationally driven by a servomotor 42d via a rotation transmission mechanism 42 c.

The tool table 43 is a device that gives a feed motion to the cutting tool 43 a. The tool table 43 is a so-called turret tool table, and has: a tool holding portion 43b to which a plurality of cutting tools 43a for cutting the workpiece W are attached; and a rotation driving portion 43c that rotatably supports the tool holding portion 43b and is capable of positioning and fixing at a predetermined cutting position.

The tool stage moving device 44 is a device that moves the tool stage 43 and thus the cutting tool 43a in the vertical direction (Y-axis direction) and the forward and backward direction (Z-axis direction). The tool stage moving device 44 includes a Y-axis driving device 44a for moving the tool stage 43 in the Y-axis direction and a Z-axis driving device 44b for moving the tool stage 43 in the Z-axis direction.

The Y-axis drive device 44a includes: a Y-axis slider 44a1 attached to the column 48 provided on the movable bed 41 so as to be slidable in the vertical direction; and a servo motor 44a2 for moving the Y- axis slider 44a 1. The Z-axis drive device 44b includes: a Z-axis slider 44b1 slidably attached to the Y-axis slider 44a1 in the front-rear direction; and a servomotor 44b2 for moving the Z- axis slider 44b 1.

The processing chamber 45 is a room (space) for processing the workpiece W, and the chuck 42b and the tool rest 43 (the cutting tool 43a, the tool holding portion 43b, and the rotation driving portion 43c) are housed in the processing chamber 45. The processing chamber 45 is defined by a front wall 45a, a top wall 45b, left and right walls, and a rear wall (none of which are shown). The front wall 45a is formed with an inlet/outlet 45a1 through which the workpiece W enters and exits. The inlet/outlet 45a1 is opened and closed by a shutter 45c driven by a motor not shown.

The travel chamber 46 is a room (space) provided facing the entrance/exit 45a1 of the processing chamber 45. The travel chamber 46 is defined by a front wall 45a and the front panel 31. A robot 70 described later can travel in the travel chamber 46. The module control device 47 is a device for driving the rotation driving unit 43c, the tool stage moving device 44, and the like.

As shown in fig. 3, a processing region Aa of the processing workpiece W is formed in the processing chamber 45. The machining region Aa is composed of a plurality of divided machining regions Aa1, Aa2, and Aa 3. The 1 st divided machining region Aa1 is a region in which the RZ-axis coordinate in the machining region Aa is larger than the 1 st determination value. The 1 st determination value is the RZ-axis coordinate of the inboard forward position P14. The in-machine near position P14 is a position at which the gripping part 85 of the robot 70 is rotated before (or after) the workpiece W is attached to the collet 42 b. The inside-machine forward position P14 is preferably set to a position rearward of the tool rest 43 and forward of the chuck 42 b.

The 2 nd divided machining region Aa2 is a region in which the RZ-axis coordinate in the machining region Aa is smaller than the 1 st determination value and larger than the 2 nd determination value. The 2 nd determination value is a value smaller than the 1 st determination value. The 2 nd determination value is the RZ-axis coordinate of the discharge-time rotational position P17. The discharge-time rotation position P17 is a position at which the gripping portion 85 is rotated when the workpiece W is discharged (carried out) from the processing chamber 45. The discharge-time rotational position P17 is preferably set to the same position (RZ-axis coordinate) as the entrance/exit 45a1 of the processing chamber 45. At this time, the RZ-axis coordinate is set to the 1 st predetermined value. The 1 st predetermined value is preferably set to a distance from the origin P1 to the entrance/exit 45a1 of the processing chamber 45. The origin P1 is a reference position of the gripping portion 85 when the arm portion 74 of the robot 70 is retracted (carried out) from the machining area Aa, and is a position indicated by an orthogonal coordinate system (mainly, RZ-axis coordinates and RY-axis coordinates).

The origin P1 is an origin position that is a reference for operations such as loading and unloading the workpiece W into and from the processing chamber 45 (or 55) and the storage chamber 66 by the arm 74 of the robot 70.

The 3 rd divided machining region Aa3 is a region in which the RZ axis coordinate in the machining region Aa is smaller than the 2 nd determination value. The 3 rd divided machining region Aa3 is a region in which the RZ axis coordinate is larger than the origin P1 and smaller than the discharge-time rotational position P17. The 3 rd divided processing region Aa3 may be provided in the processing chamber 45, in the travel chamber 46, or as another space between the processing chamber 45 and the travel chamber 46.

The 1 st divided machining region Aa1 and the 2 nd divided machining region Aa2 are regions located on the rear side of the machining region Aa. The 3 rd divided machining region Aa3 is a region located on the front side of the machining region Aa.

(drilling and milling module)

The drilling and milling module 30B is formed by modularizing a machining center that performs drilling, milling, and the like by a drill. The machining center is a machine tool that presses a rotating tool (rotary tool) against a fixed workpiece W to perform machining. As shown in fig. 4, the drilling and milling module 30B includes a movable bed 51, a spindle head 52, a spindle head moving device 53, a work table 54, a processing chamber 55, a travel chamber 56, and a module control device 57.

The movable bed 51 moves in the front-rear direction on a guide rail (not shown) provided on the base 20 via a plurality of wheels 51 a. The spindle head 52 rotatably supports the spindle 52 a. A cutting tool 52b (e.g., a drill, an end mill, etc.) for cutting the workpiece W can be attached to a distal end (lower end) portion of the spindle 52 a. The main shaft 52a is rotationally driven by a servomotor 52 c.

The spindle head moving device 53 is a device that moves the spindle head 52 and the cutting tool 52b in the vertical direction (Z-axis direction) and the front-back and left-right directions (X-Y axis directions). The spindle head moving device 53 includes a Z-axis driving device 53a for moving the spindle head 52 in the Z-axis direction and an X-Y-axis driving device 53b for moving the spindle head 52 in the X-Y-axis direction. The X-Y axis drive device 53b is attached to the main body 58 provided on the movable bed 51 so as to be slidable in the front-rear and left-right directions. The Z-axis drive device 53a is attached to the X-Y axis drive device 53b so as to be slidable in the vertical direction.

The workpiece table 54 fixedly holds the workpiece W. The work table 54 is fixed to a work table rotating device 54a provided in front of the main body 58. The work table rotating device 54a is rotationally driven about an axis extending in the front-rear direction. This enables the cutting tool 52b to perform machining while the workpiece W is tilted. Further, the workpiece table 54 may be secured directly to the front of the main body 58. Further, the workpiece table 54 is provided with a chuck 54b which grips the workpiece W.

The processing chamber 55 is a room (space) for processing the workpiece W, and the main spindle 52a, the cutting tool 52b, the workpiece table 54, and the workpiece table rotating device 54a are housed in the processing chamber 55. The processing chamber 55 is defined by a front wall 55a, a top wall 55b, left and right walls, and a rear wall (all not shown). The front wall 55a is formed with an inlet/outlet 55a1 through which the workpiece W enters and exits. The inlet/outlet 55a1 is opened and closed by a shutter 55c driven by a motor not shown.

The travel chamber 56 is a room (space) provided facing the entrance/exit 55a1 of the processing chamber 55. The travel compartment 56 is defined by a front wall 55a and the front panel 31. A robot 70 described later can travel in the travel room 56. The adjacent travel chambers 46 (or the travel chambers 56) form a space that is continuous over the entire length of the parallel direction of the processing system 10. The module control device 57 drives the spindle 52a (servo motor 52c), the spindle head moving device 53, and the like.

As shown in fig. 5, a processing region Ab for processing the workpiece W is formed in the processing chamber 55. The processing region Ab is composed of a plurality of divided processing regions Ab1, Ab2, and Ab 3. The 1 st divided processing region Ab1 is a region in which the RZ axis coordinate in the processing region Ab is larger than the 1 st determination value. The 1 st determination value is the RZ-axis coordinate of the inboard transit position P15. The built-in transfer position P15 is a position at which the gripping portion 85 gripping the workpiece W is brought to a predetermined height H1 from the workpiece table 54 before (or after) the workpiece W is attached to the collet 54b and the input is started. The in-machine changeover position P15 is preferably set to a position forward of the front end of the workpiece table 54 and rearward of the entrance/exit 55a1 of the processing chamber 55. The built-in transfer position P15 is a position where the B-axis 84 is disposed so that the grip 85 has a predetermined height H1 when the a-axis 82 is at the origin P1. The predetermined height H1 is set to a height that prevents the gripping portion 85 and the workpiece W gripped by the gripping portion 85 from interfering with the drilling and milling module 30B, based on the rotation diameter of the 1 st arm 81 and the 2 nd arm 83, the height of the workpiece W, and the indoor height of the processing chamber 55.

The 2 nd divided processing region Ab2 is a region in which the RZ axis coordinate in the processing region Ab is smaller than the 1 st determination value and larger than the 2 nd determination value. The 2 nd determination value is a value smaller than the 1 st determination value. The 2 nd determination value is the RZ-axis coordinate of the discharge-time rotational position P17. The discharge-time rotation position P17 is a position at which the gripping portion 85 is rotated when the workpiece W is discharged (carried out) from the processing chamber 55. The discharge-time rotational position P17 is preferably set to the same position (RZ-axis coordinate) as the entrance/exit 55a1 of the processing chamber 55. At this time, the RZ-axis coordinate is set to the 1 st predetermined value. The 1 st predetermined value is preferably set to a distance from the origin P1 to the entrance/exit 55a1 of the processing chamber 55.

The 3 rd divided processing region Ab3 is a region in which the RZ axis coordinate in the processing region Ab is smaller than the 2 nd determination value. The 3 rd divided processing region Ab3 is a region having RZ axis coordinates larger than the origin P1 and smaller than the discharge rotation position P17. The 3 rd divided processing region Ab3 may be provided in the processing chamber 55, in the travel chamber 56, or as another space between the processing chamber 55 and the travel chamber 56.

The 1 st divided processing region Ab1 is a region located on the back side of the processing region Ab. The 2 nd divided processing region Ab2 and the 3 rd divided processing region Ab3 are regions located on the front side of the processing region Ab.

(storage Module)

The pre-machining storage module 30C is a module (workpiece input module, or simply input module) that inputs the workpiece W into the machining system 10. As shown in fig. 6, the pre-processing storage module 30C includes an exterior panel 61, a work pool 62, a loading table 63, a lifter 64, and a cylinder device 65. The exterior panel 61 is a panel that covers the front of the pre-processing reservoir module 30C, and has a reservoir chamber 66 provided therein. The storage chamber 66 accommodates a loading table 63. The storage chamber 66 communicates with (opens to) the

travel chambers

46 and 56 of the adjacent work machine modules 30 via the access port 61a provided in the side surface of the exterior panel 61.

The work pool 62 extends in the front-rear direction (Z-axis direction) and has a plurality of storage levels 62a (for example, four levels in the present embodiment) that are stacked in the vertical direction. The receiving layer 62a can receive a plurality of workpieces W. The loading table 63 is capable of placing the workpiece W thereon, and is provided above the front end of the workpiece pool 62 in the front-rear direction. The input table 63 is disposed at a position (i.e., input position) where the robot 70 receives the workpiece W.

The elevator 64 is disposed in front of the workpiece pool 62. The elevator 64 receives the workpieces W one by one from the workpiece pool 62, and conveys the workpieces W to the level of the drop table 63. The cylinder device 65 is disposed above and in front of the work pool 62. The cylinder device 65 presses out the workpiece W on the lifter 64 onto the loading table 63.

The post-processing storage module 30D is a module (a workpiece discharge module, and may be simply referred to as a discharge module) that stores and discharges a series of finished products of the processing of the workpiece W performed by the processing system 10. The post-processing storage module 30D also includes a carry-out table or a carry-out conveyor (neither of which is shown) for placing and carrying out the workpiece W, as in the loading table 63. The carry-out table or the carry-out conveyor is housed in a storage chamber (not shown) similar to the storage chamber 66.

As shown in fig. 7, the storage chamber 66 constitutes a storage area Ac in which the work W is stored. The reserve region Ac is composed of a plurality of divided reserve regions Ac1, Ac2 divided along the RZ axis. The 1 st divided bin Ac1 is a bin Ac in which the RZ axis coordinate is larger than the 1 st determination value and smaller than a value corresponding to the width of the pre-machining bin 30C, and the RY axis coordinate is larger than the 2 nd determination value and is equal to or smaller than the upper limit of the 1 st divided bin Ac 1. The 1 st determination value is the RZ axis coordinate of the storage device transition position P3. The 2 nd determination value is the RY axis coordinate of P4, which is the height of the upper surface of the input table 63. The stocker transfer position P3 is a position at which the gripping portion 85 starts to be thrown into the pre-processing stocker module 30C at a predetermined height H2 from the upper surface of the throw-in table 63 before (or after) gripping the workpiece W.

The stocker switching position P3 is preferably set to the same position (RZ-axis coordinate) as the entrance/exit 61a of the storage chamber 66. At this time, the RZ-axis coordinate is set to the 1 st predetermined value. The 1 st predetermined value is preferably set to a distance from the origin P1 to the port 61a of the reservoir chamber 66. The storage device changeover position P3 is preferably set to the position of the entrance/exit 61a of the storage chamber 66. The storage device transfer position P3 is a position where the B axis 84 is disposed so that the grip 85 has the predetermined height H2 when the a axis 82 is at the origin P1. The predetermined height H2 is set to a height that prevents the gripping portion 85 and the workpiece W gripped by the gripping portion 85 from interfering with the pre-processing storage module 30C, based on the rotation diameter of the 1 st arm 81 and the 2 nd arm 83, the height of the workpiece W, the height of the loading table 63, and the indoor height of the storage chamber 66.

The 2 nd divided storage region Ac2 is a region in which the RZ-axis coordinate in the storage region Ac is smaller than the 1 st determination value. The 2 nd divided storage area Ac2 is an area in which the RZ axis coordinate is larger than the origin P1 and smaller than the storage device transition position P3 (the 1 st determination value). The 2 nd divided storage area Ac2 may be provided in the storage compartment 66, in the travel compartment 46 or the travel compartment 56, or may be provided as another space between the storage compartment 66 and the travel compartment 46 or the travel compartment 56.

The 1 st divided bank region Ac1 is a region located on the back side of the bank region Ac. The 2 nd divided bank region Ac2 is a region located on the front side of the bank region Ac.

The 2 nd divided reserve region Ac2 has a 21 st divided reserve region Ac21 and a 22 nd divided reserve region Ac22 divided in the vertical direction. The 21 st divided reserve area Ac21 is an area having RY-axis coordinates larger than the 3 rd determination value (for example, at the 0 point of the RY-axis coordinates) and equal to or smaller than the upper limit of the 2 nd divided reserve area Ac 2. The 22 th divided reserve region Ac22 is located below the 21 st divided reserve region Ac21, and is a region in which the RY-axis coordinate is smaller than the 3 rd determination value and is equal to or greater than the lower limit of the 2 nd divided reserve region Ac 2. The 3 rd determination value is set to be lower than the height position of the loading table 63 and lower than the origin P1, for example.

The detection module 30E detects the workpiece W (for example, a machined workpiece W). The temporary placement module 30F is used to temporarily place the workpiece W in a series of processing steps based on the processing system 10. Like the lathe module 30A and the drilling and milling module 30B, the detection module 30E and the temporary placement module 30F have travel chambers (not shown).

(robot)

As shown in fig. 8, the robot 70 is capable of traveling and includes a traveling unit 71 and a main body 72.

(traveling section)

Traveling unit 71 can travel in the left-right direction (parallel direction of work implement modules 30: X-axis direction) in traveling

chambers

46 and 56. As shown mainly in fig. 8, the traveling unit 71 includes a traveling drive shaft (hereinafter, also referred to as an X-axis) 71c for linearly moving the traveling unit main body 71a in the left-right direction by a traveling drive device 71 b. A slider 71c2 of the travel drive shaft 71c is attached to the back of the travel unit main body 71 a. The travel drive shaft 71c is constituted by a guide rail 71c1 provided on the front side surface of the base 20 and extending in the horizontal direction (left-right direction), and a plurality of sliders 71c2 slidably engaged with the guide rail 71c 1.

The traveling unit main body 71a is provided with a traveling drive device 71 b. The travel drive device 71b includes a servomotor 71b1, a drive force transmission mechanism (not shown), a pinion 71b2, a rack 71b3, and the like. The pinion 71b2 is rotated by the rotational output of the servomotor 71b 1. The pinion 71b2 meshes with the rack 71b 3. The rack 71b3 is provided on the front side surface of the base 20 and extends in the horizontal direction (left-right direction).

The servomotor 71b1 is connected to a robot controller 90 (see fig. 10, hereinafter, also referred to as a controller 90). The servo motor 71b1 is rotationally driven in accordance with an instruction from the control device 90, and the pinion 71b2 rolls on the rack 71b 3. Thereby, the traveling unit main body 71a can travel in the left-right direction in the traveling

chambers

46, 56. The servomotor 71b1 includes a current sensor 71b4 (see fig. 10) for detecting the current flowing through the servomotor 71b 1. The servo motor 71b1 incorporates a position sensor (e.g., a resolver or an encoder) 71b5 (see fig. 10) for detecting the position (e.g., the rotation angle) of the servo motor 71b 1. The detection results of the current sensor 71b4 and the position sensor 71b5 are transmitted to the control device 90.

(Main body part)

As shown mainly in fig. 8 and 9, the main body 72 is composed of a rotary table (table) 73 and an arm 74 provided on the rotary table 73.

(Rotary table)

As shown in fig. 9, rotary table 73 includes a table drive shaft (hereinafter, also referred to as "D axis") 73a provided on rotary table 73, and a table drive device 73b that rotationally drives table drive shaft 73 a. The table driving device 73b is provided in the traveling unit main body 71 a. The table driving device 73b includes a gear (not shown) provided on the table driving shaft 73a, a pinion gear (not shown) meshing with the gear, a servomotor 73b1, a driving force transmission mechanism (not shown) for transmitting the output of the servomotor 73b1 to the pinion gear, and the like.

The servomotor 73b1 is connected to the control device 90 (see fig. 10). The servo motor 73b1 is rotationally driven in accordance with an instruction from the control device 90, and the pinion gear rotates the table drive shaft 73 a. Thereby, the rotary table 73 can rotate around the rotation axis of the table drive shaft 73 a. The servomotor 73b1 has a current sensor 73b2 (see fig. 10) for detecting the current flowing through the servomotor 73b 1. Like the servomotor 71b1, the servomotor 73b1 incorporates a position sensor 73b3 (see fig. 10) that detects the position of the servomotor 73b 1. The detection results of the current sensor 73b2 and the position sensor 73b3 are transmitted to the control device 90.

The rotary table 73 is provided with a turning device 76 that turns the workpiece W. The reversing device 76 can reverse the workpiece W received from the gripping portion 85 and deliver the reversed workpiece W to the gripping portion 85.

(arm part)

The arm portion 74 is a so-called series connection type arm in which drive shafts (or arms) are arranged in series. As shown in fig. 8 and 9, the arm portion 74 is mainly constituted by a1 st arm 81, a1 st arm drive shaft (hereinafter, also referred to as an a axis) 82, a2 nd arm 83, a2 nd arm drive shaft (hereinafter, also referred to as a B axis) 84, a grip portion 85, and a grip portion drive shaft (hereinafter, also referred to as a C axis) 86.

As shown mainly in fig. 8 and 9, the 1 st arm 81 is formed in a rod shape and is rotatably coupled to the rotary table 73 via a1 st arm drive shaft 82. Specifically, the 1 st arm drive shaft 82 is rotatably supported by a support member 73c provided on the rotary table 73. The base end portion of the 1 st arm 81 is fixed to the 1 st arm drive shaft 82. The 1 st arm driving shaft 82 is rotationally driven by the 1 st arm driving device 81 b. The 1 st arm driving device 81b includes a servomotor 81b1 provided on the support member 73c, a driving force transmission mechanism (not shown) for transmitting the output of the servomotor 81b1 to the 1 st arm drive shaft 82, and the like.

The servomotor 81b1 is connected to the control device 90. The servomotor 81b1 is rotationally driven in accordance with an instruction from the control device 90, and rotates the 1 st arm drive shaft 82. Thereby, the 1 st arm 81 can rotate about the rotation axis of the 1 st arm drive shaft 82. The servomotor 81b1 includes a current sensor 81b2 (see fig. 10) for detecting a current flowing through the servomotor 81b 1. Like the servomotor 71b1, the servomotor 81b1 incorporates a position sensor 81b3 (see fig. 10) that detects the position of the servomotor 81b 1. The detection results of the current sensor 81b2 and the position sensor 81b3 are transmitted to the control device 90.

As shown mainly in fig. 8 and 9, the 2 nd arm 83 is formed in a rod shape and is rotatably coupled to the 1 st arm 81 via a2 nd arm drive shaft 84. Specifically, the 2 nd arm drive shaft 84 is rotatably supported by the distal end portion of the 1 st arm 81. The 2 nd arm drive shaft 84 has a base end portion of the 2 nd arm 83 fixed thereto. The 2 nd arm driving shaft 84 is rotationally driven by the 2 nd arm driving device 83 b. The 2 nd arm driving device 83b includes a servomotor 83b1 provided in the 1 st arm 81, a driving force transmission mechanism (not shown) for transmitting an output of the servomotor 83b1 to the 2 nd arm drive shaft 84, and the like.

The servomotor 83b1 is connected to the control device 90. The servomotor 83b1 is rotationally driven in accordance with an instruction from the control device 90, and rotates the 2 nd arm drive shaft 84. Thereby, the 2 nd arm 83 can rotate around the rotation axis of the 2 nd arm drive shaft 84. The servomotor 83b1 has a current sensor 83b2 (see fig. 10) incorporated therein for detecting the current flowing through the servomotor 83b 1. Similar to the servomotor 71b1, the servomotor 83b1 incorporates a position sensor 83b3 (see fig. 10) that detects the position of the servomotor 83b 1. The detection results of the current sensor 83b2 and the position sensor 83b3 are transmitted to the control device 90.

As shown mainly in fig. 8 and 9, the grip 85 is rotatably coupled to the 2 nd arm 83 via a grip drive shaft 86. Specifically, the grip drive shaft 86 is rotatably supported by the distal end portion of the 2 nd arm 83. The grip body 85a of the grip 85 is fixed to the grip drive shaft 86. The gripper driving shaft 86 is rotationally driven by the gripper driving device 85 b. The gripper driving device 85b includes a servomotor 85b1 provided in the 2 nd arm 83, a driving force transmission mechanism 85b2 for transmitting the output of the servomotor 85b1 to the gripper driving shaft 86, and the like. The gripping portion body 85a is attachable to and detachable from a chuck (robot chuck) 85c that grips the workpiece W.

The servomotor 85b1 is connected to the control device 90. The servomotor 85b1 is rotationally driven in accordance with an instruction from the control device 90, and rotates the grip drive shaft 86. Thereby, the grip body 85a and thus the grip 85 can rotate around the rotation axis of the grip drive shaft 86. The servomotor 85b1 incorporates a current sensor 85b3 (see fig. 10) for detecting the current flowing through the servomotor 85b 1. Similar to the servomotor 71b1, the servomotor 85b1 incorporates a position sensor 85b4 (see fig. 10) that detects the position of the servomotor 85b 1. The detection results of the current sensor 85b3 and the position sensor 85b4 are transmitted to the control device 90.

(input device, display device, etc.)

The processing system 10 further includes an input device 11, a display device 12, and a storage device 13. As shown in fig. 1, the input device 11 is provided in front of the work machine module 30, and is used by a worker to input various settings, various instructions, and the like to the machining system 10. As shown in fig. 1, display device 12 is provided in front of work implement module 30, and displays information of machining system 10 such as an operation state with respect to an operator.

The storage device 13 stores the respective regions Aa, Ab, and Ac, the respective divided machining regions Aa1, Aa2, Aa3, the respective divided machining regions Ab1, Ab2, Ab3, and the respective divided storage regions Ac1 and Ac 2. These regions can be represented by an orthogonal coordinate system (e.g., (RY-axis coordinate, RZ-axis coordinate)) or/and an axis coordinate system (e.g., a-axis coordinate, B-axis coordinate, C-axis coordinate).

(robot control device)

The controller 90 performs an origin return process of returning the arm 74 of the robot 70, which is put (entered) into the processing chamber 45 (or 55) or the storage chamber 66, to the origin P1. The control device 90 may be provided as a dedicated device, but may be compatible with (replaced by) the

module control devices

47 and 57 of the work machine module 30.

As shown in fig. 10, the control device 90 is connected to the input device 11, the display device 12, the storage device 13, the servomotors 71b1, 73b1, 81b1, 83b1, 85b1, the current sensors 71b4, 73b2, 81b2, 83b2, 85b3, and the position sensors 71b5, 73b3, 81b3, 83b3, 85b 4.

The control device 90 includes a microcomputer (not shown) having an input/output interface, a CPU, a RAM, and a ROM (all not shown) connected via a bus. The CPU executes various programs to obtain detection results of the current sensors 71b4, 73b2, 81b2, 83b2, 85b3 and the position sensors 71b5, 73b3, 81b3, 83b3, 85b4, input results of the input device 11, or control the display device 12 and the servomotors 71b1, 73b1, 81b1, 83b1, 85b 1. The RAM temporarily stores variables necessary for implementing the program, and the ROM stores the program.

(origin return action)

The origin return operation of each drive device by the control device 90 described above will be described based on the flowchart shown in fig. 11.

The control device 90 implements the flowchart shown in fig. 11. In step S102, the controller 90 determines whether or not the origin return operation is started. Specifically, for example, when a start switch (not shown) for starting the origin returning operation is pressed by an operator, that is, when there is an instruction to start the origin returning operation, the controller 90 determines that the origin returning operation is started. The control device 90 needs to return the robot 70 to the origin when the robot 70 is stopped due to an abnormal state such as a power failure.

If the start of the origin return operation is not instructed by the operator (no in step S102), control device 90 repeats the process of step S102. When the start of the origin returning operation is instructed by the operator (yes in step S102), control device 90 advances the program to step S104 to perform the origin returning operation of robot 70.

The controller 90 first determines whether the robot 70 is present in the machining areas Aa and Ab or the storage area Ac, and then performs the origin return operation corresponding to the determination result. First, the controller 90 determines whether or not the robot chuck 85c is present in any one of the machining areas Aa and Ab and the storage area Ac based on the axis coordinates of the X-axis 71c and the axis coordinates of the D-axis 73a (steps S104, 106, and 112).

In step S104, the control device 90 obtains the axis coordinates of the D-axis 73a from the position sensor 73b3, and determines the orientation of the rotary table 73 based on the axis coordinates of the D-axis 73 a. For example, the control device 90 determines that the swivel table 73 is oriented leftward when the D-axis current coordinate is in the range of-95 degrees to-85 degrees, determines that the swivel table 73 is oriented rightward when the D-axis current coordinate is in the range of 85 degrees to 95 degrees, and determines that the swivel table 73 is oriented frontward when the D-axis current coordinate is in the range of-2 degrees to 2 degrees.

Then, the controller 90 obtains the axis coordinates of the X axis 71c from the position sensor 71b5, and determines whether or not the robot chuck 85c is present in any one of the machining areas Aa and Ab and the storage area Ac based on the axis coordinates of the X axis 71 c. Specifically, when determining that the rotary table 73 is oriented to the left or the right, the control device 90 determines whether or not the rotary table 73 is positioned near the input module 30C or the discharge module 30D based on the axis coordinates of the X axis 71C in step S106 or step S112.

If it is determined that the swing table 73 is oriented leftward and is positioned beside the drop-in module 30C (determined as "left" or "yes" in steps S104 and 106), the control device 90 determines that the robot gripper 85C is present in the storage area Ac, advances the program to step S108, and performs a storage area origin returning operation. When the swing table 73 is oriented leftward and is not positioned beside the drop-in module 30C (determination results in steps S104 and 106 are "left" and "no"), the control device 90 determines that the robot chuck 85C is not present in any of the machining areas Aa and Ab and the storage area Ac, and reports a position error (step S110).

When the swing table 73 is oriented rightward and positioned beside the discharge module 30D (yes in steps S104 and 112), the control device 90 determines that the robot gripper 85c is present in the storage area Ac, advances the program to step S114, and performs the storage area origin returning operation. When the swing table 73 is oriented rightward and is not positioned beside the discharge module 30D (determination in steps S104 and 112 is "right" or "no"), the control device 90 determines that the robot chuck 85c is not present in any of the machining areas Aa and Ab and the storage area Ac, and reports a position error (step S116).

When the rotary table 73 is oriented to the front (determined as "front" in step S104), the control device 90 advances the program to step S118, identifies the type of work implement module 30 that faces the rotary table 73 based on the axis coordinates of the X axis 71c, and determines that the robot chuck 85c is present in the machining areas Aa and Ab. Then, the control device 90 advances the process to step S120 to perform the machining area origin returning operation.

(storage region origin Return)

In step S108 or step S114, the control device 90 performs a storage area origin return operation. Specifically, the control device 90 executes the processing according to the sub-flow (storage area origin return program) shown in fig. 12. That is, control device 90 obtains the current RZ-axis coordinate and RY-axis coordinate, and determines (judges) the divided storage area based on the obtained RZ-axis coordinate and RY-axis coordinate. Then, the controller 90 returns the origin of the robot 70 by the operation corresponding to the determined divided storage area. The current RZ-axis coordinate and RY-axis coordinate may be calculated from positions (current rotation angle: axis coordinate) obtained from position sensors corresponding to the respective axes of robot 70, or control instruction values indicated by the RZ-axis coordinate and RY-axis coordinate may be used.

Specifically, when the RZ axis coordinate is equal to or greater than the 1 st determination value and the RY axis coordinate is equal to or greater than the 2 nd determination value (P4 which is the height of the upper surface of the loading table 63) (no in steps S202 and 204), the control device 90 determines that the robot gripper 85c exists in the 1 st divided storage area Ac1 (step S206). Then, in step S208, control device 90 performs the origin return operation based on the coordinates (RZ-axis coordinates and RY-axis coordinates) of the orthogonal coordinate system. Specifically, the controller 90 operates (controls) the arm 74 such that the RY-axis coordinate of the robot chuck 85c becomes the storage device transfer position P3 and the RZ-axis coordinate becomes the origin P1 of the a-axis 82. At this time, the robot chuck 85c moves to the height of H2 along a straight path in the front-rear direction as indicated by an arrow in fig. 7, and thereafter, returns to the origin along the straight path (a straight origin returning operation).

When the RZ-axis coordinate is equal to or larger than the 1 st determination value and the RY-axis coordinate is smaller than the 2 nd determination value (no and yes in steps S202 and 204), the control device 90 determines that the robot chuck 85c is present below the 1 st divided storage region Ac1 (the rotating table 73). Then, control device 90 reports a position error in step S210.

When the RZ-axis coordinate is smaller than the 1 st determination value and the RY-axis coordinate is larger than the 3 rd determination value (the RY-axis coordinate is 0 point) (yes in steps S202 and 214, respectively), the control device 90 determines that the robot gripper 85c is present in the 21 st divided storage area Ac21 (step S216). Then, in step S218, the control device 90 performs the origin return operation based on the coordinates (a-axis coordinates and B-axis coordinates) of the axis coordinate system. Specifically, the controller 90 operates (controls) the arm 74 so that the a-axis coordinate becomes the origin P1 and the B-axis coordinate becomes the origin P1. At this time, the robot chuck 85c returns to the origin along a curved path as shown by an arrow in fig. 7 (an origin returning operation of the curve). When the a-axis coordinate is the origin P1, the curved path is set to an arc-shaped trajectory of the robot chuck 85c when the 2 nd arm 83 is rotated.

When the RZ-axis coordinate is smaller than the 1 st determination value and the RY-axis coordinate is equal to or smaller than the 3 rd determination value (the RY-axis coordinate is 0 point) (yes or no in steps S202 and 214), the control device 90 determines that the robot gripper 85c is present in the 22 nd divided storage area Ac22 (step S220). Then, in step S222, control device 90 performs the origin return operation based on the coordinates (RZ axis coordinates and RY axis coordinates) of the orthogonal coordinate system. Specifically, the controller 90 operates (controls) the arm 74 so that the RY-axis coordinate of the robot gripper 85c becomes 0 point of the RY-axis coordinate and maintains the RZ-axis coordinate. At this time, the robot chuck 85c performs origin return (linear origin return operation) along a straight path directed upward as indicated by an arrow in fig. 7.

(origin of processing region returning)

In step S120, the controller 90 performs a machining area origin returning operation. Specifically, the control device 90 executes the processing according to the sub-flow (processing area origin returning program) shown in fig. 13 and 14. That is, the control device 90 obtains the current RZ-axis coordinate and RY-axis coordinate, and determines (judges) the divided machining region based on the obtained RZ-axis coordinate and RY-axis coordinate. Then, the controller 90 returns the origin of the robot 70 by the operation corresponding to the determined divided machining region. The current RZ-axis coordinate and RY-axis coordinate may be calculated from positions (current rotation angle: axis coordinate) obtained from position sensors corresponding to the respective axes of robot 70, or control instruction values indicated by the RZ-axis coordinate and RY-axis coordinate may be used.

(determination of vertical placement or horizontal placement)

First, in step S302, the controller 90 determines whether the work implement module 30 to be subjected to the origin returning operation is placed vertically or horizontally. The vertical placement and the horizontal placement are the placement modes of the workpiece W in the processing areas Aa and Ab. The vertical placement is, for example, a drilling and milling module 30B, and as shown in fig. 4 and 5, the workpiece W is attached to and detached from the chuck 54B in the vertical direction. The lathe module 30A is placed in the lateral direction, for example, and the workpiece W is attached to and detached from the chuck 42b in the horizontal direction, as shown in fig. 2 and 3.

The control device 90 can determine the type of the mounting method based on the C-axis coordinates of the robot chuck 85C, for example. When the robot chuck 85c is present in the 1 st divided machining region Aa1, the robot chuck 85c faces in the front-rear direction. When the robot chuck 85c is present in the 1 st divisional processing region Ab1, the robot chuck 85c faces in the vertical direction. Further, control device 90 can determine the type of placement method based on the type of work implement module 30 determined in step S119 described above.

(vertical type processing region origin return)

If it is determined that the work implement module 30 is set upright ("upright set" in step S302), the control device 90 advances the program to step S304 or less and returns the origin of the upright type machining area. Specifically, when the RZ axis coordinate is equal to or greater than the 1 st determination value (in-machine relay position P15) and the RY axis coordinate is equal to or greater than the 3 rd determination value (RY axis coordinate that is the height of the upper surface of the workpiece table 54) (no in steps S304 and 306), the control device 90 determines that the robot chuck 85c is present in the 1 st divided processing region Ab1 (step S308). Then, in step S310, control device 90 performs the origin return operation based on the coordinates (RZ axis coordinates and RY axis coordinates) of the orthogonal coordinate system. Specifically, the controller 90 operates (controls) the arm 74 such that the RY axis coordinate of the robot chuck 85c becomes the built-in relay position P15 and the RZ axis coordinate becomes the a axis 82 at a predetermined angle (for example, -4.5 degrees). At this time, the robot chuck 85c moves along a straight line in the front-rear direction (upward from the workpiece table 54 by a predetermined height H1) as indicated by an arrow in fig. 5, and then performs origin return (straight origin return operation) along the straight line.

When the RZ axis coordinate is equal to or larger than the 1 st determination value and the RY axis coordinate is smaller than the 3 rd determination value (no or yes in steps S304 and S306), the control device 90 determines that the robot chuck 85c is present below the 1 st divided processing region Ab1 (workpiece table 54). Then, in step S312, the control device 90 reports a position error.

When the RZ axis coordinate is smaller than the 1 st determination value and the RZ axis coordinate is larger than the 2 nd determination value (the discharge-time rotational position P17) (yes and no in steps S304 and 314, respectively), the control device 90 determines that the robot chuck 85c is present in the 2 nd divided processing region Ab2 (step S316). Then, in step S318, control device 90 performs the origin returning operation based on the coordinates (a-axis coordinates and B-axis coordinates) of the axis coordinate system. Specifically, the controller 90 operates (controls) the arm 74 so that the B-axis coordinate is the discharge-time rotational position P17. At this time, the robot chuck 85c moves along a curved path as shown by an arrow in fig. 5, and then performs origin return (origin return operation of the curve) along the curved path. When the a-axis coordinate is a predetermined angle (for example, -4.5 degrees), the curved path is set to an arc-shaped trajectory of the robot chuck 85c when the 2 nd arm 83 is rotated.

When the RZ axis coordinate is smaller than the 1 st determination value and the RZ axis coordinate is equal to or smaller than the 2 nd determination value (the discharge-time rotational position P17) (yes in steps S304 and 314), the control device 90 determines that the robot chuck 85c is present in the 3 rd divided processing region Ab3 (step S320). Then, in step S322, the control device 90 performs the origin returning operation based on the coordinates (a-axis coordinates and B-axis coordinates) of the axis coordinate system. Specifically, the controller 90 operates (controls) the arm 74 so that the a-axis coordinate becomes the origin P1 and the B-axis coordinate becomes the origin P1. At this time, the robot chuck 85c moves along a curved path as shown by an arrow in fig. 5, and then performs origin return (origin return operation of the curve) along the curved path. When the a-axis coordinate is the origin P1, the curved path is set to an arc-shaped trajectory of the robot chuck 85c when the 2 nd arm 83 is rotated.

(horizontal type processing region origin return)

If it is determined that the work implement module 30 is set aside ("set aside" in step S302), the control device 90 advances the process to step S404 or below to return to the origin of the horizontally set machining region. Specifically, when the RZ axis coordinate is equal to or larger than the 1 st determination value (the in-machine near-front position P14) and the RY axis coordinate is smaller than the 3 rd determination value (the RY axis coordinate that is the center height of the chuck 42 b) (no in steps S404 and 406), the control device 90 determines that the robot chuck 85c exists in the 1 st divided processing region Aa1 (step S408). Then, in step S410, control device 90 performs the origin return operation based on the coordinates (RZ axis coordinates and RY axis coordinates) of the orthogonal coordinate system. Specifically, the controller 90 operates (controls) the arm 74 so that the RY axis coordinate of the robot gripper 85c becomes the in-machine near position P14. At this time, the robot chuck 85c performs origin return (linear origin return operation) along a straight path in the front-rear direction as indicated by an arrow in fig. 3.

When the RZ axis coordinate is equal to or larger than the 1 st determination value and the RY axis coordinate is equal to or larger than the 3 rd determination value (no or yes in steps S404 and 406), the control device 90 determines that the robot chuck 85c is present above the 1 st divided machining region Aa1 (the center of the chuck 42 b). Then, in step S412, control device 90 reports a position error.

When the RZ axis coordinate is smaller than the 1 st determination value and the RZ axis coordinate is larger than the 2 nd determination value (the discharge-time rotational position P17) (yes and no in steps S404 and 414, respectively), the control device 90 determines that the robot chuck 85c is present in the 2 nd divided processing region Aa2 (step S416). Then, in step S418, control device 90 performs the origin return operation based on the coordinates (RZ axis coordinates and RY axis coordinates) of the orthogonal coordinate system. Specifically, the controller 90 operates (controls) the arm 74 such that the RY-axis coordinate of the robot chuck 85c becomes the inside-machine near position P14 and the RZ-axis coordinate becomes the a-axis 82 at a predetermined angle (for example, -4.5 degrees). In accordance with this, the controller 90 operates (controls) the arm 74 so that the B-axis coordinate becomes the discharge-time rotational position P17. At this time, the robot chuck 85c moves toward a path along a straight line in the front-rear direction (a path along the center of the chuck 42 b) as indicated by an arrow in fig. 3, and then performs origin return (a straight origin return operation) along the straight line.

When the RZ axis coordinate is smaller than the 1 st determination value and the RZ axis coordinate is equal to or smaller than the 2 nd determination value (the discharge-time rotational position P17) (yes in steps S404 and 414), the control device 90 determines that the robot chuck 85c is present in the 3 rd divided processing region Aa3 (step S420). Then, in step S422, the control device 90 performs the origin return operation based on the coordinates (a-axis coordinates and B-axis coordinates) of the axis coordinate system. Specifically, the controller 90 operates (controls) the arm 74 so that the a-axis coordinate becomes the origin P1 and the B-axis coordinate becomes the origin P1. At this time, the robot chuck 85c moves toward a curved path as shown by an arrow in fig. 3, and then performs origin return (origin return operation of the curve) along the curved path. When the a-axis coordinate is the origin P1, the curved path is set to an arc-shaped trajectory of the robot chuck 85c when the 2 nd arm 83 is rotated.

The work machine module 30 (machine tool) of the above embodiment includes: machining areas Aa and Ab in which the workpiece W is machined; a robot 70 (articulated robot) having a robot chuck 85c for gripping a workpiece W and for introducing the workpiece W into the processing areas Aa and Ab; and a controller 90 for judging the divided machining regions Aa1-Aa3 and Ab1-Ab3 in which the robot chuck 85c exists among the divided machining regions Aa1-Aa3 and Ab1-Ab3, which are obtained by dividing the machining regions Aa and Ab into a plurality of parts, and returning the origin of the robot 70 by an operation corresponding to the judged divided machining regions Aa1-Aa3 and Ab1-Ab 3.

Accordingly, the origin of the robot 70 can be returned by the operation corresponding to the divided processing regions Aa1-Aa3 and Ab1-Ab3 in which the robot chuck 85c exists, and therefore, the number of steps required for returning the origin can be reduced, and the time can be shortened. Therefore, when the work implement module 30 returns to the original point, the burden on the operator can be reduced, the number of man-hours can be reduced, and the time can be shortened.

The controller 90 determines the divided machining regions Aa1-Aa3 and Ab1-Ab3 based on the current coordinates of each coordinate system of the robot 70.

This makes it possible to more accurately and reliably determine the divided machining regions Aa1-Aa3 and Ab1-Ab 3.

The divided machining regions Aa1-Aa3 and Ab1-Ab3 are divided based on the manner of placing the workpiece W in the machining regions Aa and Ab.

Thus, the divided machining regions Aa1-Aa3 and Ab1-Ab3 can be determined more accurately and reliably regardless of the manner in which the workpiece W is placed.

The controller 90 determines the type of the placement method of the workpiece W based on the axis coordinate (C-axis coordinate) of the robot chuck 85C.

This makes it possible to more easily and reliably determine the divided processed regions Aa1-Aa3 and Ab1-Ab 3.

When the divided machining region of the robot chuck 85c is a region (divided machining regions Aa1 and Aa2 (or Ab1)) located on the back side of the machining region Aa (or Ab), the operation performed by the control device 90 is an origin returning operation based on the coordinates of the orthogonal coordinate system, or when the divided machining region of the robot chuck 85c is a region (divided machining regions Aa3 (or Ab2 and Ab3)) located on the front side of the machining region Aa (or Ab), the operation performed by the control device 90 is an origin returning operation based on the coordinates of the axial coordinate system.

Thus, by using an appropriate coordinate system corresponding to the position where the robot chuck 85c is present, the number of steps required to return to the origin can be reliably reduced, and the time can be reliably shortened.

When the divided machining region where the robot chuck 85c exists is a region (divided machining regions Aa1 and Aa2 (or Ab1)) located on the back side of the machining region Aa (or Ab), the operation performed by the control device 90 is a straight-line origin returning operation, or when the divided machining region Aa3 where the robot chuck 85c exists is a region (divided machining regions Aa3 (or Ab2 and Ab3)) located on the front side of the machining region Aa (or Ab), the operation performed by the control device 90 is a curved-line origin returning operation.

Accordingly, by performing an appropriate returning operation corresponding to the position where the robot chuck 85c is present, the number of steps required to return the origin can be reliably reduced, and the time can be reliably shortened.

The work machine module 30 further includes a storage area Ac in which the workpiece W is stored, the robot 70 has a travel drive shaft 71c and a table drive shaft 73a, and the control device 90 determines whether or not the robot chuck 85c is present in any one of the machining areas Aa and Ab and the storage area Ac based on the axis coordinates of the travel drive shaft 71c and the axis coordinates of the table drive shaft 73 a.

Thus, even with respect to the working machine module 30 (machining system 10) including both the machining areas Aa and Ab and the storage area Ac, the area where the robot chuck 85c exists can be reliably and accurately determined. Further, the origin return of the robot 70 can be reliably performed regardless of the type of the region in which the robot chuck 85c exists.

The controller 90 determines a divided storage region in which the robot chuck 85c exists among the divided storage regions Ac1, Ac21, and Ac22 obtained by dividing the storage region Ac into a plurality of sections, and returns the origin of the robot 70 by an operation corresponding to the determined divided storage region.

Accordingly, the origin of the robot 70 can be returned by the operation corresponding to the divided storage regions Ac1, Ac21, and Ac22 in which the robot gripper 85c exists, and therefore, the number of steps required for returning the origin can be reduced, and the time can be shortened. Therefore, the work implement module 30 can reduce the burden on the operator, reduce the number of man-hours, and shorten the time when returning to the origin.

When the divided storage region of the robot gripper 85c exists at the back side of the storage region Ac (divided storage region Ac1), the operation performed by the control device 90 is the origin returning operation based on the coordinates of the orthogonal coordinate system, or when the divided storage region of the robot gripper 85c exists at the front side of the storage region Ac (divided storage region Ac2), the operation performed by the control device 90 is the origin returning operation based on the coordinates of the axis coordinate system.

Accordingly, when the robot gripper 85c exists in the divided storage areas Ac1, Ac21, and Ac22, the number of steps required to return to the origin can be reliably reduced and the time can be reliably shortened by using an appropriate coordinate system corresponding to the position where the robot gripper 85c exists.

When the divided storage region of the robot gripper 85c is a region (divided storage region Ac1) located on the rear side of the storage region Ac, the operation performed by the control device 90 is a straight-line origin return operation, or when the divided storage regions Ac1, Ac21, and Ac22 of the robot gripper 85c are regions (divided storage regions Ac2) located on the front side of the storage region Ac, the operation performed by the control device 90 is a curved origin return operation.

In this case, when the robot gripper 85c is present in the divided storage areas Ac1, Ac21, and Ac22, the number of steps required to return to the origin can be reliably reduced and the time can be reliably shortened by performing an appropriate return operation corresponding to the position where the robot gripper 85c is present.

Description of the reference numerals

30 … work machine module (machine tool) 70 … robot (articulated robot) 71c … travel drive shaft 73a … table drive shaft 85c … robot chuck 90 … control device Aa, Ab … machining area Aa1-Aa3, Ab1-Ab3 … divided machining area Ac … storage area Ac1, Ac21, Ac22 … divided storage area W … workpiece

Claims

1. A machine tool is provided with:

a machining region in which a workpiece is machined;

a multi-joint robot including a robot chuck for gripping the workpiece and configured to input the workpiece into the machining area; and

and a controller that determines the divided machining region in which the robot chuck exists among the divided machining regions obtained by dividing the machining region into a plurality of parts, and returns the origin of the articulated robot by an operation corresponding to the determined divided machining region.

2. The machine tool of claim 1,

the control device determines the divided machining region based on current coordinates of the articulated robot.

3. The machine tool of claim 1,

the divided machining region is divided based on a placement manner of the workpiece in the machining region.

4. The machine tool of claim 3,

the control device determines the type of the placement method based on the axis coordinates of the robot chuck.

5. The machine tool of claim 1,

the operation is an origin returning operation based on coordinates of an orthogonal coordinate system when the divided machining region is a region located on a rear side of the machining region, or based on coordinates of an axial coordinate system when the divided machining region is a region located on a front side of the machining region.

6. The machine tool of claim 1,

the operation is a straight-line origin return operation when the divided machining region is a region located on the rear side of the machining region, or a curved-line origin return operation when the divided machining region is a region located on the front side of the machining region.

7. The machine tool of claim 1,

the machine tool is further provided with a storage area for storing the workpiece,

the articulated robot has a travel drive shaft and a table drive shaft,

the control device determines whether the robot chuck is present in one of the machining area and the storage area based on the axis coordinate of the travel drive shaft and the axis coordinate of the table drive shaft.

8. The machine tool of claim 7,

the control device determines the divided storage area in which the robot chuck exists among the divided storage areas obtained by dividing the storage area into a plurality of sections, and returns the origin of the articulated robot by a motion corresponding to the determined divided storage area.

9. The machine tool of claim 8,

the operation is an origin returning operation based on coordinates of an orthogonal coordinate system when the divided storage area is an area located on a rear side of the storage area, or an origin returning operation based on coordinates of an axis coordinate system when the divided storage area is an area located on a front side of the storage area.

10. The machine tool of claim 8,

the operation is a straight-line origin return operation when the divided storage area is an area located on a rear side of the storage area, or a curved origin return operation when the divided storage area is an area located on a front side of the storage area.