WO2020110184A1 - Workpiece grip determining system - Google Patents

Workpiece grip determining system Download PDF

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Publication number
WO2020110184A1
WO2020110184A1 PCT/JP2018/043463 JP2018043463W WO2020110184A1 WO 2020110184 A1 WO2020110184 A1 WO 2020110184A1 JP 2018043463 W JP2018043463 W JP 2018043463W WO 2020110184 A1 WO2020110184 A1 WO 2020110184A1
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WO
WIPO (PCT)
Prior art keywords
work
workpiece
gripping
processing chamber
laser
Prior art date
Application number
PCT/JP2018/043463
Other languages
French (fr)
Japanese (ja)
Inventor
柳崎淳
Original Assignee
株式会社Ｆｕｊｉ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 株式会社Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to CN201880099648.5A priority Critical patent/CN113165133B/en
Priority to PCT/JP2018/043463 priority patent/WO2020110184A1/en
Priority to JP2020557423A priority patent/JP7058347B2/en
Publication of WO2020110184A1 publication Critical patent/WO2020110184A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention is for confirming delivery of a work between a processing machine and a work automatic carrier, and relates to a work gripping determination system using a laser measuring device.
  • Patent Document 1 discloses a work attachment determination mechanism that determines the state of a work held by a spindle chuck by measurement with a touch sensor and a laser measuring device.
  • a touch sensor that measures the end of the workpiece in the rotation axis direction is movably assembled in a direction parallel to the rotation axis of the spindle chuck, and a laser measuring device measures the laser light from a direction perpendicular to the rotation axis. It is provided at a position away from the spindle chuck so that the light is projected onto the outer circumference of the work.
  • Patent Document 1 confirms the work held by the spindle chuck of the machine tool, but it is also necessary to determine the grip of the work when it is transferred by the work automatic transfer machine. This is because it is necessary to confirm whether the gripping with the spindle chuck is appropriately performed, that is, whether the processed work is not transferred to the work automatic transfer machine side and left behind in the machine tool.
  • the work gripping determination in the work automatic carrier has been performed outside the processing chamber. However, in that case, since the detection position is far from the spindle chuck, if the workpiece is not properly gripped, the time loss from the determination result to the next operation becomes large.
  • Patent Document 1 although a configuration in which a sensor is provided in the processing chamber is conceivable as in Patent Document 1, there is a problem that the sensor is likely to fail because the coolant is scattered in the processing chamber.
  • an object of the present invention is to provide a work gripping determination system in which a laser measuring device is mounted outside the processing room in order to solve such a problem.
  • a work gripping determination system includes a processing machine that processes a work held by a gripping device in a processing room, a work automatic transfer machine that delivers a work to the processing machine, and a work machine mounted outside the processing room.
  • a laser measuring device that projects a laser beam onto the work in the processing chamber that the work automatic carrier grips from the gripping device; and the work automatic carrier based on the measurement information of the laser measuring device.
  • a work gripping determination device that determines whether or not a work is gripped.
  • the laser measuring device mounted outside the machining chamber projects the laser light in the machining chamber with respect to the work gripped from the gripping device by the work automatic carrier, so that the laser measuring device Since it is determined whether or not the workpiece automatic carrier has grasped the workpiece based on the measurement information, it is possible to confirm the grasping of the workpiece grasped by the grasping device in a short time.
  • FIG. 1 is a side view showing the internal structure of a machine tool.
  • the machine tool 1 is assembled on a movable bed 18 having wheels, and can be moved in the front-rear direction along a rail 201 laid on the upper surface of the base 2.
  • the machine body front-rear direction which is a direction parallel to the horizontal main shaft of the spindle device 11, is the Z-axis direction
  • the vertical machine body vertical direction orthogonal to the Z-axis is the X-axis direction
  • the Z-axis and the X-axis are orthogonal.
  • the machine body width direction is described as the Y-axis direction.
  • the machine tool 1 has a structure in which a spindle device 11 is mounted on a movable bed 18, and a spindle chuck 12 that holds a work W is rotatable.
  • the machine tool 1 has a tool base 16 provided with a rotary tool such as an end mill or a drill, or a cutting tool such as a cutting tool, and a turret device 15 capable of turning and indexing the tool base 16 is provided.
  • the machine tool 1 is a two-axis lathe having a Z-axis drive device 13 for moving the turret device 15 in the Z-axis direction and an X-axis drive device 14 for moving the turret device 15 in the X-axis direction.
  • the Z-axis driving device 13 and the X-axis driving device 14 have a slidable Z-axis slide 131 or X-axis slide 141, and are configured to convert the rotational output of the servo motor into a linear motion by a ball screw mechanism and move the linear motion. ing.
  • the machine tool 1 is equipped with a control device 5 for controlling each drive unit such as the spindle device 11, the Z-axis drive device 13X, the axis drive device 14, the turret device 15, and the like.
  • the machine tool 1 uses a coolant to lubricate the work W and to wash away the chips.
  • the storage tank 21 in the base 2 is adapted to store the used coolant together with the chips of the work W and the like.
  • the coolant in the storage tank 21 circulates so as to be sent to the coolant tank 22 through the filter, and is then sent into the processing chamber 10 by the pump 23.
  • the coolant pipe 24 connected to the pump 23 has a branching pipe connected to the turret device 15 in addition to the cleaning nozzle for washing the chips into the storage tank 21, and from the tool base 16 to the machining point of the work W. Coolant is also injected.
  • the machine tool 1 is provided with a front cover 4 that can be opened and closed on the front surface of the machine, in addition to the machine cover 3 that constitutes the processing chamber 10.
  • the front cover 4 forms a transfer space 20 when processing machines having the same cover shape are arranged in the width direction, and as shown in FIGS.
  • the work automatic carrier 8 for carrying out the work is incorporated.
  • 2 and 3 are side views showing the relationship between the work automatic carrier 8 and the machine tool 1. In particular, FIG. 2 shows a moving state, and FIG. 3 shows a work delivering state. There is.
  • the machine tool 1 has a narrow width and a long shape in the front-rear direction, and a machining chamber 10 is formed in the front part of the machine body shown in FIGS. 2 and 3.
  • the work automatic carrier 8 is configured so that the articulated robot 26 moves on the front side of the machine tool 1.
  • the machine tool 1 is provided with an automatic slide door 301 in an opening formed in the machine body cover 3, and in the work automatic transfer machine 8, the articulated robot 26 is opened from the opening in the processing chamber by opening the slide door 301.
  • the work W can be delivered to the spindle chuck 12 by entering the inside of the spindle chuck 10.
  • an articulated robot 26 is mounted on a traveling device 25 configured so that a traveling platform 36 moves in the Y-axis direction.
  • the articulated robot 26 is configured such that the upper arm member 31 and the forearm member 32 are deformed in shape by driving the first joint mechanism 33 and the second joint mechanism 34.
  • the upper arm member 31 and the forearm member 32 can be deformed into a moving posture in which the upper arm member 31 and the forearm member 32 are folded and erected, and as shown in FIG. is there.
  • a robot hand 27 having a chuck mechanism is attached to the tip of the articulated robot 26 so that the workpiece W can be gripped and released.
  • the articulated robot 26 is moved by the drive of the traveling device 25 with respect to the machine tool 1 that forms a processing line with other processing machines, and the work W is delivered as shown in FIG. ..
  • the tool of the tool base 16 is selected by the turning indexing of the turret device 15, and the Z-axis driving device 13 and the X-axis driving device 14 drive the tool W in the Z-axis direction.
  • the movement to a predetermined position in the X-axis direction is performed.
  • Rotation is applied to the spindle chuck 12 of the spindle device 11, and cutting work is performed by applying a tool to the rotating work W.
  • the processed work W is removed from the spindle chuck 12 by the work automatic transfer machine 8 and transferred to the next processing machine or the like.
  • the grip determination of the work W by the spindle chuck 12 and the robot hand 27 is performed so that the automatic machining of the work W is appropriately performed.
  • the machine tool 1 incorporates a seating determination device that determines seating on the spindle chuck 12.
  • the seating determination device compressed air is sent into the detection hole formed in the spindle chuck 12 through the air flow path, and the detection hole is blocked by the work W, that is, the seated state of the work W. Is configured to be determined based on the back pressure in the air flow path. With this seating determination device, it can be confirmed that the spindle chuck 12 is correctly gripping the work W, and the work W can be precisely machined.
  • the work automatic transfer machine 8 confirms that the processed work W is reliably received from the spindle chuck 12. This is because the robot hand 27 may fail to grab the work W, and the work W may remain on the spindle chuck 12.
  • a sensor was attached to the transfer space 20, and the workpiece gripping determination of the robot hand 27 was performed at the detection point set outside the processing chamber 10.
  • the robot hand 27 since the robot hand 27 has a long distance from the processing chamber 10 to the transfer space 20, if a gripping error of the robot hand 27 occurs, a retry operation for handing over the work or a driving stop of the machine tool 1 may occur. It took a long time to move to the action.
  • a work gripping determination system is configured so that the presence or absence of the work W gripped by the robot hand 27 can be confirmed in the processing chamber 10.
  • a detection sensor may be installed in the processing chamber 10.
  • the coolant is scattered in the processing chamber 10 at the time of processing, there is a concern that the detection sensor will be affected by the influence and break down.
  • the laser sensor 6 is attached via a bracket.
  • FIG. 4 and FIG. 5 are side views schematically showing the work automatic carrier 8.
  • FIG. 4 shows a state when the work is taken out
  • FIG. 5 shows a state when the work grip is detected.
  • a time measurement sensor is used as the laser sensor 6, and the time until the laser beam 601 that reflects the work W is received is measured, and the presence or absence of the work W is determined by the detection time.
  • the laser sensor 6 has a mounting angle determined so that the laser beam 601 is obliquely projected from the transfer space 20 side at the installation position into the processing chamber 10, and detects the work W gripped by the robot hand 27.
  • the detection point P to be set is set.
  • the detection point P is preferably as close as possible to the spindle chuck 12, but in order to avoid erroneous detection, it is set at a position separated from the spindle chuck 12 by a predetermined distance L.
  • Coolant is supplied to the inside of the machining chamber 10 during machining, and especially near the detection point P near the machining point, the coolant is sprayed onto the rotating workpiece W and is violently scattered. Therefore, the coolant on the work W after processing becomes water drops and adheres to the surface, and the water drops on the work surface may affect the reflection of the laser light 601. Further, the coolant scattered at the time of processing the work becomes a mist after the processing and drifts in the processing chamber 10. When the laser light 601 is projected in such an atmosphere, it may be reflected by the mist-like coolant and be affected again. Therefore, the machine tool 1 according to the present embodiment is configured to eliminate water droplets and mist of coolant that affect the detection of gripping the work.
  • FIG. 6 is a diagram showing a simplified configuration of the cleaning device 17.
  • a plurality of tools 49 are mounted on the tool base 16, and it is possible to select the tool 49 to be machined by turning indexing.
  • the device body 151 is fixed to the Z-axis slide 131, and the tool base 16 is assembled to the device body 151 via an indexing mechanism.
  • the turret device 15 is formed with an air flow path 41 that communicates from the device body 151 to the tool base 16.
  • the tool base 16 has a polygonal shape, and a tool block 48 integrated with a tool 49 can be attached to and detached from each side.
  • a nozzle block 42 having an air nozzle 44 can be attached to and detached from the tool base 16, and an air flow passage 43 communicating with the air flow passage 41 on the apparatus main body 151 side is formed therein.
  • An air pipe 46 extending from the compressor 45 is connected to the air passages 41 and 43, and an opening/closing solenoid valve 47 is provided in the air pipe 46. Therefore, the cleaning device 17 is configured as an air blow in which compressed air from the air compressor 45 passes through the air flow paths 41 and 43 and air is ejected from the air nozzle 44.
  • the work automatic transfer machine 8 has a control device 28 for controlling the drive of the traveling device 25, the articulated robot 26 and the robot hand 27, and a transfer program for delivering the work W to the machine tool 1 or the like in its memory. Is stored. In particular, in the present embodiment, a work grip determination program is incorporated in the transfer program.
  • the machine tool 1 constitutes a processing line with other processing machines and the like, each control device is connected to the control device 28 of the automatic work transfer machine 8, and a LAN is constructed in the processing line. Then, the control device 5 of the machine tool 1 stores a support program for operating the cleaning device 17 in accordance with the work grip determination processing of the work automatic carrier 8.
  • the automatic work transfer machine 8 for transferring the processed work W to the next step enters the processing chamber 10 through the opening of the slide door 301.
  • the articulated robot 26 extends from the transfer space 20 to the back of the processing chamber 10 while changing its posture, and the robot hand 27 at the tip of the articulated robot 26 grabs the work W with the spindle chuck 12. After that, the multi-joint robot 26 is folded, and the work gripping confirmation is performed at the detection point P during the transfer of the work W to the outside of the processing chamber 10.
  • the robot hand 27 holding the work W is rotated by 90 degrees so that the work W faces upward by the time it moves to the detection point P. Then, when the work W has moved to the detection point P, the articulated robot 26 is stopped for about 1 second, the laser light 601 is projected from the laser sensor 6 there, and the presence or absence of the work W gripped by the robot hand 27. Is determined.
  • the presence of the work is determined by receiving the laser beam 601 that reflects the work W.
  • the robot hand 27 is not gripping the work W, the laser light 601 passes through the robot hand 27. In that case, the laser beam 601 is received by being reflected on another object, and thus the workpiece gripping error is determined due to the different detection time.
  • the cleaning device 17 is driven to perform support work to blow off water droplets attached to the work W and mist around the work W.
  • the direction in which the air nozzle 44 of the cleaning device 17 ejects air is adjusted by the swivel indexing of the turret device 15, and the air is ejected into the processing chamber 10 by the driving of the Z-axis driving device 13 and the X-axis driving device 14.
  • the position to be adjusted is adjusted. Therefore, at the time of detecting the workpiece grip, air is ejected from the air nozzle 44 as shown in FIG. 5, and the water droplets of the workpiece W and the surrounding mist are blown off by the air, and the laser beam 601 and the projection of the laser light 601 which eliminates the influence of the coolant are emitted. Light is received.
  • the detection result can be obtained in a short time, and the time loss before moving to the next operation can be shortened as compared with the conventional case.
  • the laser sensor 6 since the laser sensor 6 is attached to the outside of the processing chamber 10, it is not adversely affected by the coolant. In particular, since the mounting position of the laser sensor 6 is the upper opening of the machine body cover 3 provided with the slide door 301, the operation of the articulated robot 26 is not disturbed. Then, by performing the support work using the air blow, the accuracy of the work gripping detection using the laser sensor 6 is improved.
  • the work gripping detection is performed with the detection point P kept constant. Therefore, it is necessary to stop the work W for about 1 second. Therefore, it is also considered to add a drive configuration capable of adjusting the projection angle of the laser light 601 as a mounting tool of the laser sensor 6 so as to change the projection position in accordance with the movement position of the work W which is known in advance. Be done. A laser beam 601 is projected onto a work W that is gripped and moved by the robot hand 27 from the spindle chuck 12 over a certain moving range, and the time until light reception that changes with the movement is calculated and determined. To do. As a result, the grip determination of the work W can be performed without stopping.
  • the present invention is not limited to this, and various modifications can be made without departing from the spirit of the present invention.
  • the position moved by about 100 mm from the spindle chuck 12 is set as the detection point P, and the workpiece W is stopped for about 1 second for sensing, but the position of the detection point P and the stop time are used. You may make it change suitably by a sensor etc.
  • the laser measuring device the laser sensor 6 which measures the time until the reception of the laser beam 601 is taken as an example. However, it is one that measures the change in the position where the laser beam is focused on the detection element. You may.
  • the support work is performed by the cleaning device 17 incorporated in the turret device 15. However, a cleaning device for injecting air to the work W at the detection point P is configured in the processing chamber 10. Good.
  • a mist collector that collects the mist of the coolant in the processing chamber 10 may be incorporated in the machine tool 1.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Manipulator (AREA)
  • Feeding Of Workpieces (AREA)
  • Auxiliary Devices For Machine Tools (AREA)

Abstract

A workpiece grip verification device of a workpiece automatic conveyor, employing a laser measuring instrument, includes: a processing machine for processing the workpiece being gripped by a gripping device in a processing chamber; the workpiece automatic conveyor for transferring the workpiece to and from the processing machine; the laser measuring instrument, which is attached outside the processing chamber, and which projects laser light onto the workpiece that has been grasped from the gripping device by the workpiece automatic conveyor and that is in the processing chamber; and a workpiece grip determination device which determines whether the workpiece automatic conveyor has grasped the workpiece, on the basis of measurement information from the laser measuring instrument.

Description

ワーク把持判定システムWork grip determination system
　本発明は、加工機とワーク自動搬送機との間でワークの受渡しを確認するものであり、レーザ測定器を使用したワーク把持判定システムに関する。 The present invention is for confirming delivery of a work between a processing machine and a work automatic carrier, and relates to a work gripping determination system using a laser measuring device.
　工作機械においてワークの加工が行われる場合、要求される高い加工精度を得るには、主軸チャックなどのワーク保持部にワークが正しく把持されていることが必要となる。そのため、工作機械には、ワーク着座時のエア圧を検出してワークの把持状態を判定するなどの検出装置が設けられている。そのほかにも下記特許文献１には、主軸チャックが把持したワークの状態を、タッチセンサとレーザ測定器の計測によって判定するワーク取付け判定機構が開示されている。具体的には、ワークの回転軸方向端部を計測するタッチセンサが、主軸チャックの回転軸と平行な方向に移動自在に組み付けられ、レーザ測定器が、レーザ光を回転軸と垂直な方向からワーク外周に投光するように、主軸チャックから離れた位置に設けられている。 When a workpiece is machined by a machine tool, it is necessary for the workpiece to be properly gripped by the workpiece holder such as the spindle chuck in order to obtain the required high machining accuracy. Therefore, the machine tool is provided with a detection device that detects the air pressure when the work is seated and determines the gripped state of the work. In addition, Patent Document 1 below discloses a work attachment determination mechanism that determines the state of a work held by a spindle chuck by measurement with a touch sensor and a laser measuring device. Specifically, a touch sensor that measures the end of the workpiece in the rotation axis direction is movably assembled in a direction parallel to the rotation axis of the spindle chuck, and a laser measuring device measures the laser light from a direction perpendicular to the rotation axis. It is provided at a position away from the spindle chuck so that the light is projected onto the outer circumference of the work.
特開２０００－１３５６５６号公報Japanese Patent Laid-Open No. 2000-135656
　ところで、前記特許文献１の従来例は、工作機械の主軸チャックに把持されたワークを確認するものであるが、ワーク自動搬送機によって搬送される際のワークについても把持判定は必要である。主軸チャックとの掴み替えが適切に行われているか、つまり加工後のワークがワーク自動搬送機側に受け渡しされずに工作機械内に取り残されていないかの確認が必要だからである。そして、これまでワーク自動搬送機におけるワークの把持判定は、加工室の外で行われていた。しかし、それでは検出位置が主軸チャックから遠いため、ワークの掴み損ねが生じていた場合、判定結果が出てから次の動作に移るまでのタイムロスが大きくなってしまう。一方で、前記特許分文献１と同様に加工室内にセンサを設けるような構成も考えられるが、その加工室内はクーラントが飛び散る環境下であるため、センサが故障しやすいなどの問題があった。 By the way, the conventional example of Patent Document 1 described above confirms the work held by the spindle chuck of the machine tool, but it is also necessary to determine the grip of the work when it is transferred by the work automatic transfer machine. This is because it is necessary to confirm whether the gripping with the spindle chuck is appropriately performed, that is, whether the processed work is not transferred to the work automatic transfer machine side and left behind in the machine tool. Up to now, the work gripping determination in the work automatic carrier has been performed outside the processing chamber. However, in that case, since the detection position is far from the spindle chuck, if the workpiece is not properly gripped, the time loss from the determination result to the next operation becomes large. On the other hand, although a configuration in which a sensor is provided in the processing chamber is conceivable as in Patent Document 1, there is a problem that the sensor is likely to fail because the coolant is scattered in the processing chamber.
　そこで、本発明は、かかる課題を解決すべく、加工室外にレーザ測定器を取り付けるワーク把持判定システムを提供することを目的とする。 Therefore, an object of the present invention is to provide a work gripping determination system in which a laser measuring device is mounted outside the processing room in order to solve such a problem.
　本発明の一態様におけるワーク把持判定システムは、加工室内において把持装置が把持したワークを加工する加工機と、前記加工機に対してワークの受渡しを行うワーク自動搬送機と、前記加工室外に取り付けられ、前記ワーク自動搬送機が前記把持装置から掴み取った前記加工室内のワークに対してレーザ光を投光するレーザ測定器と、前記レーザ測定器の測定情報に基づいて前記ワーク自動搬送機がワークを掴んだか否かの判定を行うワーク把持判定装置とを有する。 A work gripping determination system according to one aspect of the present invention includes a processing machine that processes a work held by a gripping device in a processing room, a work automatic transfer machine that delivers a work to the processing machine, and a work machine mounted outside the processing room. A laser measuring device that projects a laser beam onto the work in the processing chamber that the work automatic carrier grips from the gripping device; and the work automatic carrier based on the measurement information of the laser measuring device. And a work gripping determination device that determines whether or not a work is gripped.
　前記構成によれば、加工室外に取り付けられたレーザ測定器が、ワーク自動搬送機によって把持装置から掴み取られたワークに対し、加工室内においてレーザ光を投光することにより、そのレーザ測定器の測定情報に基づいてワーク自動搬送機がワークを掴んだか否かの判定を行うため、把持装置から掴み取ったワークの把持確認を短時間に行うことができる。 According to the above configuration, the laser measuring device mounted outside the machining chamber projects the laser light in the machining chamber with respect to the work gripped from the gripping device by the work automatic carrier, so that the laser measuring device Since it is determined whether or not the workpiece automatic carrier has grasped the workpiece based on the measurement information, it is possible to confirm the grasping of the workpiece grasped by the grasping device in a short time.
工作機械の内部構造を示した側面図である。It is a side view showing the internal structure of a machine tool. ワーク自動搬送機の移動時の状態を示した側面図である。It is the side view which showed the state at the time of the movement of a workpiece automatic conveyance machine. ワーク自動搬送機のワーク受渡しの状態を示した側面図である。It is the side view which showed the state of the workpiece delivery of the automatic workpiece carrier. ワーク自動搬送機のワーク取り出し時の状態を簡略化して示した側面図である。It is the side view which simplified and showed the state at the time of the work removal of an automatic work conveyance machine. ワーク自動搬送機に対するワーク把持検出時の状態を簡略化して示した側面図である。It is the side view which simplified and showed the state at the time of the work grip detection with respect to a work automatic conveyance machine. 清掃装置の構成を簡略化して示した図である。It is the figure which simplified and showed the composition of the cleaning device.
　次に、本発明に係るワーク把持判定システムの一実施形態について、図面を参照しながら以下に説明する。本実施形態では、工作機械とワーク自動搬送機との間でワークの受渡しをする場合のワーク把持判定システムを例に挙げて説明する。図１は、工作機械の内部構造を示した側面図である。この工作機械１は、車輪を備えた可動ベッド１８の上に組み付けられ、ベース２の上面に敷設されたレール２０１に沿って前後方向への移動が可能になっている。本実施形態では、主軸装置１１の水平な主軸と平行な方向であって機体前後方向をＺ軸方向、Ｚ軸に直交する鉛直な機体上下方向をＸ軸方向、そしてＺ軸およびＸ軸に直交する機体幅方向をＹ軸方向として説明する。 Next, an embodiment of a work gripping determination system according to the present invention will be described below with reference to the drawings. In the present embodiment, a work gripping determination system when a work is delivered between a machine tool and a work automatic carrier will be described as an example. FIG. 1 is a side view showing the internal structure of a machine tool. The machine tool 1 is assembled on a movable bed 18 having wheels, and can be moved in the front-rear direction along a rail 201 laid on the upper surface of the base 2. In the present embodiment, the machine body front-rear direction, which is a direction parallel to the horizontal main shaft of the spindle device 11, is the Z-axis direction, the vertical machine body vertical direction orthogonal to the Z-axis is the X-axis direction, and the Z-axis and the X-axis are orthogonal. The machine body width direction is described as the Y-axis direction.
　工作機械１は、可動ベッド１８上に主軸装置１１が搭載され、ワークＷを把持する主軸チャック１２が回転可能な構成を有している。工作機械１は、エンドミルやドリルなどの回転工具、或いはバイトなどの切削工具を備える工具台１６を有し、その工具台１６の旋回割出しが可能なタレット装置１５が設けられている。また、工作機械１は、タレット装置１５をＺ軸方向に移動させるＺ軸駆動装置１３とＸ軸方向に移動させるＸ軸駆動装置１４とを有する２軸旋盤である。Ｚ軸駆動装置１３およびＸ軸駆動装置１４は、摺動可能なＺ軸スライド１３１又はＸ軸スライド１４１を有し、サーボモータの回転出力をボールネジ機構によって直進運動に変換して移動させるよう構成されている。そして、工作機械１には、主軸装置１１、Ｚ軸駆動装置１３Ｘ、軸駆動装置１４およびタレット装置１５などの各駆動部を制御するための制御装置５が搭載されている。 The machine tool 1 has a structure in which a spindle device 11 is mounted on a movable bed 18, and a spindle chuck 12 that holds a work W is rotatable. The machine tool 1 has a tool base 16 provided with a rotary tool such as an end mill or a drill, or a cutting tool such as a cutting tool, and a turret device 15 capable of turning and indexing the tool base 16 is provided. The machine tool 1 is a two-axis lathe having a Z-axis drive device 13 for moving the turret device 15 in the Z-axis direction and an X-axis drive device 14 for moving the turret device 15 in the X-axis direction. The Z-axis driving device 13 and the X-axis driving device 14 have a slidable Z-axis slide 131 or X-axis slide 141, and are configured to convert the rotational output of the servo motor into a linear motion by a ball screw mechanism and move the linear motion. ing. The machine tool 1 is equipped with a control device 5 for controlling each drive unit such as the spindle device 11, the Z-axis drive device 13X, the axis drive device 14, the turret device 15, and the like.
　工作機械１は、ワークＷの加工に対する潤滑や切屑の洗い流しに対してクーラントが使用される。ベース２内の貯留槽２１には、ワークＷの切屑などとともに使用済のクーラントが溜められるようになっている。貯留槽２１内のクーラントはフィルタを通してクーラントタンク２２へと送られるようにして循環し、そこからポンプ２３によって加工室１０内へと送り出される。ポンプ２３に接続されたクーラント管２４は、切屑を貯留槽２１内へ洗い流すための清掃用ノズルの他、分岐した配管がタレット装置１５にも接続され、工具台１６からワークＷの加工点へとクーラントが噴射されるようにもなっている。 The machine tool 1 uses a coolant to lubricate the work W and to wash away the chips. The storage tank 21 in the base 2 is adapted to store the used coolant together with the chips of the work W and the like. The coolant in the storage tank 21 circulates so as to be sent to the coolant tank 22 through the filter, and is then sent into the processing chamber 10 by the pump 23. The coolant pipe 24 connected to the pump 23 has a branching pipe connected to the turret device 15 in addition to the cleaning nozzle for washing the chips into the storage tank 21, and from the tool base 16 to the machining point of the work W. Coolant is also injected.
　工作機械１は、加工室１０を構成する機体カバー３に加え、機体前面部には開閉可能な前カバー４が設けられている。前カバー４は、同じカバー形状の加工機などが幅方向に並べられた場合に搬送空間２０を形成するものであり、その中には図２及び図３に示すように、ワークＷの受渡しを行うワーク自動搬送機８が組み込まれることとなる。図２及び図３は、工作機械１に対するワーク自動搬送機８の関係を示した側面図であり、特に、図２は移動時の状態が示され、図３はワーク受渡しの状態が示されている。 The machine tool 1 is provided with a front cover 4 that can be opened and closed on the front surface of the machine, in addition to the machine cover 3 that constitutes the processing chamber 10. The front cover 4 forms a transfer space 20 when processing machines having the same cover shape are arranged in the width direction, and as shown in FIGS. The work automatic carrier 8 for carrying out the work is incorporated. 2 and 3 are side views showing the relationship between the work automatic carrier 8 and the machine tool 1. In particular, FIG. 2 shows a moving state, and FIG. 3 shows a work delivering state. There is.
　工作機械１は、幅が狭く前後方向に長い形状をしたものであり、図２及び図３が示す機体前部に加工室１０が構成されている。そして、工作機械１の前側を多関節ロボット２６が移動するようにワーク自動搬送機８が構成されている。工作機械１は、機体カバー３に形成された開口部に自動のスライド扉３０１が設けられ、ワーク自動搬送機８は、そのスライド扉３０１が開くことにより、多関節ロボット２６が開口部から加工室１０内に進入し、主軸チャック１２に対するワークＷの受渡しが行えるようになっている。 The machine tool 1 has a narrow width and a long shape in the front-rear direction, and a machining chamber 10 is formed in the front part of the machine body shown in FIGS. 2 and 3. The work automatic carrier 8 is configured so that the articulated robot 26 moves on the front side of the machine tool 1. The machine tool 1 is provided with an automatic slide door 301 in an opening formed in the machine body cover 3, and in the work automatic transfer machine 8, the articulated robot 26 is opened from the opening in the processing chamber by opening the slide door 301. The work W can be delivered to the spindle chuck 12 by entering the inside of the spindle chuck 10.
　そのワーク自動搬送機８は、走行台３６がＹ軸方向に移動するよう構成された走行装置２５の上に多関節ロボット２６が組み付けられている。多関節ロボット２６は、上腕部材３１と前腕部材３２とが、第１関節機構３３および第２関節機構３４の駆動によって形態が変形するよう構成されている。具体的には、図２に示すように、上腕部材３１と前腕部材３２とが折り畳まれて起立した移動姿勢と、図３に示すように、前傾して伸びた作業姿勢とに変形可能である。そして、多関節ロボット２６の先端部にはチャック機構を備えたロボットハンド２７が組み付けられ、ワークＷの把持及び解放が可能になっている。 In the work automatic carrier 8, an articulated robot 26 is mounted on a traveling device 25 configured so that a traveling platform 36 moves in the Y-axis direction. The articulated robot 26 is configured such that the upper arm member 31 and the forearm member 32 are deformed in shape by driving the first joint mechanism 33 and the second joint mechanism 34. Specifically, as shown in FIG. 2, the upper arm member 31 and the forearm member 32 can be deformed into a moving posture in which the upper arm member 31 and the forearm member 32 are folded and erected, and as shown in FIG. is there. A robot hand 27 having a chuck mechanism is attached to the tip of the articulated robot 26 so that the workpiece W can be gripped and released.
　ワーク搬送装置８は、他の加工機などと加工ラインを構成する工作機械１に対し、走行装置２５の駆動により多関節ロボット２６が移動し、図５に示すようにワークＷの受渡しが行われる。そして、ワークＷを受け取った工作機械１では、タレット装置１５の旋回割出しによって工具台１６の工具が選択され、Ｚ軸駆動装置１３及びＸ軸駆動装置１４の駆動により、その工具についてＺ軸方向およびＸ軸方向の所定位置への移動が行われる。主軸装置１１には主軸チャック１２に回転が与えられており、回転するワークＷに工具が当てられることにより切削加工などが行われる。その後、加工されたワークＷは、ワーク自動搬送機８によって主軸チャック１２から取り外され、次の加工機などへと搬送される。 In the work transfer device 8, the articulated robot 26 is moved by the drive of the traveling device 25 with respect to the machine tool 1 that forms a processing line with other processing machines, and the work W is delivered as shown in FIG. .. Then, in the machine tool 1 that has received the work W, the tool of the tool base 16 is selected by the turning indexing of the turret device 15, and the Z-axis driving device 13 and the X-axis driving device 14 drive the tool W in the Z-axis direction. And the movement to a predetermined position in the X-axis direction is performed. Rotation is applied to the spindle chuck 12 of the spindle device 11, and cutting work is performed by applying a tool to the rotating work W. After that, the processed work W is removed from the spindle chuck 12 by the work automatic transfer machine 8 and transferred to the next processing machine or the like.
　こうした工作機械１およびワーク自動搬送機８では、ワークＷの自動加工が適切に行われるように、主軸チャック１２やロボットハンド２７におけるワークＷの把持判定が行なわれる。工作機械１には、主軸チャック１２における着座を判定する着座判定装置が組み込まれている。詳しく図示しないが、その着座判定装置は、主軸チャック１２に形成された検出孔にエア流路を介して圧縮エアが送り込まれ、検出孔がワークＷによって塞がれた状態つまりワークＷの着座状態が、エア流路内の背圧に基づいて判定されるよう構成されている。この着座判定装置により、主軸チャック１２が正しくワークＷを把持していることが確認でき、ワークＷに対する精密な加工が可能になっている。 In the machine tool 1 and the work automatic carrier 8, the grip determination of the work W by the spindle chuck 12 and the robot hand 27 is performed so that the automatic machining of the work W is appropriately performed. The machine tool 1 incorporates a seating determination device that determines seating on the spindle chuck 12. Although not shown in detail, in the seating determination device, compressed air is sent into the detection hole formed in the spindle chuck 12 through the air flow path, and the detection hole is blocked by the work W, that is, the seated state of the work W. Is configured to be determined based on the back pressure in the air flow path. With this seating determination device, it can be confirmed that the spindle chuck 12 is correctly gripping the work W, and the work W can be precisely machined.
　一方、ワーク自動搬送機８は、主軸チャック１２から加工後のワークＷを確実に受け取ったことの確認が行われる。ロボットハンド２７がワークＷを掴み損ねてしまい、主軸チャック１２にワークＷが残ったままになってしまうことがあるからである。これまでは搬送空間２０にセンサが取り付けられ、加工室１０の外に設定された検出ポイントでロボットハンド２７のワーク把持判定が行なわれていた。しかし、ロボットハンド２７が加工室１０から出て搬送空間２０に至るまでの距離が長いため、ロボットハンド２７の把持エラーが生じた場合、ワーク受渡しのリトライ動作や工作機械１の駆動停止など、次の動作に移るまでの時間が長くなってしまっていた。 On the other hand, the work automatic transfer machine 8 confirms that the processed work W is reliably received from the spindle chuck 12. This is because the robot hand 27 may fail to grab the work W, and the work W may remain on the spindle chuck 12. Until now, a sensor was attached to the transfer space 20, and the workpiece gripping determination of the robot hand 27 was performed at the detection point set outside the processing chamber 10. However, since the robot hand 27 has a long distance from the processing chamber 10 to the transfer space 20, if a gripping error of the robot hand 27 occurs, a retry operation for handing over the work or a driving stop of the machine tool 1 may occur. It took a long time to move to the action.
　そこで、本実施形態では、ロボットハンド２７が把持したワークＷの有無を加工室１０内で確認できるようにしたワーク把持判定システムが構成されている。その際、加工室１０内での検出を実行するには、例えば検出センサを加工室１０内に設置すればよいと考えられる。しかし、加工時の加工室１０内にはクーラントが飛び散っているため、検出センサがその影響を受けて故障することなどが懸念される。本実施形態ではこうした点を考慮し、図３に示す位置、すなわち加工室１０の外側の搬送空間２０内であって、特に自動のスライド扉３０１が設けられた機体カバー３の開口部の上に、レーザセンサ６がブラケットを介して取り付けられている。 Therefore, in this embodiment, a work gripping determination system is configured so that the presence or absence of the work W gripped by the robot hand 27 can be confirmed in the processing chamber 10. At that time, in order to perform the detection in the processing chamber 10, it is considered that, for example, a detection sensor may be installed in the processing chamber 10. However, since the coolant is scattered in the processing chamber 10 at the time of processing, there is a concern that the detection sensor will be affected by the influence and break down. In consideration of these points in the present embodiment, in the position shown in FIG. 3, that is, in the transfer space 20 outside the processing chamber 10, particularly above the opening of the machine body cover 3 provided with the automatic slide door 301. The laser sensor 6 is attached via a bracket.
　ここで、図４及び図５は、ワーク自動搬送機８を簡略化して示した側面図であり、図４はワーク取り出し時の状態が、図５は、ワーク把持検出時の状態がそれぞれ示されている。レーザセンサ６には例えば時間計測式センサが使用され、ワークＷを反射したレーザ光６０１が受光されるまでの時間が測定され、その検出時間によってワークＷの有無が判定される。そのレーザセンサ６は、設置位置の搬送空間２０側から加工室１０内へと、レーザ光６０１が斜めに投光されるように取付け角度が定められ、ロボットハンド２７に把持されたワークＷを検出する検出ポイントＰが設定される。その検出ポイントＰは、主軸チャック１２に近いほど好ましいが、誤検出を回避するため、主軸チャック１２から所定の距離Ｌだけ離れた位置に設定されている。 Here, FIG. 4 and FIG. 5 are side views schematically showing the work automatic carrier 8. FIG. 4 shows a state when the work is taken out, and FIG. 5 shows a state when the work grip is detected. ing. For example, a time measurement sensor is used as the laser sensor 6, and the time until the laser beam 601 that reflects the work W is received is measured, and the presence or absence of the work W is determined by the detection time. The laser sensor 6 has a mounting angle determined so that the laser beam 601 is obliquely projected from the transfer space 20 side at the installation position into the processing chamber 10, and detects the work W gripped by the robot hand 27. The detection point P to be set is set. The detection point P is preferably as close as possible to the spindle chuck 12, but in order to avoid erroneous detection, it is set at a position separated from the spindle chuck 12 by a predetermined distance L.
　主軸チャック１２にあまり近い位置では、ロボットハンド２７が把持したワークＷをレーザ光６０１が反射した正常な検出と、ワークＷを把持できずに主軸チャック１２などをレーザ光６０１が反射した場合の検出との差が区別できないおそれがあるからである。一方で、検出ポイントＰが主軸チャック１２から遠ければ、ワークＷの把持エラーを確認するまでの時間を短縮しようとする目的に反する。そこで、少なくとも加工室１０に対してワークＷを出し入れするスライド扉３０１の位置（図５に示す境界ライン３０の位置）よりも主軸チャック１２に近い位置が検出ポイントＰとして設定される。こうした点から、工作機械１において好ましい検出ポイントＰは、本実施形態では主軸チャック１２から１００ｍｍ程度離れた位置であった。 At a position too close to the spindle chuck 12, the normal detection that the laser beam 601 reflects the work W gripped by the robot hand 27 and the detection when the laser beam 601 reflects the spindle chuck 12 etc. because the work W cannot be gripped. This is because there is a possibility that the difference with On the other hand, if the detection point P is far from the spindle chuck 12, it is against the purpose of shortening the time until confirming the grip error of the work W. Therefore, at least a position closer to the spindle chuck 12 than the position of the slide door 301 (the position of the boundary line 30 shown in FIG. 5) for moving the work W into and out of the processing chamber 10 is set as the detection point P. From such a point, the preferable detection point P in the machine tool 1 is a position about 100 mm away from the spindle chuck 12 in the present embodiment.
　加工中の加工室１０内はクーラントが供給され、特に加工点に近い検出ポイントＰの近くでは、回転するワークＷにクーラントが噴きつけられて激しく飛び散っている。そのため、加工後のワークＷにはクーラントが水滴となって表面に付着してしまい、ワーク表面の水滴がレーザ光６０１の反射に影響を及ぼす可能性がある。また、ワーク加工時に飛び散ったクーラントが、加工後にはミスト状になって加工室１０内に漂っている。このような雰囲気中にレーザ光６０１が投光されると、ミスト状のクーラントに反射してやはり影響を受ける可能性がある。そこで、本実施形態の工作機械１には、ワーク把持検出時に影響を与えるクーラントの水滴やミストを排除する構成がとられている。 Coolant is supplied to the inside of the machining chamber 10 during machining, and especially near the detection point P near the machining point, the coolant is sprayed onto the rotating workpiece W and is violently scattered. Therefore, the coolant on the work W after processing becomes water drops and adheres to the surface, and the water drops on the work surface may affect the reflection of the laser light 601. Further, the coolant scattered at the time of processing the work becomes a mist after the processing and drifts in the processing chamber 10. When the laser light 601 is projected in such an atmosphere, it may be reflected by the mist-like coolant and be affected again. Therefore, the machine tool 1 according to the present embodiment is configured to eliminate water droplets and mist of coolant that affect the detection of gripping the work.
　具体的には、タレット装置１５に組み込まれた清掃装置１７が使用される。図６は、その清掃装置１７の構成を簡略化して示した図である。タレット装置１５は、複数の工具４９が工具台１６に装着され、旋回割出しによって加工を実行する工具４９の選択が可能になっている。タレット装置１５は、Ｚ軸スライド１３１に装置本体１５１が固定され、その装置本体１５１に対して工具台１６が割出し機構を介して組み付けられている。そして、このタレット装置１５には、装置本体１５１から工具台１６にかけて連通するエア流路４１が形成されている。 Specifically, the cleaning device 17 incorporated in the turret device 15 is used. FIG. 6 is a diagram showing a simplified configuration of the cleaning device 17. In the turret device 15, a plurality of tools 49 are mounted on the tool base 16, and it is possible to select the tool 49 to be machined by turning indexing. In the turret device 15, the device body 151 is fixed to the Z-axis slide 131, and the tool base 16 is assembled to the device body 151 via an indexing mechanism. The turret device 15 is formed with an air flow path 41 that communicates from the device body 151 to the tool base 16.
　工具台１６は多角形状をしており、各辺に工具４９と一体の工具ブロック４８が着脱可能である。工具台１６には、工具ブロック４８の他にも、エアノズル４４を備えたノズルブロック４２が着脱可能であり、そこには装置本体１５１側のエア流路４１に連通するエア流路４３が形成されている。エア流路４１，４３には、コンプレッサ４５からのびるエア配管４６が接続され、そのエア配管４６には開閉電磁弁４７が設けられている。よって、清掃装置１７は、エアコンプレッサ４５からの圧縮エアがエア流路４１，４３を通り、エアノズル４４からエアが噴出するエアブローが構成されている。 The tool base 16 has a polygonal shape, and a tool block 48 integrated with a tool 49 can be attached to and detached from each side. In addition to the tool block 48, a nozzle block 42 having an air nozzle 44 can be attached to and detached from the tool base 16, and an air flow passage 43 communicating with the air flow passage 41 on the apparatus main body 151 side is formed therein. ing. An air pipe 46 extending from the compressor 45 is connected to the air passages 41 and 43, and an opening/closing solenoid valve 47 is provided in the air pipe 46. Therefore, the cleaning device 17 is configured as an air blow in which compressed air from the air compressor 45 passes through the air flow paths 41 and 43 and air is ejected from the air nozzle 44.
　ワーク自動搬送機８は、走行装置２５、多関節ロボット２６およびロボットハンド２７の駆動を制御する制御装置２８を有し、そのメモリ内にはワークＷを工作機械１等に受渡しするための搬送プログラムが格納されている。特に、本実施形態では、その搬送プログラム内にはワーク把持判定プログラムが組み込まれている。一方で、工作機械１は、他の加工機などと加工ラインを構成し、各々の制御装置がワーク自動搬送機８の制御装置２８と接続され、加工ライン内にＬＡＮが構築されている。そして、工作機械１の制御装置５には、ワーク自動搬送機８のワーク把持判定処理に応じて清掃装置１７を作動させるサポートプログラムが格納されている。 The work automatic transfer machine 8 has a control device 28 for controlling the drive of the traveling device 25, the articulated robot 26 and the robot hand 27, and a transfer program for delivering the work W to the machine tool 1 or the like in its memory. Is stored. In particular, in the present embodiment, a work grip determination program is incorporated in the transfer program. On the other hand, the machine tool 1 constitutes a processing line with other processing machines and the like, each control device is connected to the control device 28 of the automatic work transfer machine 8, and a LAN is constructed in the processing line. Then, the control device 5 of the machine tool 1 stores a support program for operating the cleaning device 17 in accordance with the work grip determination processing of the work automatic carrier 8.
　そこで、加工後のワークＷを次の工程へと搬送するワーク自動搬送機８は、図４に示すように、スライド扉３０１が開いた開口部から加工室１０内へと進入する。多関節ロボット２６は、姿勢を変えながら搬送空間２０から加工室１０の奥へと伸び、先端のロボットハンド２７によって主軸チャック１２との間でワークＷの掴み替えが行われる。その後、多関節ロボット２６が折り畳まれ、ワークＷが加工室１０の外へと運ばれる途中の検出ポイントＰにおいてワーク把持確認が行われる。 Therefore, as shown in FIG. 4, the automatic work transfer machine 8 for transferring the processed work W to the next step enters the processing chamber 10 through the opening of the slide door 301. The articulated robot 26 extends from the transfer space 20 to the back of the processing chamber 10 while changing its posture, and the robot hand 27 at the tip of the articulated robot 26 grabs the work W with the spindle chuck 12. After that, the multi-joint robot 26 is folded, and the work gripping confirmation is performed at the detection point P during the transfer of the work W to the outside of the processing chamber 10.
　ワークＷを掴んだロボットハンド２７は、検出ポイントＰへと移動するまでにワークＷが上を向くように９０度の回転が行われる。そして、ワークＷが検出ポイントＰにまで移動したところで多関節ロボット２６が約１秒程度停止し、そこにレーザセンサ６からレーザ光６０１が投光され、ロボットハンド２７に把持されたワークＷの有無が判定される。ロボットハンド２７がワークＷを把持している場合には、そのワークＷを反射したレーザ光６０１の受光によってワーク有りの判定が行なわれる。一方で、ロボットハンド２７がワークＷを把持していない場合には、レーザ光６０１がロボットハンド２７を通り過ぎてしまう。その場合には他の物に反射してレーザ光６０１が受光されるため、検出時間が異なことによりワーク把持エラーの判定が行なわれる。 The robot hand 27 holding the work W is rotated by 90 degrees so that the work W faces upward by the time it moves to the detection point P. Then, when the work W has moved to the detection point P, the articulated robot 26 is stopped for about 1 second, the laser light 601 is projected from the laser sensor 6 there, and the presence or absence of the work W gripped by the robot hand 27. Is determined. When the robot hand 27 holds the work W, the presence of the work is determined by receiving the laser beam 601 that reflects the work W. On the other hand, when the robot hand 27 is not gripping the work W, the laser light 601 passes through the robot hand 27. In that case, the laser beam 601 is received by being reflected on another object, and thus the workpiece gripping error is determined due to the different detection time.
　こうした検出時には、主軸チャック１２から検出ポイントＰまで加工後のワークＷが移動する間、清掃装置１７などの駆動により、ワークＷに付いた水滴や周りのミストを吹き飛ばすサポート作業が行われる。サポート作業では、清掃装置１７のエアノズル４４について、タレット装置１５の旋回割出しによってエアを噴出する向きが調節され、Ｚ軸駆動装置１３やＸ軸駆動装置１４の駆動によって加工室１０にエアを噴出する位置が調節される。そのため、ワーク把持検出時には、図５に示すようにエアノズル４４からエアが噴出され、そのエアによってワークＷの水滴や周りのミストが吹き飛ばされて、クーラントの影響を排除したレーザ光６０１の投光および受光が行われる。 During such detection, while the work W after processing moves from the spindle chuck 12 to the detection point P, the cleaning device 17 is driven to perform support work to blow off water droplets attached to the work W and mist around the work W. In the support work, the direction in which the air nozzle 44 of the cleaning device 17 ejects air is adjusted by the swivel indexing of the turret device 15, and the air is ejected into the processing chamber 10 by the driving of the Z-axis driving device 13 and the X-axis driving device 14. The position to be adjusted is adjusted. Therefore, at the time of detecting the workpiece grip, air is ejected from the air nozzle 44 as shown in FIG. 5, and the water droplets of the workpiece W and the surrounding mist are blown off by the air, and the laser beam 601 and the projection of the laser light 601 which eliminates the influence of the coolant are emitted. Light is received.
　こうしたワーク把持判定により、ロボットハンド２７がワークＷを掴んでいないとのエラー判定が出た場合には、作業者が主軸チャック１２から手作業によってワークＷを取り外す必要がある。そのため、多関節ロボット２６は搬送空間２０内の所定位置へと待避し、工作機械１とともに駆動停止制御が行われる。なお、エラー判定が出た場合には、リトライ動作によってもう一度、主軸チャック１２に対するワークＷの掴み替えと、ロボットハンド２７が掴み取るワークＷの把持検出が行われるようにしてもよい。一方、ロボットハンド２７がワークＷを掴んでいることが確認できた場合には、そのワークＷが次の加工機などへと搬送される。 When such a work grip determination determines that the robot hand 27 is not gripping the work W, an operator needs to manually remove the work W from the spindle chuck 12. Therefore, the articulated robot 26 retracts to a predetermined position in the transfer space 20, and drive stop control is performed together with the machine tool 1. When an error determination is made, the retry operation may be performed to perform gripping of the work W with respect to the spindle chuck 12 and detection of gripping of the work W gripped by the robot hand 27 again. On the other hand, when it is confirmed that the robot hand 27 is gripping the work W, the work W is transported to the next processing machine or the like.
　よって、本実施形態では、主軸チャック１２から近い位置を検出ポイントＰとするため、検出結果が短時間で得られ、従来に比べて次の動作に移るまでのタイムロスを短くすることができる。また、レーザセンサ６が加工室１０の外に取り付けられているため、クーラントによる悪影響を受けることもない。特に、レーザセンサ６の取り付け位置が、スライド扉３０１が設けられた機体カバー３の開口上部であるため、多関節ロボット２６の動作を妨げることも無い。そして、エアブローを使用したサポート作業を実行することにより、レーザセンサ６を使用したワーク把持検出の精度が高められる。 Therefore, in this embodiment, since the position close to the spindle chuck 12 is set as the detection point P, the detection result can be obtained in a short time, and the time loss before moving to the next operation can be shortened as compared with the conventional case. Further, since the laser sensor 6 is attached to the outside of the processing chamber 10, it is not adversely affected by the coolant. In particular, since the mounting position of the laser sensor 6 is the upper opening of the machine body cover 3 provided with the slide door 301, the operation of the articulated robot 26 is not disturbed. Then, by performing the support work using the air blow, the accuracy of the work gripping detection using the laser sensor 6 is improved.
　ところで、本実施形態では、検出ポイントＰを一定にしてワーク把持検出が行われるよう構成されている。そのため、ワークＷを１秒程度の停止させる必要が生じてしまっている。そこで、レーザセンサ６の取付け器具として、レーザ光６０１の投光角度が調節可能な駆動構成を加え、予め分かっているワークＷの移動位置に合わせて投光位置を変化させるようにすることも考えられる。主軸チャック１２からロボットハンド２７に掴み替えられて移動するワークＷに対し、一定の移動範囲にわたってレーザ光６０１が投光され、移動に伴って変化する受光までの時間を演算処理して判定するようする。これにより、停止させることなくワークＷの把持判定を行うことができる。 By the way, in the present embodiment, the work gripping detection is performed with the detection point P kept constant. Therefore, it is necessary to stop the work W for about 1 second. Therefore, it is also considered to add a drive configuration capable of adjusting the projection angle of the laser light 601 as a mounting tool of the laser sensor 6 so as to change the projection position in accordance with the movement position of the work W which is known in advance. Be done. A laser beam 601 is projected onto a work W that is gripped and moved by the robot hand 27 from the spindle chuck 12 over a certain moving range, and the time until light reception that changes with the movement is calculated and determined. To do. As a result, the grip determination of the work W can be performed without stopping.
　以上、本発明の一実施形態について説明したが、本発明はこれらに限定されるものではなく、その趣旨を逸脱しない範囲で様々な変更が可能である。
　例えば、前記実施形態では、主軸チャック１２から１００ｍｍ程度移動させた位置を検出ポイントＰとし、ワークＷを１秒程度止めてセンシングするようにしたが、検出ポイントＰの位置や停止時間は、使用するセンサなどによって適宜変更するようにしてもよい。 Although one embodiment of the present invention has been described above, the present invention is not limited to this, and various modifications can be made without departing from the spirit of the present invention.
For example, in the above embodiment, the position moved by about 100 mm from the spindle chuck 12 is set as the detection point P, and the workpiece W is stopped for about 1 second for sensing, but the position of the detection point P and the stop time are used. You may make it change suitably by a sensor etc.
　また、レーザ測定器には、レーザ光６０１の受光までの時間を測定するレーザセンサ６を例に挙げたが、レーザ光が検出素子上で集光される位置の変化を測定するものなどであってもよい。
　また、サポート作業をタレット装置１５に組み込まれた清掃装置１７に実行させるようにしたが、加工室１０内に、検出ポイントＰのワークＷに対してエアを噴きつける清掃装置を構成するようにしてもよい。その他、工作機械１に対して、加工室１０内のクーラントのミストを回収するミストコレクタを組み込むようにしてもよい。 Further, as the laser measuring device, the laser sensor 6 which measures the time until the reception of the laser beam 601 is taken as an example. However, it is one that measures the change in the position where the laser beam is focused on the detection element. You may.
Further, the support work is performed by the cleaning device 17 incorporated in the turret device 15. However, a cleaning device for injecting air to the work W at the detection point P is configured in the processing chamber 10. Good. In addition, a mist collector that collects the mist of the coolant in the processing chamber 10 may be incorporated in the machine tool 1.
１…工作機械　５…制御装置　６…レーザセンサ　８…ワーク自動搬送機　１０…加工室　１１…主軸装置　１２…主軸チャック　１５…タレット装置　１７…清掃装置　２０…搬送空間　２６…多関節ロボット　２７…ロボットハンド　２８…制御装置　６０１…レーザ光
  DESCRIPTION OF SYMBOLS 1... Machine tool 5... Control device 6... Laser sensor 8... Automatic workpiece carrier 10... Processing room 11... Spindle device 12... Spindle chuck 15... Turret device 17... Cleaning device 20... Transport space 26... Articulated robot 27... Robot Hand 28... Control device 601... Laser light

Claims (5)

  1. 　加工室内において把持装置が把持したワークを加工する加工機と、
    　前記加工機に対してワークの受渡しを行うワーク自動搬送機と、
    　前記加工室外に取り付けられ、前記ワーク自動搬送機が前記把持装置から掴み取った前記加工室内のワークに対してレーザ光を投光するレーザ測定器と、
    　前記レーザ測定器の測定情報に基づいて前記ワーク自動搬送機がワークを掴んだか否かの判定を行うワーク把持判定装置と、
    を有するワーク把持判定システム。     A processing machine that processes a workpiece gripped by the gripping device in the processing chamber,
    An automatic work transfer machine for delivering a work to the processing machine,
    A laser measuring device that is mounted outside the processing chamber and projects a laser beam onto the workpiece inside the processing chamber that the work automatic carrier grips from the gripping device,
    A work gripping determination device that determines whether the work automatic carrier has gripped a work based on the measurement information of the laser measuring device,
    Work grip determination system.
  2. 　前記ワーク自動搬送機は、前記レーザ測定器からレーザ光が投光される測定位置でワークの移動を一時停止させる請求項１に記載のワーク把持判定システム。 The work gripping determination system according to claim 1, wherein the work automatic carrier temporarily stops the movement of the work at a measurement position where the laser beam is projected from the laser measuring device.
  3. 　前記加工機は、前記測定位置に一時停止したワークに対してエアによるワークの清掃を行う清掃装置を有する請求項２に記載のワーク把持判定システム。 The work gripping determination system according to claim 2, wherein the processing machine includes a cleaning device that cleans the work temporarily stopped at the measurement position with air.
  4. 　前記ワーク自動搬送機は、前記レーザ測定器からレーザ光が投光される測定位置周辺にエアを吹くためのエアブローを有する請求項１乃至請求項３のいずれかに記載のワーク把持判定システム。 The work gripping determination system according to any one of claims 1 to 3, wherein the automatic work carrier has an air blow for blowing air around a measurement position where laser light is projected from the laser measuring device.
  5. 　前記レーザ測定器は、ワークを出し入れする加工室の開口部よりも前記把持装置に近い位置を、ワークに対してレーザ光を投光する測定位置とする請求項１乃至請求項４のいずれかに記載のワーク把持判定システム。
     
          5. The laser measuring device according to claim 1, wherein a position closer to the gripping device than an opening of a processing chamber for loading and unloading a work is a measurement position for projecting a laser beam onto the work. The workpiece gripping determination system described.

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