JP6985307B2 - Work post-processing method, machining system and management system - Google Patents

Description

The present invention relates to a work post-processing method, a processing system and a management system.

After processing the work by the processing apparatus, the work is subjected to post-treatment such as air blow (see, for example, Patent Documents 1 to 3).

Japanese Patent No. 5175971 Japanese Unexamined Patent Publication No. 2012-213838 Japanese Unexamined Patent Publication No. 2004-057862

When post-treatment is performed on the work after the work is taken out from the processing apparatus, the time required for the post-treatment differs depending on the state of the work.
For example, the longer the work in the machining apparatus waits from the end of machining to the removal, the smaller the amount of cutting fluid remaining in the removed work due to the cutting fluid flowing down from the work. Alternatively, the longer the air blow time in the processing apparatus, the smaller the amount of cutting fluid remaining on the removed workpiece. As described above, when the amount of cutting fluid remaining in the work is small, the time required for air blowing outside the processing apparatus can be shortened.

In Patent Documents 1 to 3, since the state of the work taken out from the processing apparatus is not taken into consideration, the work may be air blown for a longer time than necessary. The processing time of such excessive post-processing leads to a decrease in work efficiency and an increase in cycle time.

The present invention has been made in view of the above-mentioned circumstances, and is after a work that can optimize the processing time of the post-processing of the work processed by the processing apparatus, improve the work efficiency, and shorten the cycle time. It is an object of the present invention to provide a processing method, a processing system and a management system.

In order to achieve the above object, the present invention provides the following means.
One aspect of the present invention is a work post-processing method executed in a system including at least one processing device and a post-processing device for performing air blow as post-treatment on the work processed by the processing device. the machining processed workpiece by the apparatus and transported by the robot to the post-processing apparatus from the processing apparatus, acquires information about the status after machining of the workpiece in said machining apparatus from the processing apparatus obtained by processing the workpiece, the The information regarding the situation after machining the work is the elapsed time from the end of machining of the work until the work is taken out from the machining apparatus by the robot, or the air blow time in the machining apparatus, and the elapsed time. or the longer the air blow time in the processing equipment, as air blow time of the post-processing is reduced, based on the post-treatment air blow time of the workpiece by the post-processing apparatus to the information about the status after machining of the workpiece This is a work post-treatment method in which the work is post-processed by the post-treatment device for the determined air blow time of the post-treatment, which is determined by the control device for each processing device or each work.

After the processing by the processing apparatus is completed, the work is transferred from the processing apparatus to the post-processing apparatus by the robot, and the post-processing is performed by the post-processing apparatus. The optimum processing time for post-processing depends on the state of the work taken out from the processing apparatus. According to this aspect, the control device determines the optimum post-processing processing time for the state of the work based on the information regarding the post-machining status of the work in the processing apparatus. As a result, work efficiency can be improved and the cycle time can be shortened.

In the above aspect, the post-processing is air blow, and the information regarding the post-machining status of the work is the elapsed time from the end of machining of the work to the removal of the work from the machining apparatus by the robot. The longer the elapsed time, the shorter the air blow time may be. For example, the air blow time may be calculated from the following formula.
A = BC × D
However, A is the air blow time, B is the maximum air blow time, C is the cutting fluid reduction coefficient, and D is the elapsed time.

The longer the elapsed time in the machining equipment from the end of machining to the removal, the smaller the amount of cutting fluid remaining on the work due to the cutting fluid adhering to the work flowing down from the work, and the air blow required to blow off the cutting fluid remaining on the work. The time will be shorter. According to the above configuration, the optimum air blow time can be determined based on the elapsed time after processing in the processing apparatus.

Another aspect of the present invention includes at least one processing device for processing a work, a post- treatment device for performing air blow on the work processed by the processing device as post-treatment, and the processing device to the post-treatment device. A robot that conveys a machined work, the post-processing device, and a control device that controls the robot are provided, and the control device processes the work with information on the post-machining status of the work in the machining device. The information about the post-machining status of the work obtained from the machining apparatus is the elapsed time from the end of machining of the work to the removal of the work from the machining apparatus by the robot, or the air blow in the machining apparatus. the time, the longer the air blow time in the elapsed time or the processing device, as air blow time of the post-processing is reduced, the air blow time of the post-processing of the workpiece on the information on the situation after the processing of the workpiece Based on this, it is a processing system that is determined for each processing apparatus or for each work, and the post-processing of the work is executed by the post-processing apparatus and the robot for the determined air blow time of the post-processing.

Another aspect of the present invention includes the plurality of machining systems described above and a higher-level control system capable of communicating with the control device of each of the plurality of machining systems, and at least one control device of the machining system is provided. , A learning unit that learns to optimize the air blow time of the post-processing of the work based on the information about the state of the work after processing and the state of the work after the post-processing, and the result of the learning. It is a management system including an output unit for outputting the above-mentioned, and the higher-level control system stores the learning result received from the control device of the at least one processing system.

According to the present invention, there is an effect that the processing time of the post-processing of the work processed by the processing apparatus can be optimized, the work efficiency can be improved, and the cycle time can be shortened.

It is a plan schematic diagram which shows the whole structure of the processing system which concerns on one Embodiment of this invention. It is a plan schematic diagram which shows the whole structure of the modification of the processing system of FIG. It is a flowchart which shows the post-processing method of the work which concerns on one Embodiment of this invention. It is a block diagram of the modification of the control device of the processing system of FIG. It is a figure which shows the connection example of the control device of FIG. 4 and another control device. It is an overall block diagram of the management system which concerns on other embodiment of this invention.

Hereinafter, the processing system 10 and the post-processing method of the work according to the embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the processing system 10 according to the present embodiment includes a plurality of processing devices 1, an air blow device (post-processing device) 2, a robot 3, and a control device 4. The plurality of processing devices 1 and the air blow device 2 are arranged along the rail 5.

The robot 3 is, for example, a 6-axis articulated robot and has a hand for gripping the work W. The robot 3 moves along the rail 5 to supply the work W to each processing device 1 and take out the work W from each processing device 1. Further, the robot 3 conveys the processed work W taken out from the processing device 1 to the air blow device 2.

As shown in FIG. 2, the robot 3 may convey the work W from the processing device 1 to the air blow device 2 by turning in the horizontal direction. In the processing system 10 of FIG. 2, a plurality of processing devices 1 and air blow devices 2 are arranged around the robot 3. In FIGS. 1 and 2, each processing device 1 may be provided with an air blow device that blows air to the work W.

The processing device 1 is a machine tool that cuts the work W. The processing apparatus 1 processes the work W fixed on the table 6 with a tool such as a drill or an end mill. During machining with the tool, cutting fluid is supplied to the work W. The processing apparatus 1 measures the elapsed time T from the completion of processing of the work W by the tool until the work W is taken out by the robot 3. The elapsed time T is measured, for example, by a control unit (not shown) of the processing apparatus 1.

The air blow device 2 blows air toward the work W gripped by the robot 3. The cutting fluid adhering to the work W is blown off by the air.

The control device 4 is connected to a plurality of processing devices 1, an air blow device 2, and a robot 3. The control device 4 includes a control unit having a processor and a storage unit having a non-volatile storage, ROM, RAM, and the like. A control program for controlling the air blow device 2 and the robot 3 is stored in the storage unit. The control unit transmits a control signal to the air blow device 2 and the robot 3 according to the program. The air blow device 2 and the robot 3 operate according to a control signal from the control device 4.
The control device 4 may be a cell control device that manages and controls the entire machining system 10. The cell control device may be connected to the processing device 1, the air blow device 2, and the robot 3 via the Internet.

The robot 3 may be controlled by the control device, and each processing device 1 may be controlled by the control device. In this case, the control device of the robot 3 controls the robot 3 according to the robot control program, and the control device of each processing device 1 controls the processing device 1 and the air blow device 2 according to the processing device control program.
The control device of the robot 3 and the control device of each processing device 1 transmit information related to control, detection information, and the like to the control device 4. The information contained in the control device 4 is transmitted to the control device of the robot 3 and the control device of the processing device 1. A signal may be transmitted from the control device 4 to the control device of the robot 3 and the control device of each processing device 1, and the control device may control the robot 3 or the processing device 1 according to the signal.

The control device 4 causes the robot 3 to supply the work W to the processing device 1 and take out the work W from the processing device 1. The supply and removal of the work W are executed, for example, in response to a request signal transmitted from the processing device 1 to the control device 4.
After taking out the work W from the processing device 1, the control device 4 moves the robot 3 in front of the air blow device 2. Further, the control device 4 acquires the elapsed time T from the processing device 1 from which the work W is taken out. The control device 4 determines the air blow time (processing time) A by the air blow device 2 so that the longer the elapsed time T, the shorter the air blow time A.
Next, the control device 4 controls the air blow device 2 and the robot 3 to execute the air blow to the work W held by the robot 3 for the air blow time A.

For example, the control device 4 calculates the air blow time A from the following equation.
A = BC × D
Here, B is a predetermined maximum air blow time. C is a cutting fluid reduction coefficient. D is the elapsed time T. The cutting fluid adhering to the work W gradually decreases as it naturally flows down. The coefficient C is set based on the amount of decrease in cutting fluid per unit time.

Next, the operation of the processing system 10 will be described.
The control device 4 causes the robot 3 to supply the work W to the processing device 1. Next, the machining of the work W by the machining apparatus 1 starts.
After the machining is completed, the control device 4 causes the robot 3 to take out the work W from the machining device 1 (step S1), and moves the robot 3 holding the work W from the front of the machining device 1 to the front of the air blow device 2. (Step S2). Further, the control device 4 acquires the elapsed time T from the processing device 1 (step S3), and determines the air blow time A based on the elapsed time T (step S4).
Next, the control device 4 causes the air blow device 2 and the robot 3 to execute the air blow to the work W by the air blow device 2 for the air blow time A (step S5).

The elapsed time T in which the work W in the processing device 1 waits from the end of processing to the removal differs for each work W or for each processing device 1. For example, due to differences in machining conditions or machining contents, the machining time differs for each work W or for each machining device 1, and as a result, the elapsed time T varies. Alternatively, depending on the working condition of the robot 3, the time from the completion of machining to the time when the robot 3 heads for taking out the work W varies. The longer the elapsed time T, the smaller the amount of cutting fluid adhering to the work W when the work W is taken out from the processing apparatus 1.

According to the present embodiment, the air blow time A is determined based on the elapsed time T so that the longer the elapsed time T in which the work W waits in the processing apparatus 1 from the end of machining to the removal, the shorter the air blow time A. .. As a result, when the amount of cutting fluid adhering to the work W is small, the air blow time A is shortened. In this way, by optimizing the air blow time A according to the state of the work W taken out from the processing apparatus 1, it is possible to prevent the air blow for a longer time than necessary, and improve the work efficiency and shorten the cycle time. Can be planned.

In the present embodiment, as information on the state after machining of the work W in the machining apparatus 1, it is decided to acquire the elapsed time T from the end of machining to the removal, but instead of or in addition to this, machining is performed. The air blow time in the device 1 may be acquired.

In the case of the processing apparatus 1 having an air blow function, air blow is performed on the work W in the processing apparatus 1 following the processing by the tool. The longer the air blow time in the processing apparatus 1, the less cutting fluid is attached to the work W when it is taken out from the processing apparatus 1. The control device 4 acquires the air blow time in the processing device 1 from the processing device 1, and determines the air blow time A so that the longer the air blow time in the processing device 1, the shorter the air blow time A. Thereby, the air blow time A can be optimized according to the state of the work W.

The two-stage air blow inside and outside the processing apparatus 1 is particularly effective when the shape of the work W is complicated. For example, in the case of a cylindrical work W or a work W in which an elongated hole such as a screw hole is formed, it is difficult to blow off the cutting fluid inside the work W by air blowing in the processing apparatus 1. Therefore, a dedicated air blow device 2 designed according to the shape of the work W is required. The cutting fluid on the outer surface of the work W is blown off by the air blow in the machining apparatus 1, and then the cutting fluid inside the work W is blown off by the air blow by the air blow device 2 outside the machining apparatus 1, so that the cutting fluid is more reliably worked. It can be removed from W.

In the present embodiment, the processing apparatus 1 is a machine tool, but instead of this, another type of processing apparatus may be used. The content of post-processing required after processing also differs depending on the content of processing performed by the processing apparatus 1 on the work W. Therefore, the processing system 10 may include another post-processing device instead of the air blow device 2.

For example, the processing apparatus 1 is a molding apparatus that forms a work W of a rubber product by heat-processing a material in a vulcanization molding die, and a post-treatment apparatus deburrs the work W taken out from the mold. It may be a deburring device.
Deburring is generally easier as the temperature of the work W is higher. The control device 4 acquires the elapsed time from the opening of the mold, the elapsed time from the removal of the work W from the mold in the processing device 1, and the like as information on the status of the work W after processing in the processing device 1. do. The longer the elapsed time, the lower the temperature of the work W. The control device 4 determines the deburring processing time so that the shorter the elapsed time, the shorter the deburring processing time. The control device 4 acquires information on the temperature of the work W from the processing device 1 instead of the elapsed time, and determines the processing time so that the higher the temperature of the work W, the shorter the processing time for deburring. good.
This makes it possible to optimize the deburring processing time according to the state of the work W, improve the work efficiency, and shorten the cycle time.

In the above-described embodiment, the control device 4 of the work W is based on the information regarding the post-processing status of the work W, the processing time of the post-processing executed by the post-processing device, and the state of the work W after the post-processing. It may have a learning function for learning to optimize the processing time of post-processing. For example, as shown in FIG. 4, the learning program (learning unit) 4a is stored in the storage unit 41 of the control device 4, and the control unit 42 of the control device 4 may perform learning based on the learning program 4a. ..

For example, in learning, the control unit 42 creates a table or expression in which information about the post-processing situation of the work W and the post-processing time of the work are associated with each other, and stores the created table or expression. Store in 41. Based on the table or formula stored in the storage unit 41, the control unit 42 compares the relationship between the information regarding the post-processing status of the work W and the post-processing time of the work W and the state of the work W after post-processing. To obtain the optimum post-processing processing time for each situation after processing the work W. The state of the work W after the post-processing is determined by, for example, an inspection device or an operator in an inspection process performed after the air blow, and the determination result is input to the control device 4 and stored in the storage unit 41.

For example, when the post-processing is an air blow of the processed work W, a table or an expression in which the waiting time T and the air blow time A are associated with each other is created. Then, the relationship between the standby time T and the air blow time A and the presence or absence of the cutting fluid in the work W after the air blow are compared, and the minimum air blow time A required to completely blow off the cutting fluid is each standby time T. Obtained against.

As shown in FIG. 5, the control device 4 having a learning function may be connected to the control device 4 of the other processing system 10 and provide the learning result to the other control device 4. The result of learning includes the table or formula and the state of the work W after post-processing. In this case, the control device 4 includes a wireless or wired transmission / reception unit (output unit) 43, and the learning result stored in the storage unit 41 is transmitted to another control device 4 by the transmission / reception unit 43. The other control device 4 may use the received learning result for learning that optimizes the processing time of post-processing. When the other control device 4 does not have the learning function, the control device 4 may provide the other control device 4 with the optimum processing time for post-processing as a result of learning. Further, the control device 4 may receive a learning result from another control device 4 and use the received learning result for learning to optimize the processing time of post-processing.

As shown in FIG. 6, the control device 4 may be an edge device of the management system 100. The management system 100 includes a plurality of machining systems 10 and an upper control system 20 communicably connected to each control device 4 of the plurality of machining systems 10. An example of the upper control system 20 may be a production management system, a shipping management system, a robot management system, a department management system, or the like. The host control system 20 includes a control unit having a processor and the like, a display device, a storage unit having a non-volatile storage, a ROM, a RAM, and the like, and an input device such as a keyboard, a touch panel, and an operation panel. The upper control system 20 may be a cloud server.

Each control device 4 included in the management system 100 may or may not have a learning function. The host control system 20 receives learning data necessary for learning for optimization of post-processing processing time from a plurality of control devices 4, stores the received learning data in a storage unit, and stores the stored learning data. To aggregate. The learning data includes information on the state of the work W after processing, data in which the post-processing time of the work W and the state of the work W after post-processing are associated with each other. In the case of the control device 4 having a learning function, the learning result becomes learning data.

The upper control system 20 transmits the aggregated learning data to the control device 4 having a learning function, and the control device 4 learns the processing time of the post-processing of the aggregated learning data from the upper control system 20. It may be used for.
Alternatively, the host control system 20 performs learning that optimizes the processing time of post-processing using the aggregated learning data, and transmits the obtained optimum processing time of post-processing to each control device 4. May be good. Thereby, by using the optimum processing time of the post-processing provided by the upper control system 20, it is possible to realize the optimization of the processing time of the post-processing even in the processing system 10 in which the control device 4 does not have the learning function. ..

1 Processing equipment 2 Air blow equipment (post-processing equipment)
3 Robot 4 Control device 41 Storage unit 42 Control unit 4a Learning program (learning unit)
43 Transmission / reception unit (output unit)
10 Machining system 20 Upper control system 100 Management system

Claims (10)

A work post-processing method performed in a system comprising at least one processing device and a post-processing device that performs air blow as post-processing on the work machined by the processing device.
The work machined by the processing device is transported from the processing device to the post-processing device by a robot.
Information on the post-machining status of the work in the machining apparatus is acquired from the machining apparatus in which the work is machined, and information on the post-machining status of the work is obtained by the robot from the end of machining of the work. It is the elapsed time until it is taken out from the processing device, or it is the air blow time in the processing device.
The longer air blow time in the elapsed time or the processing device, as air blow time of the post-processing is reduced, information air blowing time of the post-processing of the workpiece by the post-processing apparatus on the status after machining of the workpiece Determined by the control device for each processing device or each work based on
A work post-treatment method in which the work is post-treated by the post-treatment apparatus for a determined air blow time of the post-treatment. The information regarding the state of the work after processing is the elapsed time.
The work post-treatment method according to claim 1 , wherein the air blow time of the post-treatment is calculated from the following formula.
A = BC × D
However,
A is the air blow time,
B is the maximum air blow time,
C is the cutting fluid reduction coefficient,
D is the elapsed time. With at least one processing device that processes the work,
A post-treatment device that blows air as a post-treatment to the work processed by the processing device, and a post-treatment device.
A robot that conveys the processed work from the processing device to the post-processing device, and
The post-processing device and the control device for controlling the robot are provided.
The control device
Information on the post-machining status of the work in the machining apparatus is acquired from the machining apparatus that has machined the work, and information on the post-machining status of the work is obtained by the robot from the end of machining of the work. It is the elapsed time until it is taken out from the device, or it is the air blow time in the processing device.
The longer air blow time in the elapsed time or the processing device, as air blow time of the post-processing is reduced, the processing on the basis of the air blow time of the post-processing of the workpiece on the information on the situation after the processing of the workpiece Determined for each device or for each work,
A processing system that causes the post-processing apparatus and the robot to perform post-processing of the work for a determined air blow time of the post-processing. The post-processing of the work is based on the information about the post-machining situation of the work, the air blow time of the post-processing executed by the post-processing device, and the state of the work after the post-processing. The processing system according to claim 3 , further comprising a learning unit that performs learning for optimizing the air blow time of the above. The processing system according to claim 4 , wherein the control device further includes an output unit that outputs the learning result. Wherein the controller is configured to output a result of the learning control unit of another processing system is configured to receive the result of learning from the control unit of the other processing system, according to claim 4 Alternatively, the processing system according to claim 5. The processing according to claim 4 or 5 , wherein the control device is configured to output the learning result to a higher-level control system, and is configured to receive the learning result from the higher-level control system. system. The plurality of processing systems according to claim 3 and
A superordinate control system capable of communicating with the control device of each of the plurality of processing systems is provided.
At least one control device for the machining system
A learning unit that performs learning to optimize the air blow time of the post-processing of the work based on the information on the state of the work after processing and the state of the work after the post-processing.
A management system including an output unit for outputting the learning result, wherein the higher-level control system stores the learning result received from the control device of the at least one processing system. The management system according to claim 8 , wherein the upper control system is configured to transmit the result of learning performed in the upper control system to each of the control devices by using the learning result. The superordinate control system is configured to transmit the result of the learning or the result of the learning performed in the superordinate control system using the learning result to a control device having no learning function. The management system according to claim 8 or 9.

Images