JP2016124054A - Machining chip recovery method and machining chip recovery system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a machining chip recovery method and a machining chip recovery system configured so that a chip recovery part can surely recover chips by constantly maintaining a relative position between a tool and the chip recovery part.SOLUTION: The machining chip recovery method includes the step of machining a workpiece by using a tool, the step of recovering machining chips generated during the machining of the workpiece by using the chip recovery part held be freely displaced, and the step of controlling the position of the chip recovery part so as to constantly maintain a relative position between the tool and the chip recovery part.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a machining waste collection method and a machining waste collection system for collecting machining waste (chips) generated when machining a workpiece (workpiece) such as turning or drilling.

  Some techniques for efficiently treating chips generated during machining such as turning have been proposed so far. For example, the machine tool with a chip disposal function described in Patent Document 1 uses a chip recovery unit such as a tensile force applying unit and a chip guiding unit to guide the chip flowing out of the workpiece W in a desired direction, thereby continuously. It is intended to reduce cutting resistance, power, heat, tool wear and the like while performing proper chip disposal.

  However, in the machine tool with a chip disposal function described in Patent Document 1, since the position of the chip collection means is fixed during machining, the relative position between the processing point of the workpiece by the tool and the chip collection means is relatively small. If the position (distance between the two) cannot be controlled and the turning conditions are changed, or if the flow direction of the chips changes, the chips will not be collected by the chip collection means. It was necessary to manually adjust the position of the chip collection means and remove the chips that were not collected by the operator.

  That is, in the machine tool with a chip disposal function described in Patent Document 1, even if a large amount of chips is generated during machining, since there is no means for constantly detecting the recovery status, machining is continued as it is, When the chips get entangled with the tool, it is necessary to interrupt the machining and remove the chips manually, and to readjust the position of the chip collecting means, which may reduce workability. Further, if machining is continued in a state where a large amount of chips are generated, the chips may collide with the workpiece, and the surface finishing accuracy of the workpiece may be impaired.

JP 2009-208162 A

  The present invention has been made to solve the above-described problem, and by maintaining the relative position between the tool and the chip collection means constant, the chip collection means can reliably capture the chips. It is an object of the present invention to provide a configured machining waste collection method and a machining waste collection system.

  The machining scrap recovery method according to the present invention includes a step of machining a workpiece using a tool, and a step of recovering machining waste generated when the workpiece is machined using a scrap recovery section that is held movably. And a step of controlling the position of the scrap collecting part so as to maintain a relative position between the tool and the scrap collecting part constant. That is, the machining scrap collection system that realizes the machining scrap collection method can be used together with a workpiece holding unit that holds a workpiece and a machining unit that has a tool for machining the workpiece, and the workpiece is machined. So that the relative position between the tool and the scrap recovery section is kept constant. A waste collection system control unit for controlling the position.

  According to the machining scrap collection method and the machining scrap collection system described above, the scrap collection unit can reliably remove chips by maintaining a constant relative position between the tool and the scrap collection unit such as a take-up spool. The position of the take-up spool can be controlled so that it can be captured. In this way, it is possible to avoid a surface defect of the workpiece due to a mistake in capturing chips by the winding spool, and to greatly improve the workability of machining the workpiece.

  The machining scrap recovery method may include a step of controlling the position of the scrap recovery unit based on a position signal related to a position of a tool for machining the workpiece. That is, the scrap recovery system control unit receives a signal or command value related to the tool position of the numerically controlled machine tool that operates the tool from the processing unit control unit of the processing unit in real time, and links the tool position to the tool position. By controlling the position of the recovery portion (particularly the take-up spool), the relative position between the tool and the take-up spool can always be kept constant.

  Therefore, by configuring the machining unit with a robot arm or the like and providing the robot arm with position information of the tool attached to the numerically controlled machine tool, even if the machining conditions are changed, the set input value for the numerically controlled machine tool By simply changing (program), the relative position between the tool and the winding spool can always be kept constant. Further, even if the chip discharge direction changes during machining, the chip can be stably recovered by making the movement of the robot arm follow the chip discharge direction.

  Preferably, in the machining scrap collection method, a step of capturing an image in a predetermined region including the scrap collection unit and the workpiece and outputting an image signal, and the position of the scrap collection unit based on the image signal A step of controlling. That is, the machined waste collection system further includes a vision sensor that captures an image in a predetermined area including the waste collection unit and the workpiece, and the waste collection system control unit controls the position of the waste collection unit based on the image signal. Also good. Thus, by visually monitoring the machining state of the workpiece by the tool, it is possible to capture chips with higher reliability.

  When the machining is a turning process, the machining scrap recovery method includes a step of holding a workpiece rotatably around a predetermined axis at a predetermined workpiece rotation speed, and a predetermined position of the tool at a predetermined position from the predetermined axis. The step of controlling the tool so as to machine the cutting depth, and the winding when the scrap collecting section rotates to collect the processing scrap from the workpiece rotation speed of the workpiece, the position of the tool and the cutting depth. Determining a rotation speed, and rotating the scrap recovery unit at the winding rotation speed. That is, the scrap collection system control unit a) the workpiece rotates around a predetermined axis at a predetermined workpiece rotation speed, and b) a workpiece such as a throw away tool having a predetermined cutting amount at a predetermined position from the predetermined axis. C) From the workpiece rotation speed of the workpiece, the position of the tool and the cutting depth, the winding recovery speed when the scrap recovery section rotates to recover the chips is determined, and d) the scrap recovery section takes up You may control to rotate at a rotational speed. In this way, by performing feedback control of the scrap collection unit such as the winding spool calculated from the workpiece rotation speed at an appropriate winding rotation speed, the chips can be reliably and stably collected.

  Similarly, when the machining is drilling, the machining scrap collection method includes the step of holding the tool rotatably at a predetermined tool rotation speed, and the tool rotation speed and the cutting depth of the tool, A step of determining a take-up rotation speed when the waste collection unit rotates to collect the processing waste, and rotating the waste collection unit at the take-up rotation speed. That is, the scrap collection system control section controls e) a tool such as a drill to rotate at a predetermined tool rotation speed, and f) the scrap collection section rotates from the tool rotation speed and the amount of cutting of the tool to generate chips. It is possible to determine a winding rotation speed when collecting the waste, and d) control so that the scrap collecting section rotates at the winding rotation speed. As described above, even if the machining is drilling, it is possible to reliably perform the feedback control of the scrap collection part such as the winding spool calculated at the tool rotational speed at an appropriate winding rotational speed. It is possible to recover the chips stably.

  More preferably, in the machining scrap collection method, an image in a predetermined region including the scrap collection unit and the workpiece is captured and an image signal is output; the image signal is monitored, and the machining scrap is collected. And determining whether or not it has been done. That is, the machined scrap collection system further includes a vision sensor that captures an image in a predetermined area including the scrap collection unit and the workpiece, and the scrap collection system control unit monitors the image signal to determine whether or not the chips are collected. May be judged. In this way, the chips can be collected with higher reliability by visually monitoring the machining state of the workpiece by the tool.

  Similarly, in the machining scrap collection method, the step of detecting the electrical resistance value of the machining scrap between the scrap collection section and the workpiece and the electrical resistance value of the machining scrap are monitored to collect the machining scrap. And a step of determining whether or not. That is, the machining scrap recovery system further includes a resistance detection unit that detects an electrical resistance value of the chip between the scrap recovery unit and the workpiece when the scrap recovery unit recovers the chip, and the scrap recovery system control unit includes: The electrical resistance value of the chips may be monitored to determine whether or not the chips have been collected. In this way, the chips can be recovered with higher reliability by electrically monitoring the machining state of the workpiece by the tool.

  More preferably, the machining scrap collection method may stop the step of machining the workpiece when it is determined that the machining scrap is not collected. That is, the scrap collection system control unit may perform control so as to stop the machining of the workpiece when it is determined that the machining scrap is not collected. In this way, it is possible to avoid that chips accumulated in a large amount in the workpiece are entangled with the tool and collide with and damage the surface of the workpiece due to the failure to collect the chips during machining.

  The machining scrap recovery method monitors the electrical resistance value of the machining scrap from the resistance detection unit, estimates the shape and thickness of the machining scrap based on the electrical resistance value, And controlling the workpiece rotation speed of the workpiece and at least one of the tool rotation speed, the feed speed, and the cutting depth of the tool so as to obtain a desired shape and thickness. That is, the scrap collection system control unit monitors the electrical resistance value of the chip from the resistance detection unit and estimates the chip form and thickness based on the electrical resistance value, and also the desired chip form and thickness. In order to achieve this, at least one of the workpiece rotation speed of the workpiece and the tool rotation speed of the tool, the feed speed, and the cutting amount may be controlled. In this way, the scrap recovery system control unit not only determines the success of recovery based on the electrical resistance value of chips, but also sends command values such as the cutting depth or workpiece rotation speed to the machining unit control unit or holding unit control unit in a timely manner. You can give feedback.

  In particular, the machining scrap recovery method monitors the electrical resistance value of the machining scrap from the resistance detection unit, and the electrical resistance value that is within a predetermined range passes the time for machining the workpiece with a tool. Determining that the tool life has elapsed when exceeding a predetermined range; and, when determining that the tool life has elapsed, providing a warning to the user to prompt the user to replace the tool; You may have. That is, the scrap collection system control unit monitors the electrical resistance value of the chips from the resistance detection unit, and the electrical resistance value that was within a predetermined range becomes a predetermined value as the time for machining the workpiece with the tool elapses. When the range is exceeded, it may be determined that the tool life has passed, and a warning may be given to the user so as to prompt the user to change the tool. In this way, the user can know in advance the tool replacement time.

  Similarly, the machining scrap recovery method monitors the image signal from the vision sensor and estimates the shape and thickness of the processing scrap or the temperature of the processing scrap based on the image signal; Controlling the workpiece rotation speed of the workpiece and at least one of the tool rotation speed, the feed speed, and the cutting depth of the tool so as to obtain a desired shape and thickness, or machining waste. You may have. That is, the scrap collection system control unit monitors the image signal from the vision sensor, estimates the form and thickness of the processing scrap, or the temperature of the processing scrap based on the image signal, and the processing scrap is desired. You may control at least 1 of the workpiece | work rotation speed of a workpiece | work, the tool rotation speed of a tool, a feed rate, and a cutting amount so that it may become a form and thickness, or a processing waste. Based on the image signal of the chip, the scrap collection system control unit can feed back not only the success / failure of the recovery but also the command value such as the cutting amount or the workpiece rotation speed to the machining unit control unit or the holding unit control unit in a timely manner. it can.

  Further, in the machining scrap collection method, the image signal from the vision sensor is monitored, the temperature of the machining scrap is estimated based on the image signal, and the desired shape and thickness of the machining scrap are obtained. And a step of controlling at least one of a workpiece rotation speed of the workpiece and a tool rotation speed of the tool, a feed speed, and a cutting amount. That is, the scrap collection system control unit monitors the image signal from the vision sensor, estimates the chip temperature based on the image signal, and adjusts the workpiece workpiece so as to obtain the desired shape and thickness of the chip. You may control at least 1 of a rotational speed and the tool rotational speed of a tool, a feed rate, and the cutting depth.

  According to the present invention, by maintaining the relative position between the tool and the winding device such as the winding spool constant, the position of the winding spool can be adjusted so that the winding spool can reliably capture chips. Can be controlled. In this way, it is possible to avoid a surface defect of the workpiece due to a mistake in capturing chips by the winding spool, and to greatly improve the workability of machining the workpiece.

It is a perspective view which shows the machining waste collection | recovery system which concerns on Embodiment 1 of this invention, the processing unit used with this, and a holding | maintenance unit. It is a block diagram which shows schematic structure of the machining waste collection | recovery system which concerns on Embodiment 1, a processing unit, and a holding | maintenance unit. It is a block diagram which shows schematic structure of the machining waste collection | recovery system which concerns on Embodiment 2, a processing unit, and a holding | maintenance unit. (A) And (b) is sectional drawing which shows the chip (cutting state) which arises from a workpiece | work when it cuts with a predetermined cutting condition (command value) with a tool, (a) is a flow type chip (B) shows shear-type chips. It is a block diagram which shows schematic structure of the machining waste collection | recovery system which concerns on Embodiment 3, a processing unit, and a holding | maintenance unit. It is the schematic which shows the resistance detection part which concerns on Embodiment 3, and the component related to this. It is sectional drawing similar to FIG. 4 (a) and FIG.4 (b) which shows a chip (cutting state), Comprising: (c) and FIG.7 (d) are the cutting states shown to (a) and (b), respectively. It is a graph which shows roughly the fluctuation | variation of the electrical resistance value of the chip corresponding to. It is the schematic which shows the resistance detection part which concerns on the modification of Embodiment 3, and the component related to this.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a machining waste collection system and a machining waste collection method according to the present invention will be described with reference to the accompanying drawings. In each embodiment and each drawing, the same or corresponding components are denoted by the same or corresponding reference numerals. In each embodiment, the description of the same or corresponding components that are the same is omitted.

(Embodiment 1)
FIG. 1 is a perspective view showing a machining waste collection system 1 according to Embodiment 1 of the present invention, a processing unit 20 used therewith, and a holding unit 30, and FIG. 2 shows a schematic configuration thereof. It is a block diagram. As will be described in detail later, the machining scrap collection system 1 efficiently and efficiently produces machining scraps (chips) S generated when the workpiece W held by the holding unit 30 is machined by the machining unit 20 such as turning. Recover with reliability.

  First, a schematic configuration and operation of the holding unit 30 will be described. A holding unit 30 shown in FIG. 1 rotates a platform (pedestal, not shown) for holding the workpiece W in a detachable manner and a predetermined rotation speed (work rotation speed) around a predetermined rotation axis Z. And a holding unit controller 34 that is electrically connected to the drive motor 32 and controls the rotation speed of the workpiece. The workpiece W to be held is made of any conductive material (for example, metal) suitable for turning and drilling. In FIG. 1, the holding unit 30 is shown as one that turns the cylindrical workpiece W. However, the holding unit 30 is not limited to this, and has any configuration as long as the workpiece W is detachably held. There may be.

  Next, a schematic configuration and operation of the processing unit 20 will be described. A machining unit 20 shown in FIG. 1 includes a tool 22 for turning a cylindrical workpiece W held by a holding unit 30, a numerically controlled machine tool (NC machine tool) 24 for holding the tool 22, and machining of the NC machine tool 24. A machining unit control unit 26 for controlling a path and the like. The tool 22 may be a throw-away tool having, for example, a shank and a tip (blade) fixed to the tip of the shank so as to be replaceable.

  As shown in FIG. 1, the holding unit 30 rotates the workpiece W around a predetermined rotation axis Z, and the NC machine tool 24 brings the tool 22 into contact with the cylindrical workpiece W at a predetermined radial position from the rotation axis Z. The workpiece W can be turned by moving the tool 22 linearly in the rotation axis direction and the radial direction. That is, the machining unit 20 can turn the workpiece W with an arbitrary cutting amount along the machining path commanded from the machining unit control unit 26 in cooperation with the holding unit 30. At this time, chips (work chips) S extending continuously from the turned workpiece W are formed.

  A drill or reamer (not shown) may be attached to the NC machine tool 24 of the machining unit 20 as a tool 22 other than the throw-away tool, and the holding unit 30 fixes the workpiece W, and the drill is attached to the workpiece W. Drilling can be performed by rotating the drill at a predetermined rotation speed (tool rotation speed) in a contact state. At this time, similarly, chips (working waste) S extending continuously from the drilled workpiece W are formed.

  As described above, in the machining waste collection system 1 according to the present invention, when the workpiece W is machined using the machining unit 20 and the holding unit 30, chips S continuously extending from the workpiece W are formed. It can be applied to any machining.

  Next, the configuration and operation of the machining waste collection system 1 according to Embodiment 1 of the present invention will be described with reference to FIGS. 1 and 2. This machining waste collection system 1 is roughly composed of a waste collection system control unit 5 that is communicably connected to the holding unit control unit 34 and the machining unit control unit 26, a collection unit 10 controlled thereby, and a tip portion thereof. And the waste collection part 12 arranged in the.

  The collection unit 10 is configured by, for example, a general articulated robot arm, and can hold the waste collection unit 12 and the take-up spool 13 rotatably attached thereto so as to be displaceable. That is, the scrap collection system control unit 5 can move the scrap collection unit 12 and the take-up spool 13 to an arbitrary position and posture with respect to the workpiece W by using the collection unit 10.

  The scrap collecting unit 12 rotates the winding spool 13 that winds up the chips S continuously extending from the workpiece W when the workpiece W is machined, and the winding spool 13 at an arbitrary rotational speed (winding rotational speed). And a winding device (rotary motor) 14 to be operated. The scrap collection system control unit 5 is operatively connected to the winding device 14 of the scrap collection unit 12 and can control the winding rotation speed of the winding spool 13.

  The machining scrap collection system 1 operates as follows. The machining conditions desired by the user (including the final form of the workpiece W) are input to the machining unit control unit 26 via an input operation unit (not shown). The machining unit control unit 26 includes parameters such as a machining path (movement locus) of the tool 22, a cutting amount of the tool 22, a feed speed, a workpiece rotation speed, a position and orientation of the scrap collection unit 12, and a winding rotation speed (hereinafter referred to as “winding rotation speed”). These are collectively referred to as “command values”.) Based on this, the operations of the NC machine tool 24, the drive motor of the holding unit 30, the recovery unit 10, and the waste recovery unit 12 (including the winding device 14) are controlled. To do. In this way, the workpiece W is turned by the tool 22, and the chips S are continuously formed from the workpiece W and taken up on the take-up spool 13.

  On the other hand, the recovery unit 10 according to the first embodiment is configured by an articulated robot arm or the like as described above, and uses the waste recovery system control unit 5 to remove waste as with the position of the tool 22 of the NC machine tool 24. The position of the take-up spool 13 of the collection unit 12 can be controlled by presetting or feedback from the current position information of the tool. That is, the scrap collection system control unit 5 according to the first embodiment receives a signal or a command value regarding the position of the tool 22 obtained from the NC machine tool 24 from the machining unit control unit 26 in real time, and By controlling the position of the take-up spool 13 of the scrap collecting unit 12 so as to link to the tool, the relative position between the tool 22 and the take-up spool 13 of the scrap collecting unit 12 can be always maintained constant. it can.

  In general, the outflow direction of the chips S varies with time-dependent changes such as machining conditions (command values), types of workpieces W, tool wear, and the like. If the outflow direction of the chips S varies, the winding spool 13 may not be able to collect the chips S. Then, since the chip S collides with the workpiece W and damages the surface of the workpiece W, the operator temporarily stops the turning, removes the uncollected chip S in the workpiece W, and takes up the winding spool. It is necessary to manually readjust the position of 13 and resume the turning of the workpiece W. This significantly reduces the workability of turning the workpiece W.

  However, the machining scrap collection system 1 according to the first embodiment receives the command value regarding the position of the tool 22 obtained from the machining unit control unit 26 and follows the position of the winding spool 13 with the position of the tool 22. Thus, by maintaining the relative position between the tool 22 and the take-up spool 13 constant, the position of the take-up spool 13 is controlled so that the take-up spool 13 can reliably collect the chips S. As described above, according to the machining scrap collection system 1 according to the first embodiment, the surface defect of the workpiece W due to the mistake of collecting the chip S by the winding spool 13 is avoided, and the workability of turning the workpiece W is remarkably improved. Can be improved.

(Embodiment 2)
The machining waste collection system 1 according to Embodiment 2 of the present invention will be described below with reference to FIGS. 3, 4 (a), and 4 (b). The machined scrap collection system 1 of the second embodiment has the same configuration as the machined scrap collection system 1 of the first embodiment except that the scrap collection unit 12 further includes a vision sensor 15, and therefore overlaps. Description of is omitted.

  FIG. 3 is a block diagram showing a schematic configuration of the machining waste collection system 1 according to Embodiment 2 of the present invention, the machining unit 20 used therewith, and the holding unit 30. As described above, the scrap collection unit 12 includes the vision sensor 15 that captures an image in a predetermined visual field region including the take-up spool 13 and the workpiece W.

  The vision sensor 15 includes an imaging device such as a charge coupled device (CCD), for example, and images the turning state of the workpiece W by the throw-away tool (tool) 22. Any vision sensor 15 may be used as long as it visually monitors the machining state of the workpiece W by the tool 22. The scrap collection system control unit 5 is operatively connected to the winding device 14 of the scrap collection unit 12, and not only the position and angle of the scrap collection unit 12 (winding spool 13) but also the winding spool 13 is wound. The rotation speed can be controlled.

  The machining scrap collection system 1 operates as follows. When a machining condition desired by the user is input to the machining unit control unit 26, the machining unit control unit 26 calculates a command value such as a machining path of the tool 22, and controls the NC machine tool 24 based on the command value. At the same time, the command values are communicated to the scrap collection system control unit 5 and the holding unit control unit 34, and these unit control units 26 and 34 control the drive motor 32 of the workpiece W and the collection unit 10 (including the winding device 14). Control the behavior. In this way, the workpiece W is turned by the tool 22, and the chips S are continuously formed from the workpiece W and wound on the winding spool 13.

  The waste collection unit 12 according to Embodiment 2 uses the vision sensor 15 to capture an image in a predetermined area including the waste collection unit 12 (particularly the take-up spool 13) and the workpiece W, and the waste collection system control unit 5 outputs an image signal. The scrap collection system control unit 5 analyzes the turning surface of the workpiece W and / or the form of the chip S (including the outflow direction of the chip S) using a pattern matching method or an image recognition processing method known to those skilled in the art. To determine whether it is properly turned.

  Therefore, the scrap collection system controller 5 according to the second embodiment uses the image signal from the vision sensor 15 regarding the outflow direction of the chip S even if the outflow direction of the chip S fluctuates due to a change over time such as machining conditions. Based on this, the position and posture of the take-up spool 13 attached to the articulated robot 10 can be corrected (feedback), so that the chips S can be reliably captured and recovered. As described above, according to the machining scrap collection system 1 according to the first embodiment, the surface defect of the workpiece W caused by a mistake in capturing the chip S by the winding spool 13 is avoided, and the workability of turning the workpiece W is remarkably improved. Can be improved.

  In addition to the image signal from the vision sensor 15 regarding the outflow direction of the chips S, the scrap collection system control unit 5 according to the second embodiment is based on the command value of the NC machine tool 24 described in the first embodiment. The position and posture of the take-up spool 13 can be corrected to capture the chips S more reliably. In addition, in order to configure the scrap recovery system control unit 5 more simply, control based on a command value such as a machining path of the NC machine tool 24 is omitted, and an image signal from the vision sensor 15 (flow of chips S) The position and orientation of the winding spool 13 may be corrected based only on the direction image signal).

  The image signal from the vision sensor 15 can be used to always calibrate machining conditions (command values) that change over time to appropriate values. Specifically, the vision sensor 15 constantly monitors the turning state and the turning surface of the chips S as well as the direction in which the chips S extend (outflow direction). FIGS. 4A and 4B are cross-sectional views showing the chips S (turned state) generated from the workpiece W when turned by the tool 22 under a predetermined turning condition (command value). FIG. 4A shows a flow-type chip S, which has a constant shear angle, a smooth turning surface, and represents a good turning state. FIG. 4 (b) shows a shearing type chip S, in which the shearing angle fluctuates periodically and is inadequate, and represents a turning state that requires adjustment of the command value.

  The scrap collection system control unit 5 analyzes the image signal from the vision sensor 15 using a pattern matching method or the like, and determines whether the chip S is in a state as shown in FIG. 4 (a) or FIG. 4 (b). To do. Further, when the scrap collection system control unit 5 detects the shear type chip S shown in FIG. 4B, the turning condition is set in real time so that the flow type chip S shown in FIG. Calibrate. That is, when the scrap collection system control unit 5 recognizes the shear-type chip S in FIG. 4B, the scrap collection system control unit 5 may feed back to the machining unit control unit 26 so as to reduce the cutting depth d or rotate the workpiece. You may feed back to the holding | maintenance unit control part 34 so that speed may be reduced. In this way, the scrap collection system control unit 5 feeds back the command value such as the cutting amount d or the workpiece rotation speed and the feed rate of the tool to the machining unit control unit 26 or the holding unit control unit 34 in a timely manner.

  Therefore, even if the outflow direction of the chip S varies due to a change over time such as machining conditions, the scrap collection system control unit 5 according to the second embodiment is configured to control the chip S based on the image signal from the vision sensor 15. The command values of the machining unit 20 and the holding unit 30 can always be optimized so as to maintain a good turning state and a turning surface. Thus, according to the machining waste collection system 1 according to the second embodiment, similarly to the first embodiment, the surface failure of the workpiece W caused by the mistake of catching the chips S by the winding spool 13 is avoided, and the workpiece W is avoided. The workability of turning can be greatly improved.

Further, the image signal from the vision sensor 15 detects the temperature of the chip S, and indicates that the tip (blade) of the tool 22 is worn and replaced when the temperature is higher than a predetermined threshold temperature. Can be used as The scrap collection system control unit 5 experimentally specifies the temperature (T ₀ ) of the chip S when the tip (blade) of the tool 22 is worn, stores the temperature (T ₀ ) in a memory (not shown), and performs turning. The image signal obtained from the vision sensor 15 is analyzed to detect the temperature (T) of the chip S. When the detected temperature (T) exceeds the threshold temperature (T ₀ ), the tip (blade) of the tool 22 is detected. A visual and / or audible warning may be given to the user that it should be worn out and replaced. Thus, according to the machining waste collection system 1 according to the second embodiment, it is determined that the useful life of the tool 22 has elapsed, and a warning is given to the user to prompt the user to replace the tool 22, so that the reliability is always high. It is possible to turn the workpiece W.

(Embodiment 3)
The machining waste collection system 1 according to Embodiment 3 of the present invention will be described below with reference to FIGS. 5, 6, 7 (a), and 7 (b). The machining scrap recovery system 1 of the third embodiment has the same configuration as the machining scrap recovery system 1 of the first or second embodiment except that the scrap recovery unit 12 includes the resistance detection unit 16. Description of the points to be performed is omitted.

  FIG. 5 is a block diagram showing a schematic configuration of the machining waste collection system 1 according to the third embodiment of the present invention, the machining unit 20 used therewith, and the holding unit 30. As described above, the scrap collection unit 12 includes the resistance detection unit 16 that measures the electrical resistance value r between the winding spool 13 and the tool 22 of the chips S wound by the winding spool 13.

  FIG. 6 shows a schematic configuration of the resistance detection unit 16 according to the third embodiment and components related to the operation thereof (the scrap collection system control unit 5, the processing unit control unit 26, the winding spool 13, the tool 22, and It is the schematic which shows the workpiece | work W). The resistance detection unit 16 includes a constant voltage power source (voltage Vc) 17, a fixed resistor (electric resistance value R) 18, and a voltmeter 19. One end of the constant voltage power supply 17 is electrically connected to the tool 22, the other end is connected to the fixed resistor 18, and the other end of the fixed resistor 18 is electrically connected to the take-up spool 13. Has been. Since the workpiece W is made of a conductive material, when the chip S is wound on the winding spool 13, the tool 22, the chip S, the winding spool 13, and the fixed resistor 18 form a closed loop circuit, and the fixed resistance A direct current flows through the vessel 18.

  When the chips S are not collected on the take-up spool 13 (when capture fails), no direct current flows through the closed loop circuit, so the voltage V measured by the voltmeter remains zero. That is, when the resistance detection unit 16 detects that the electrical resistance value r of the chips S is infinite, the scrap collection system control unit 5 determines that the chips S are not collected on the take-up spool 13 and has a finite electric power. When the resistance value r is detected, it is determined that the chips S are collected on the take-up spool 13. The resistance detector 16 shown in FIG. 6 uses the voltmeter 19 to determine whether or not the scrap S has been collected by the take-up spool 13, but the chip S can be similarly collected by using an ammeter instead. The success or failure of can be judged. Therefore, the scrap collection system controller 5 uses the resistance detection unit 16 to immediately electrically determine the failure to collect the chips S during turning, communicate with the machining unit controller 26, and take up the winding device 14 and the tool. The 22 operations can be stopped or interrupted immediately. Thus, according to the resistance detection unit 16 according to the third embodiment, the chips S accumulated in a large amount in the workpiece W due to the collection failure during the turning are entangled with the tool 22 and collide with the surface of the workpiece W to be damaged. You can avoid that.

  Further, in the resistance detection unit 16 shown in FIG. 6, since the voltage Vc of the constant voltage power supply 17 and the resistance value R of the fixed resistor 18 are known, the waste collection system control unit 5 is connected to both ends of the fixed resistor 18. From the voltage measured by the voltmeter 19, the electrical resistance value r of the chip S can be calculated (r = (Vc / V−1) × R).

  FIGS. 7A and 7B are cross-sectional views showing chips S (turned state) generated from the workpiece W, as in FIGS. 4A and 4B. FIGS. 7C and 7D are graphs schematically showing temporal variations in the electrical resistance value r of the chip S corresponding to the turning states shown in FIGS. 7A and 7B, respectively. is there. That is, when the flow-type chip S having a constant shear angle is formed, the electrical resistance value r of the chip S is also steady (constant), and the shear-type chip S in which the shear angle varies periodically is obtained. When formed, it has been confirmed that the electrical resistance value r also varies periodically. Therefore, the scrap collection system control unit 5 can estimate the form (flow type or shear type) and thickness of the chip S based on the electrical resistance value r obtained by the resistance detection unit 16.

  The scrap collection system control unit 5 estimates the form (flow type or shear type) and thickness of the chip S based on the electric resistance value r obtained by the resistance detection unit 16, and is shown in FIG. 7 (b). If it is estimated that the chip is a shear type chip S, the turning conditions can be calibrated in real time so that the flow type chip S shown in FIG. When the scrap collection system control unit 5 recognizes the shear type chip S in FIG. 4B, the scrap collection system control unit 5 may feed back to the machining unit control unit 26 so as to reduce the cutting amount d and the feed rate, for example. You may feed back to the holding | maintenance unit control part 34 so that a rotational speed may be reduced. As described above, the scrap collection system control unit 5 can feed back the command value such as the cutting amount d or the workpiece rotation speed to the machining unit control unit 26 or the holding unit control unit 34 in a timely manner.

(Modification)
FIG. 8 shows a schematic configuration of the resistance detection unit 16 according to a modification of the third embodiment and components related to the operation thereof (the scrap collection system control unit 5, the processing unit control unit 26, the take-up spool 13, the tool FIG. 7 is a schematic view similar to FIG. In machining such as drilling where the tool rotates and the workpiece does not rotate, the resistance detection unit 16 shown in FIG. 8 is configured such that one end of the constant voltage power supply 17 is electrically connected to the workpiece W instead of the tool 22. You may comprise. In this way, the resistance detector 16 eliminates the factor that makes the electrical resistance value r unstable due to the relative sliding motion between the tool 22 and the workpiece W during turning, and the chips S generated from the workpiece W are eliminated. The electric resistance value r more closely reflecting (cutting state) can be obtained.

  Furthermore, as shown by the broken lines in FIGS. 7C and 7D, the scrap collection system control unit 5 sets in advance an allowable range (upper limit value and lower limit value) of the electrical resistance value r of the chips S. May be. In general, when the actual optimum machining conditions are not met, shear-type chips S and crack-type chips whose shear angle varies periodically are easily formed, and the electric resistance value r as shown in FIG. May be detected, and it is necessary to search for optimum machining conditions by a preliminary experiment, and preparation takes time. However, as described above, the resistance detection unit 16 according to the third embodiment is used to detect the turning state and feed back information indicating the turning state to the machining unit control unit 26 and / or the holding unit control unit 34. By doing so, a good turning state can be realized. Therefore, due to the feedback effect, even when the electrical resistance value r initially shows an inappropriate turning state including the shear type chip S (FIG. 7D), a stable flow type can be obtained relatively quickly. It shifts to the turning state (FIG. 7C) including the chip S. The electric resistance value r after being controlled to a good turning state tends to be maintained within the allowable range.

  However, when the tip (blade) of the tool 22 is worn due to long-term use, the electric resistance value r deviates from an allowable range even if the machining conditions are calibrated. The scrap collection system control unit 5 continuously monitors the electric resistance value r, and from the turning state including the flow type chip S where the electric resistance value r is stable, to the inappropriate turning state including the shear type chip S. In other words, when the electric resistance value r exceeds the allowable range indicated by the broken line in FIG. 7D, it is determined that the tip of the tool 22 is worn. At this time, the scrap collection system control unit 5 may give a visual and / or audible warning to the user that the tip (blade) of the tool 22 is worn and should be replaced. Thus, according to the machining scrap collection system 1 according to the third embodiment, it is determined that the useful life of the tool 22 has passed, and a warning is given to the user to prompt the user to replace the tool 22, so that the reliability is always high. It is possible to turn the workpiece W.

  The present invention can recover machining waste generated when machining a workpiece with high reliability.

DESCRIPTION OF SYMBOLS 1 ... Machining waste collection system, 5 ... Waste collection system control part, 10 ... Collection unit (articulated robot arm) 12 ... Waste collection part, 13 ... Winding spool, 14 ... Winding device (rotary motor), 15 ... Vision sensor, 16 ... resistance detector, 17 ... constant voltage power supply, 18 ... fixed resistor, 19 ... voltmeter, 20 ... processing unit, 22 ... tool (throw away tool), 24 ... numerically controlled machine tool (NC machine tool) , 26... Processing unit control unit, 30... Holding unit, 32... Drive motor, 34.

Claims (16)

Machining a workpiece with a tool;
A step of recovering machining waste generated when the workpiece is machined using the waste recovery portion held in a freely displaceable manner;
And a step of controlling the position of the scrap collecting section so as to maintain a relative position between the tool and the scrap collecting section constant.   The machining waste collection method according to claim 1, further comprising a step of controlling the position of the waste collection unit based on a position signal related to a position of a tool for machining the workpiece. Capturing an image in a predetermined area including the waste collection unit and the workpiece, and outputting an image signal;
3. The machining waste collection method according to claim 1, further comprising a step of controlling a position of the waste collection unit based on an image signal. Holding the workpiece rotatably around a predetermined axis at a predetermined workpiece rotation speed;
Controlling the tool such that the tool machines a predetermined depth of cut at a predetermined position from a predetermined axis;
From the workpiece rotation speed of the workpiece, the position of the tool, and the amount of cutting, a winding rotation speed when the scrap collection section rotates and collects the processing scrap is determined, and the scrap collection section is operated at the winding rotation speed. The machining waste collection method according to claim 1, further comprising a step of rotating. Holding the tool rotatably at a predetermined tool rotation speed;
A step of determining a winding rotation speed when the scrap collecting unit rotates to collect the processing scrap from the tool rotating speed and the cutting depth of the tool, and the scrap collecting unit is rotated at the winding rotational speed; The machining waste recovery method according to any one of claims 1 to 3, further comprising: Detecting the electrical resistance value of the processing scrap between the scrap recovery part and the workpiece;
6. The machining waste collection method according to claim 1, further comprising a step of monitoring whether or not the machining waste has been collected by monitoring an electrical resistance value of the machining waste. Capturing an image in a predetermined area including the waste collection unit and the workpiece, and outputting an image signal;
6. The machining waste collection method according to claim 1, further comprising: monitoring an image signal to determine whether or not the work waste has been collected.   8. The machining waste collection method according to claim 6, further comprising a step of stopping the step of machining the workpiece when it is determined that the machining waste is not collected. Monitoring the electrical resistance value of the machining waste from the resistance detector, and estimating the shape and thickness of the machining waste based on the electrical resistance value;
Controlling the workpiece rotation speed of the workpiece and at least one of the tool rotation speed, the feed speed, and the cutting depth of the tool so that the machining waste has a desired shape and thickness. The method for collecting machining waste according to claim 6, wherein: When the electrical resistance value of the machining waste from the resistance detection unit is monitored and the electrical resistance value that is within a predetermined range exceeds a predetermined range as time passes for machining the workpiece with a tool, Determining that the life of the tool has passed;
The method of claim 6, further comprising a step of giving a warning to a user so as to prompt the user to replace the tool when it is determined that the useful life of the tool has passed. Monitoring the image signal from the vision sensor and estimating the shape and thickness of the processing waste or the temperature of the processing waste based on the image signal;
Controlling at least one of a workpiece rotation speed of the workpiece and a tool rotation speed, a feed speed, and a cutting depth of the tool so that the machining scrap becomes a desired shape and thickness, or the machining scrap. The machining waste recovery method according to claim 7, wherein: Monitoring the image signal from the vision sensor and estimating the temperature of the processing waste based on the image signal;
Controlling a workpiece rotation speed of the workpiece and at least one of a tool rotation speed, a feed speed, and a cutting amount of the tool so as to obtain a desired shape and thickness of the machining waste. The machining waste recovery method according to claim 7. A machining waste collection system that can be used together with a workpiece holding unit that holds a workpiece and a machining unit that has a tool for machining a workpiece,
A scrap recovery section for recovering processing waste generated when machining a workpiece;
A waste collection unit that holds the waste collection unit in a displaceable manner;
Machining waste collection, comprising: a waste collection system control section for controlling the position of the waste collection section so as to maintain a relative position between the tool and the waste collection section constant. system. The scrap collection system control unit
The workpiece rotates around a given axis at a given workpiece rotation speed,
The tool machined a workpiece with a predetermined cutting amount at a predetermined position from a predetermined axis,
From the workpiece rotation speed of the workpiece, the feed rate of the tool, and the cutting depth, determine the winding rotation speed when the scrap recovery unit rotates to recover the processing scrap,
The machining waste collection system according to claim 13, wherein the waste collection unit is controlled to rotate at a winding rotation speed. The scrap recovery unit has a resistance detection unit that detects an electrical resistance value of the processing scrap between the scrap recovery unit and the workpiece when the processing scrap is recovered,
The said waste collection system control part is comprised so that it may be determined whether the electrical waste value of the process waste from the said resistance detection part was monitored, and the process waste was collect | recovered. The machined scrap collection system described.   The scrap recovery system control unit monitors the electrical resistance value of the processing scrap from the resistance detection unit, and the electrical resistance value within a predetermined range is predetermined as time passes for machining the workpiece with the tool. 15. The machining scrap recovery system according to claim 14, wherein when the range is exceeded, it is determined that the useful life of the tool has passed, and a warning is given to the user to prompt the user to replace the tool.

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