JP2020021447A - Work-piece post-processing method, processing system and management system - Google Patents

Abstract

To shorten a cycle time by optimizing a processing time required to post-process a work-piece processed by a processing device and improving work efficiency.SOLUTION: A work-piece post-processing method comprises: conveying a work-piece, processed by a processing device, from the processing device to a post-processing device by means of a robot, S2; acquiring information about a situation after the work-piece is processed in the processing device, S3; based on the information about the situation after the work-piece is processed, determining, by means of a control device, a processing time required for the post-processing device to post-process the work-piece, S4; and post-processing the work-piece by means of the post-processing device for only the processing time thus determined, S5.SELECTED DRAWING: Figure 3

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 device, the work is subjected to post-processing such as air blowing (for example, see Patent Documents 1 to 3).

Japanese Patent No. 5175971 JP 2012-213838 A JP 2004-057862A

When performing post-processing on a workpiece after removing the workpiece from the processing apparatus, the time required for the post-processing varies depending on the state of the workpiece.
For example, as the time during which the work in the processing apparatus waits from the end of processing to the removal is longer, the amount of the cutting fluid remaining on the removed work decreases due to the cutting fluid flowing down from the work. Alternatively, the longer the air blow time in the processing device, the smaller the amount of cutting fluid remaining on the removed work. As described above, when the amount of the cutting fluid remaining on the work is small, the time of the air blow required outside the processing apparatus can be short.

  In Patent Documents 1 to 3, since the state of the work taken out of the processing device is not taken into account, air blow may be performed on the work for an unnecessarily long time. Such excessive post-processing time causes a reduction in work efficiency and an increase in cycle time.

  The present invention has been made in view of the above-described circumstances, and has been made in consideration of the above circumstances, and has been made in consideration of the above-described circumstances. It is an object 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 embodiment of the present invention conveys a workpiece processed by a processing apparatus from the processing apparatus to a post-processing apparatus by a robot, acquires information on a state of the workpiece after processing in the processing apparatus, and performs processing by the post-processing apparatus. A post-processing method of a work, wherein a post-processing time of the post-processing of the work is determined by a control device based on information on a condition after processing of the work, and the post-processing device performs post-processing on the work by the determined processing time. It is.

  After the processing by the processing device is completed, the work is transferred from the processing device to the post-processing device by the robot, and post-processed by the post-processing device. The optimal processing time of the post-processing differs depending on the state of the work taken out of the processing device. According to this aspect, the control device determines the optimal post-processing time for the state of the work based on the information on the state of the work after processing in the processing apparatus. Thereby, work efficiency can be improved and cycle time can be shortened.

In the above aspect, the post-processing is air blow, and information on a state after processing of the work is an elapsed time from the end of processing of the work until the work is taken out of the processing 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 equation.
A = BC-D
Here, 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 processing equipment from the end of processing 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 Time is shorter. According to the above configuration, the optimal air blow time can be determined based on the elapsed time after processing in the processing apparatus.

  Another aspect of the present invention is a processing apparatus that processes a work, a post-processing apparatus that performs post-processing on the work processed by the processing apparatus, and a processing apparatus that processes the processed work from the processing apparatus to the post-processing apparatus. A robot for transporting, a control device for controlling the post-processing device and the robot, the control device acquiring information on a state after processing of the work in the processing device from the processing device, and A processing system that determines a processing time of processing based on information on a state after processing of the work, and causes the post-processing device and the robot to perform post-processing of the work for the determined processing time.

  Another aspect of the present invention includes a plurality of processing systems each including a control device, and a higher-level control system capable of communicating with the control device of each of the plurality of processing systems, and each of the plurality of processing systems is A processing device for processing a work, a post-processing device for performing post-processing on the work processed by the processing device, a robot for transferring the processed work from the processing device to the post-processing device, A processing device and the control device that controls the robot, wherein at least one control device of the processing system is configured to perform processing based on information on a state of the work after processing and a state of the work after the post-processing. A higher-level control system, comprising: a learning unit that performs learning for optimizing a processing time of post-processing of the work; and an output unit that outputs a result of the learning. The accumulated result of said learning to be received from the control device of the at least one processing system, a management system.

  ADVANTAGE OF THE INVENTION According to this invention, there exists an effect that the processing time of the post-processing of the workpiece | work processed by the processing apparatus can be optimized, work efficiency can be improved, and cycle time can be shortened.

1 is a schematic plan view showing the entire configuration of a processing system according to an embodiment of the present invention. FIG. 4 is a schematic plan view showing an overall configuration of a modification of the processing system of FIG. 1. 4 is a flowchart illustrating a post-processing method of a work according to an embodiment of the present invention. It is a block diagram of the modification of the control apparatus of the processing system of FIG. FIG. 5 is a diagram illustrating a connection example between the control device in FIG. 4 and another control device. FIG. 11 is an overall configuration diagram of a management system according to another embodiment of the present invention.

Hereinafter, a processing system 10 and a post-processing method of a work according to an embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 1, a processing system 10 according to the present embodiment includes a plurality of processing apparatuses 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 devices 2 are arranged along the rail 5.

  The robot 3 is, for example, a six-axis articulated robot, and has a hand that grips 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 of the processing device 1 to the air blow device 2.

  The robot 3 may convey the workpiece W from the processing device 1 to the air blow device 2 by turning in a horizontal direction, as shown in FIG. In the processing system 10 of FIG. 2, a plurality of processing apparatuses 1 and air blow apparatuses 2 are arranged around a robot 3. 1 and 2, each processing device 1 may include an air blow device that blows air to the work W.

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

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

The control device 4 is connected to the plurality of processing devices 1, the air blow device 2, and the robot 3. The control device 4 includes a control unit having a processor and a storage unit having a nonvolatile storage, a ROM, a 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 a 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 processing 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 held by 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 of the robot 3 or the processing device 1 may be performed by each control device according to the signal.

The control device 4 controls 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 unloading of the workpiece 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 to the 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 has been taken out. The control device 4 determines the air blow time (processing time) A by the air blow device 2 such 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 cause the robot 3 to perform the air blow on the workpiece W held 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 attached to the work W naturally decreases gradually by flowing down. The coefficient C is set based on the amount of reduction of the 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 execute the supply of the workpiece W to the processing device 1. Next, the processing of the workpiece W by the processing apparatus 1 starts.
After the processing, the control device 4 causes the robot 3 to take out the work W from the processing device 1 (step S1), and moves the robot 3 holding the work W from before the processing device 1 to before 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 perform 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 during which the workpiece W in the processing apparatus 1 waits from the end of processing to the removal is different for each workpiece W or for each processing apparatus 1. For example, when the processing conditions or the processing contents are different, the processing time is different for each workpiece W or each processing apparatus 1, and as a result, the elapsed time T varies. Alternatively, depending on the work situation of the robot 3, the time from the end of processing to the time when the robot 3 starts to take out the work W varies. The longer the elapsed time T, the smaller the amount of cutting fluid attached to the work W when the work W is taken out of the processing device 1.

  According to the present embodiment, the air blow time A is determined based on the elapsed time T such that the longer the elapsed time T during which the workpiece W waits in the processing device 1 from the end of processing to the removal of the work W, the shorter the air blow time A. . Accordingly, when the amount of the cutting fluid attached to the work W is small, the air blow time A is reduced. As described above, 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 air blow from being performed for an unnecessarily long time, thereby improving work efficiency and reducing cycle time. Can be achieved.

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

  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 device 1, the less the cutting fluid attached to the workpiece W when it is taken out from the processing device 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 such 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 having an elongated hole such as a screw hole, 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 processing device 1, and subsequently, the cutting fluid on the inside of the work W is blown off by the air blow by the air blow device 2 outside the processing device 1, so that the cutting fluid is more reliably discharged. W can be removed.

  In the present embodiment, the processing apparatus 1 is a machine tool, but may be another type of processing apparatus instead. The contents of post-processing necessary after the processing are different depending on the contents of the processing performed on the work W by the processing apparatus 1. 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 for molding a work W of a rubber product by heating a material in a vulcanization mold, and the post-processing apparatus performs deburring of the work W taken out of 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, as information on the state of the work W after processing in the processing device 1, the elapsed time since the mold was opened, the elapsed time since the work W was removed from the die in the processing device 1, and the like. I do. The longer the elapsed time, the lower the temperature of the work W. The control device 4 determines the deburring processing time such 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 of deburring. Good.
This makes it possible to optimize the processing time of deburring according to the state of the work W, thereby improving the work efficiency and shortening the cycle time.

  In the above-described embodiment, the control device 4 performs the processing of the work W based on the information on the state of the work W after processing, the processing time of the post-processing performed by the post-processing device, and the state of the work W after the post-processing. A learning function for performing learning for optimizing the processing time of post-processing may be provided. For example, as shown in FIG. 4, a 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 the learning, the control unit 42 creates a table or an expression that associates information on the state of the workpiece W after processing and the post-processing time of the work with each other, and stores the created table or expression in the storage unit. 41. The control unit 42 compares the relationship between the information on the state of the work W after processing and the post-processing time of the work W and the state of the work W after the post-processing based on the table or formula stored in the storage unit 41. To obtain an optimal post-processing time for each situation after the processing of the workpiece 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 air blowing, 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 air blow of the processed work W, a table or an expression in which the standby time T and the air blow time A are associated is created. The relationship between the standby time T and the air blow time A is compared with the presence or absence of the cutting fluid in the work W after the air blow, and the minimum air blow time A required to completely blow off the cutting fluid is determined by each standby time T. Obtained for

  As illustrated in FIG. 5, the control device 4 having a learning function may be connected to the control device 4 of another processing system 10 and provide a result of the learning to the other control device 4. The learning result includes the table or the expression and the state of the work W after the post-processing. In this case, the control device 4 includes a wireless or wired transmission / reception unit (output unit) 43, and transmits the learning result stored in the storage unit 41 to another control device 4 by the transmission / reception unit 43. The other control device 4 may use the received learning result for learning for optimizing the processing time of the 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 an optimal processing time of the post-processing as a result of the learning. Further, the control device 4 may receive a result of learning from another control device 4 and use the received learning result for learning for optimizing a 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 processing systems 10 and a higher-level control system 20 communicably connected to each control device 4 of the plurality of processing systems 10. Examples of the host control system 20 can be a production management system, a shipping management system, a robot management system, a department management system, and 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 nonvolatile storage, a ROM, a RAM, and the like, and an input device such as a keyboard, a touch panel, and an operation panel. The host control system 20 may be a cloud server.

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

The host control system 20 transmits the collected learning data to the control device 4 having a learning function, and the control device 4 transmits the collected learning data from the host control system 20 to the post-processing time. May be used.
Alternatively, the higher-level control system 20 performs learning to optimize the processing time of the post-processing by using the collected learning data, and transmits the obtained optimal processing time of the post-processing to each control device 4. Is also good. Thereby, the processing time of the post-processing can be optimized even in the processing system 10 in which the control device 4 does not have the learning function, using the optimum processing time of the post-processing provided from the upper control system 20. .

1 processing equipment 2 air blow equipment (post-processing equipment)
Reference Signs List 3 robot 4 control device 41 storage unit 42 control unit 4a learning program (learning unit)
43 Transmission / Reception Unit (Output Unit)
Reference Signs List 10 processing system 20 host control system 100 management system

Claims (11)

The workpiece processed by the processing device is transferred from the processing device to a post-processing device by a robot,
Acquiring information on the state of the work after processing in the processing device,
The processing time of post-processing of the work by the post-processing device is determined by the control device based on information on a state of the work after processing,
A post-processing method of a work in which the post-processing device performs post-processing on the work for a determined processing time. The post-processing is air blowing,
The information on the state after the processing of the work is an elapsed time from the end of the processing of the work to the removal of the work from the processing device by the robot,
The post-processing method according to claim 1, wherein the longer the elapsed time, the shorter the air blow time. The post-processing method according to claim 2, wherein the air blow time is calculated from the following equation.
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. A processing device for processing the work,
A post-processing device for performing post-processing on the work processed by the processing device,
A robot that transports the processed work from the processing device to the post-processing device,
A control device for controlling the post-processing device and the robot,
The control device is
Acquiring information on the state of the workpiece after processing in the processing device from the processing device,
The processing time of the post-processing of the work is determined based on information on a situation after processing of the work,
A processing system that causes the post-processing device and the robot to perform post-processing of the workpiece for a determined processing time.   The control device performs post-processing of the work based on information regarding a state of the work after processing, a processing time of the post-processing performed by the post-processing device, and a state of the work after the post-processing. The processing system according to claim 4, further comprising a learning unit that performs learning for optimizing the processing time of the processing.   The processing system according to claim 5, wherein the control device further includes an output unit that outputs a result of the learning.   The control device is configured to output the result of the learning to a control device of another processing system, and configured to receive the result of the learning from the control device of the other processing system. Or the processing system according to claim 6.   The processing according to claim 6, wherein the control device is configured to output a result of the learning to a higher-level control system, and configured to receive a result of learning from the higher-level control system. system. A plurality of processing systems each including a control device,
A higher-level control system capable of communicating with the control device of each of the plurality of processing systems,
Each of the plurality of processing systems includes:
A processing device for processing the work,
A post-processing device for performing post-processing on the work processed by the processing device,
A robot that transports the processed work from the processing device to the post-processing device, and the control device that controls the post-processing device and the robot,
At least one control device of the processing system,
A learning unit that performs learning for optimizing a processing time of post-processing of the work, based on information on a state of the work after processing and a state of the work after the post-processing;
An output unit that outputs the result of the learning, wherein the higher-level control system accumulates the result of the learning received from a control device of the at least one processing system.   The management system according to claim 9, wherein the higher-level control system is configured to transmit a result of learning performed in the higher-level control system using a result of the learning to each of the control devices.   The higher-level control system is configured to transmit a result of the learning, or a result of learning performed in the higher-level control system using the result of the learning, to a control device having no learning function. The management system according to claim 9.

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