JP2020059069A - Loader control device and loader control method - Google Patents

Abstract

To provide a loader control device capable of suppressing a device from decreasing in availability owing to a stop of a loader by detecting a deviation in teaching position during an automatic operation of the loader and performing processing corresponding to the deviation in teaching position without stopping the automatic operation.SOLUTION: The present invention relates to a loader control device 1 that controls a loader 20 carrying a workpiece W to a chuck CH of a machine tool 10, and that comprises: an operation execution part 32 which performs an automatic operation by a control program PR moving loader chucks 25, 26 to a workpiece delivery position to deliver the workpiece between the loader chucks and chucks of the machine tool; a load detection part 35 which detects a load placed on a drive part when the workpiece is held by both the loader chucks and the chucks of the machine tool during the automatic operation by the operation execution part; a determination part 36 which determines whether the load exceeds a threshold; and a notification part 40 which gives notice that the load exceeds the threshold when the determination part determines that the load exceeds the threshold.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a loader control device and a loader control method.

  A machine tool system is known in which a loader is attached to a machine tool such as a lathe and the work is carried in and out of the machine tool by automatic operation. In such a machine tool system, the loader carries the work in and out of the machine tool at a preset position (teaching position). When the machine tool system is automatically operated, the teaching position may be displaced (positional displacement) due to mechanical rattling, changes in various states such as temperature changes. For example, when the work carrying-in position is displaced with respect to the machine tool, the machine tool may process the misaligned work, resulting in defective machining or machine failure.

  The deviation of the teaching position as described above can be detected, for example, by detecting the load applied to the loader. For example, in Patent Document 1, in a loader control device that has a loader chuck that is moved by a drive unit and controls a loader that transfers a workpiece to a chuck of a machine tool, both the loader chuck and the chuck of the machine tool are included. A loader control device has been proposed which detects a misalignment at the time of delivering a work by detecting a load applied to a drive unit of the loader while the work is being restrained.

  Further, in Patent Document 2, the relative position of the loader chuck with respect to the chuck of the machine tool is detected by detecting the force in the vertical and horizontal directions received by the loader chuck and converting it into the relative position, and the position of the chuck of the machine tool is detected. A loader control device has been proposed in which the position of the loader chuck is graphically displayed on a display device, and the position of the loader chuck can be adjusted to the position of the chuck of the machine tool by an operator's input operation.

  For example, when a deviation of the teaching position is detected, the operation of the machine tool system is stopped, and the operator corrects the teaching position.

JP, 2003-213339, A JP, 2007-188276, A

  In the above-mentioned machine tool system, from the viewpoint of improving productivity, it is required to shorten the time during which the device stops. However, in the loader control devices disclosed in the above-mentioned Patent Documents 1 and 2, it is necessary to stop the device when correcting the deviation of the teaching position, and as a result, the operating rate of the device decreases.

  In view of the above circumstances, the present invention is to automatically operate the loader, detect the deviation of the teaching position during the automatic operation of the loader, and perform the process corresponding to the deviation of the teaching position without stopping the automatic operation. Therefore, it is an object of the present invention to suppress a decrease in the operating rate of the device due to the stop of the loader.

  A loader control device according to a first aspect of the present invention includes a loader chuck that holds a work, and a drive unit that moves the loader chuck. A loader control device that controls a loader that delivers and transfers a loader chuck to a work delivery position, and performs automatic operation by a control program that delivers the work between the loader chuck and the chuck of the machine tool. Section and the load detection section that detects the load on the drive section when the work is held by both the loader chuck and the machine tool chuck during automatic operation by the operation execution section, and whether the load exceeds the threshold value. If the judgment unit judges whether the load exceeds the threshold value, it reports that the load exceeds the threshold value. Comprising a notification unit that, the.

  In the loader control device of the first aspect, the notification unit may be configured to notify by at least one of the display device, the audio output device, and the terminal.

  A loader control device according to a second aspect of the present invention includes a loader chuck that holds a work, and a drive unit that moves the loader chuck. A loader control device that controls a loader that delivers and transfers a loader chuck to a work delivery position, and performs automatic operation by a control program that delivers the work between the loader chuck and the chuck of the machine tool. Section and the load detection section that detects the load on the drive section when the work is held by both the loader chuck and the machine tool chuck during automatic operation by the operation execution section, and whether the load exceeds the threshold value. And a determination unit that determines whether or not the load exceeds a threshold value, and receives a predetermined work. Comprising a correcting unit for correcting the located, the.

  In the loader control device according to the second aspect, the correction unit may correct the work transfer position to a position where the load is canceled with respect to the load detected by the load detection unit. Further, in the loader control device according to the second aspect, when the correction unit corrects the horizontal component of the work transfer position, the loader chuck holds the work held by the loader chuck without performing the position control of the loader chuck by the control program. May be held by the chuck of the machine tool and the position followed by the loader chuck may be corrected as the work transfer position.

  Further, in the loader control device of the first or second aspect, the operation execution unit may be configured to cause the loader to execute a predetermined operation set in advance when the determination unit determines that the load exceeds the threshold value. Good. In the loader control device according to the first or second aspect, the drive unit includes a Y-axis drive unit that moves the loader chuck in the Y-axis direction parallel to the vertical direction, and a loader control unit in the X-axis direction orthogonal to the Y-axis direction. The load detection unit includes an X-axis drive unit that moves the chuck and a Z-axis drive unit that moves the loader chuck in a Z-axis direction that is orthogonal to both the Y-axis direction and the X-axis direction. The configuration may be such that the load on each of the axis drive unit and the Z-axis drive unit is detected.

  A loader control method according to a third aspect of the present invention includes a loader chuck that holds a work, and a drive unit that moves the loader chuck. A loader control method for controlling a loader that transfers a loader, wherein the loader chuck is moved to a work transfer position, and automatic operation is executed by a control program that transfers the work between the loader chuck and the chuck of the machine tool. Detecting the load applied to the drive unit when the work is held by both the loader chuck and the machine tool chuck during automatic operation, determining whether the load exceeds a threshold value, and Is determined to exceed the threshold value, the notification that the load exceeds the threshold value is included.

  A loader control method according to a fourth aspect of the present invention includes a loader chuck that holds a work, and a drive unit that moves the loader chuck. A loader control method for controlling a loader that transfers a loader, wherein the loader chuck is moved to a work transfer position, and automatic operation is executed by a control program that transfers the work between the loader chuck and the chuck of the machine tool. Detecting the load applied to the drive unit when the work is held by both the loader chuck and the machine tool chuck during automatic operation, determining whether the load exceeds a threshold value, and When it is determined that the value exceeds the threshold value, a predetermined work transfer position is corrected.

  INDUSTRIAL APPLICABILITY The loader control device and the loader control method of the present invention automatically operate the loader, detect a deviation of the teaching position during the automatic operation of the loader, and perform a process corresponding to the deviation of the teaching position without stopping the automatic operation. As a result, it is possible to suppress a decrease in the operating rate of the device due to the stop of the loader.

  Further, according to the loader control device of the first aspect, it is possible to notify that the teaching position has shifted without stopping the automatic operation of the loader. Moreover, in the loader control device of the first aspect, when the notification unit is configured to notify by at least one of the display device, the audio output device, and the terminal, the notification can be effectively performed.

  Further, according to the loader control device of the second aspect, it is possible to correct the teaching position without stopping the automatic operation of the loader. Further, in the loader control device of the second aspect, in the case where the correction unit corrects the workpiece transfer position to a position where the load is canceled with respect to the load detected by the load detection unit, the load applied to the drive unit Can be reliably solved. Further, in the loader control device of the second aspect, when the correction unit corrects the horizontal component of the work transfer position, the work held by the loader chuck is controlled without performing the position control of the loader chuck by the control program. In the case of a structure in which the load is held by the chuck of the machine tool and the position followed by the loader chuck is corrected as the work transfer position, the load applied to the drive unit can be effectively eliminated by simple control.

  Further, in the loader control device of the first or second aspect, when the operation execution unit determines that the load exceeds the threshold value by the determination unit, the operation execution unit causes the loader to execute a predetermined preset operation. In this case, it is possible to automatically perform the processing for dealing with the deviation of the teaching position during the automatic operation. In the loader control device according to the first or second aspect, the drive unit moves the loader chuck in the Y-axis direction parallel to the vertical direction, and the loader chuck in the X-axis direction orthogonal to the Y-axis direction. The load detection unit includes an X-axis driving unit that moves the loader chuck and a Z-axis driving unit that moves the loader chuck in the Z-axis direction that is orthogonal to both the Y-axis direction and the X-axis direction. In the case of the configuration in which the load is detected in each of the section and the Z-axis drive unit, the load in each axis can be detected with high accuracy.

  Further, according to the loader control method of the third aspect, it is possible to notify that the teaching position has shifted without stopping the automatic operation of the loader.

  According to the loader control method of the fourth aspect, the teaching position can be corrected without stopping the automatic operation of the loader.

It is a figure which shows an example of the loader control apparatus which concerns on 1st Embodiment. It is a front view showing an example of a machine tool system concerning a 1st embodiment. It is a side view showing an example of a machine tool system concerning a 1st embodiment. It is a figure which shows an example of a control program. (A) And (B) is a figure which shows an example of operation | movement which a loader chuck delivers the workpiece | work W to the chuck of a machine tool. 5A and 5B are diagrams showing an example of an operation in which the loader chuck transfers the work W to the chuck of the machine tool, following FIG. 5. (A) And (B) is a figure which shows the other example of operation | movement which a loader chuck delivers the workpiece | work W to the chuck of a machine tool. (A) And (B) is a figure which shows the example of the load detected by the load detection part. 6 is a flowchart showing an example of a loader control method according to the first embodiment. It is a figure which shows an example of the loader control apparatus which concerns on 2nd Embodiment. It is a figure showing an example of amendment by an amendment part. It is a figure which shows an example of the load at the time of correction. It is a figure which shows the other example of the correction | amendment by a correction | amendment part. It is a figure which shows an example of the load at the time of the correction of another example. It is a flow chart which shows an example of the loader control method concerning a 2nd embodiment. It is a perspective view which shows the other example of a loader.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to this form. Further, in the drawings, in order to describe the embodiment, a part of the drawing is enlarged or emphasized, and the scale is appropriately changed. In each of the following drawings, the directions in the drawings will be described using the XYZ coordinate system. In this XYZ coordinate system, the plane parallel to the horizontal plane is the XZ plane. In this XZ plane, the direction along the rotational axes of the spindles 13 and 14 of the machine tool 10 described later is referred to as the Z direction, and the direction orthogonal to the Z direction is referred to as the X direction. Further, the direction perpendicular to the XZ plane is referred to as the Y direction. In each of the X direction, the Y direction, and the Z direction, the direction indicated by the arrow in the drawing is the + direction, and the direction opposite to the direction indicated by the arrow is the − direction.

[First Embodiment]
FIG. 1 is a diagram showing an example of a loader control device 1 according to the first embodiment. 2 and 3 are diagrams showing an example of a machine tool system SYS to which the loader control device 1 is applied. FIG. 2 is a front view seen from the + Z direction. FIG. 3 is a side view seen from the + X direction. The loader control device 1 according to the present embodiment will be described based on an example applied to a machine tool system SYS.

  The machine tool system SYS includes a machine tool 10, a loader 20, and a loader control device 1. The loader 20 is a device that conveys the work W to the machine tool 10. The loader control device 1 is a device that controls the loader 20. The machine tool 10 is, for example, a parallel two-axis lathe (see FIG. 2). It should be noted that although the present specification describes an example in which the machine tool 10 is a parallel two-axis lathe, the machine tool 10 may be a machine tool other than the parallel two-axis lathe.

  As shown in FIG. 2, the machine tool system SYS has a main body portion 11, a work supply portion 12A, and a work discharge portion 12B. The main body portion 11 includes main shafts 13 and 14, turrets 15 and 16, a reversing device 19, and a device control unit C1. The main shafts 13 and 14 are arranged side by side in the X direction. The main shafts 13 and 14 are supported by bearings (not shown) and the like so as to be rotatable about axes parallel to the Z direction. Chucks 13a and 14a for holding the work W are provided at the + Z side ends of the main shafts 13 and 14, respectively.

  The chucks 13a and 14a have grasping claws 13b and 14b for holding the work W, respectively. In each of the chucks 13a and 14a, a plurality of grasping claws 13b and 14b are arranged at predetermined intervals along the rotation direction of the spindles 13 and 14. For example, three grasping claws 13b and 14b are arranged at 120 ° intervals around the rotation axes (center axes) AX1 and AX2 of the main shafts 13 and 14. The gripping claws 13b and 14b are moved by a chuck driving unit (not shown) in the radial direction of the spindles 13 and 14 in a direction in which they approach or separate from the central axes AX1 and AX2 of the spindles 13 and 14. The chucks 13a and 14a grip the work W by a closing operation in which the grasping claws 13b and 14b move toward the central axes AX1 and AX2, and the grasping claws 13b and 14b move outward with respect to the central axes AX1 and AX2. The opening operation releases the grip of the work W. The chucks 13a and 14a hold the work W so that the center axes AX1 and AX2 and the center axis of the work W substantially coincide with each other. The loader 20 loads and unloads the work W with respect to each of the chucks 13a and 14a.

  The turrets 15 and 16 are arranged off the axial direction of the main shafts 13 and 14. For example, the turret 15 is arranged on the −X side of the main shaft 13. The turret 16 is arranged on the + X side of the main shaft 14. Each of the turrets 15 and 16 is provided with a rotation drive device such as a motor. The turrets 15 and 16 can be rotated about an axis parallel to the Z direction by a rotation drive device. A plurality of holding parts for holding the cutting tool TL are provided on the peripheral surfaces of the turrets 15 and 16. The cutting tool TL is held in correspondence with the spindles 13 and 14 in all or part of these holding portions. Therefore, the desired cutting tool TL is selected by rotating the turrets 15 and 16. The cutting tool TL held by the holding portions of the turrets 15 and 16 is replaceable with respect to each holding portion. As the cutting tool TL, a rotary tool such as a drill or an end mill may be used in addition to a cutting tool for cutting the work W. Further, the turrets 15 and 16 can be moved in the X direction and the Z direction by a driving device (not shown).

  The reversing device 19 includes chucks 17 and 18 capable of holding a work. The loader 20 carries in and carries out the work W with respect to each of the chucks 17 and 18. The chucks 17 and 18 are arranged side by side in the X direction on the + Y side (upper side) of the spindles 13 and 14. The chucks 17 and 18 may be rotatably supported by an unillustrated bearing or the like about an axis parallel to the Z direction, or may not rotate. Grasping claws 17a and 18a are provided at the + Z side ends of the chucks 17 and 18, respectively. A plurality of grasping claws 17a and 18a are arranged around the central axes AX3 and AX4 of the chucks 17 and 18 at predetermined intervals. For example, three grasping claws 17a and 18a are arranged at 120 ° intervals around the central axes AX3 and AX4 of the chucks 17 and 18. The grasping claws 17a and 18a are moved in a radial direction of the chucks 17 and 18 toward or away from the central axes AX3 and AX4 of the chucks 17 and 18 by a chuck driving unit (not shown). The chucks 17 and 18 grip the work W by a closing operation in which the grasping claws 17a and 18a move toward the central axes AX3 and AX4, and the grasping claws 17a and 18a move outward with respect to the central axes AX3 and AX4. The opening operation releases the grip of the work W. The chucks 17 and 18 hold the work W so that the center axes AX3 and AX4 and the center axis of the work W substantially coincide with each other.

  By rotating the chucks 17 and 18 of the reversing device 19 around axes parallel to the Y direction, the ends on the side where the grasping claws 17a and 18a are provided (+ Z side) can face each other. The chuck 18 has a slider 18b and a guide member 18c. The slider 18b holds the chuck 18 and is movable along the guide member 18c. The guide member 18c is arranged in parallel with the X direction and guides the slider 18b in the X direction. The slider 18b and the guide member 18c allow the chuck 18 to approach and separate from the chuck 17. The workpiece W can be transferred between the chucks 17 and 18 by bringing the chuck 18 close to the chuck 17 in a state where the + Z side ends of the chucks 17 and 18 face each other.

  A work W, which is a processing target of the machine tool 10, is placed on the work supply unit 12A. The work W has, for example, a cylindrical shape or a cylindrical shape. The work W to be conveyed to the destination by the loader 20 is supplied to the work supply unit 12A. As the work supply unit 12A, for example, a fixed table on which the work W is placed may be used, or a configuration in which the work is supplied by a conveyor or a rotary type may be used. The work W processed by the machine tool 10 is placed on the work ejecting unit 12B. The work discharge unit 12B is a destination of the work W transported by the loader 20. As the work discharging unit 12B, for example, a fixed table on which the work W is placed may be used, or a structure for discharging the work by a conveyor or a rotary type may be used.

  The device control unit C1 controls the machine tool 10. The device control unit C1, for example, controls the operations of the spindles 13 and 14, the operations of the turrets 15 and 16, the operations of the chucks 17 and 18 of the reversing device 19, and the like. The device control unit C1 is connected to the loader control device 1 wirelessly or by wire, transmits information regarding the operation of each unit to the loader control device 1, and receives predetermined information from the loader control device 1. The device control unit C1 may be wirelessly or wired connected to a host controller that integrally controls a plurality of machine tools.

  The loader 20 delivers the work W to the chucks 13 a, 14 a, 17 and 18 of the machine tool 10. The loader 20 transfers the work W described above by automatic operation. In the following description, the chucks 13a, 14a, 17 and 18 of the machine tool 10 are collectively referred to as a machine tool chuck CH.

  The loader 20 includes a guide arranged corresponding to a destination of the work W, an apparatus main body 21, and a loader control device 1. The guide has an X guide GX, a Z guide GZ, and a Y guide GY. The X guide GX is a rail arranged along the X direction and guides a traveling body BX described later in the X direction. The Z guide GZ is arranged along the Z direction and guides the front-rear moving body BZ described later in the Z direction. The Y guide GY is arranged along the Y direction and guides a lifting rod BY described later in the Y direction.

  The apparatus main body 21 includes a work holding unit 23 that holds the work W, and a drive unit 22 that moves the work holding unit 23. The drive unit 22 includes a traveling body (X moving unit) BX, a front-rear moving body (Z moving unit) BZ, and a lifting rod (Y moving unit) BY. The traveling body BX is movable in the X direction along the X guide GX by driving the traveling body driving unit (X driving unit) DX. The traveling body drive unit DX includes, for example, an X-axis motor MX that is a drive source and a transmission mechanism (not shown) that transmits the driving force of the X-axis motor MX. The traveling body drive unit DX drives the X-axis motor MX by a current value which is a command from the loader control device 1 to move the traveling body BX in the + X direction or the −X direction. The X-axis motor MX is, for example, a servo motor. A Z guide GZ is integrally provided at the + Y side end (upper part) of the traveling body BX.

  The front-rear moving body BZ can be moved in the Z direction along the Z guide GZ by the drive of the front-rear moving body drive unit (Z drive unit) DZ. The front-rear moving body drive unit DZ includes a Z-axis motor MZ that is a drive source and a transmission mechanism (not shown) that transmits the driving force of the Z-axis motor MZ. The front-rear moving body drive unit DZ drives the Z-axis motor MZ by a current value which is a command from the loader control device 1 to move the front-rear moving body BZ in the + Z direction or the -Z direction. The Z-axis motor MZ is, for example, a servo motor. A Y guide GY is integrally provided at the + Z side end of the front-rear moving body BZ.

  The elevating rod BY is movable in the Y direction along the Y guide GY by driving the elevating rod drive unit (Y drive unit) DY. The up-and-down rod drive unit DY includes a Y-axis motor MY which is a drive source and a transmission mechanism (not shown) which transmits the driving force of the Y-axis motor MY. The elevating rod drive unit DY drives a drive source by a current value which is a command from the loader control device 1, and moves the elevating rod BY in + Y direction or −Y direction. The Y-axis motor MY is, for example, a servo motor. A work holding portion 23 is provided at a lower end portion (−Y side end portion) of the elevating rod BY.

  The work holding unit 23 includes loader chucks 25 and 26. The work holding unit 23 moves along with the movement of the traveling body BX, the elevating rod BY, and the front-rear moving body BZ, and conveys the work W. In FIG. 2, the loader chuck 25 is arranged in a posture facing the −Y direction, and the loader chuck 26 is arranged in a posture facing the −Z direction. The loader chucks 25 and 26 are arranged in a rotation mechanism such as a swivel mechanism that is rotatable about an axis of rotation AX5 that is inclined by 45 ° with respect to the Y axis and the Z axis in the YZ plane (see FIG. 3). The loader chucks 25 and 26 can be interchanged in position by rotating the loader chucks 25 and 26 around the axis of the rotation axis AX5 by a drive device (not shown).

  The loader chucks 25 and 26 have grasping claws 25a and 25b that hold the work W, respectively. In each of the loader chucks 25 and 26, a plurality of grasping claws 25a and 25b are arranged around the central axes AX6 and AX7 of the loader chucks 25 and 26 at predetermined intervals. For example, three grasping claws 25a and 25b are arranged at 120 ° intervals around the axes of the center axes AX6 and AX7 of the loader chucks 25 and 26 (see FIG. 5B). The grasping claws 25a and 25b are moved in a direction toward or away from the central axes AX6 and AX7 of the loader chucks 25 and 26 by a chuck driving unit (not shown) in accordance with a command from the loader chuck control unit 33 described later. The loader chucks 25, 26 grip the work W by a closing operation in which the grasping claws 25a, 25b move toward the central axes AX6, AX7, and the grasping claws 25a, 25b move outward with respect to the central axes AX6, AX7. The gripping of the work W is released by the opening operation. The loader chucks 25 and 26 hold the work W so that the center axes AX6 and AX7 and the center axis of the work W substantially coincide with each other. The work W held by the loader chucks 25 and 26 is moved in the traveling body BX, the elevating rod BY, and the front-rear moving body BZ, respectively, so that the workpiece W is moved in the X direction, the Y direction, the Z direction, or two or more of these directions are combined. It is conveyed in the specified direction (XY direction, YZ direction, XZ direction, XYZ direction).

  The loader control device 1 controls the loader 20 as a whole. The loader control device 1 controls the operation of the drive unit 22 (the traveling body BX, the front-rear moving body BZ, the elevating rod BY) and the work holding unit 23.

  The configuration of the loader control device 1 will be described with reference to FIG. The loader control device 1 includes a storage unit 31, an operation execution unit 32, a loader chuck control unit 33, an X-axis motor control unit 34X, a Y-axis motor control unit 34Y, a Z-axis motor control unit 34Z, and a load detection unit 35 (35X, 35Y). , 35Z), the determination unit 36, and the load processing unit 37. The loader control device 1 includes an arithmetic unit such as a CPU (Central Processing Unit), a main memory, and a storage unit 31 that stores information. The storage unit 31 is a storage device. The loader control device 1 controls various operations by the arithmetic device performing processing according to a predetermined program stored in the storage unit 31. The loader control device 1 may be a device integrated with the device control unit C1 or may be a device integrated with a host controller that integrally controls a plurality of machine tools.

  The storage unit 31 stores a control program PR (see FIG. 4) and various kinds of information necessary for operation. The storage unit 31 may be provided inside the loader control device 1 or outside the loader control device 1. For example, a storage unit (not shown) provided in the device control unit C1 of the machine tool 10 may be provided. It may be used.

  The control program PR moves the loader chucks 25 and 26 to the work transfer position P (hereinafter referred to as “transfer position P”), and transfers the work W between the loader chucks 25 and 26 and the machine tool chuck CH. It is a program that causes the loader 20 to execute the operation to be performed by automatic operation. The control program PR includes commands that control various operations of the loader 20. For example, the control program PR is for driving the loader chucks 25 and 26 by the traveling body drive unit DX, the front-rear moving body drive unit DZ, and the lifting rod drive unit DY, and grasping or releasing the work W by the loader chucks 25 and 26. It contains the commands that control the operation. The operation execution unit 32, which will be described later, causes each unit of the loader 20 to execute an operation based on a command of the control program PR.

  FIG. 4 is a diagram showing an example of the control program PR. The control program PR includes a command for moving the loader chucks 25, 26 to the transfer position P and transferring the work W between the loader chucks 25, 26 and the machine tool chuck CH. For example, the control program PR moves the loader chucks 25 and 26 to the work supply unit 12A and holds the work W arranged in the work supply unit 12A, the command X1 and the loader chuck holding the work W. Command X2 for moving 25 and 26 to the transfer position P and holding the held work W to the machine tool chuck CH, command X3 for moving the loader chucks 25 and 26 to the transfer position P and receiving the work W from the machine tool chuck CH, work It includes a command such as a command X4 for moving the loader chucks 25 and 26 holding W to the work discharging unit 12B and releasing the held work W to the work discharging unit 12B.

  The control program PR includes a command regarding the position at which the loader chucks 25, 26 are moved and a speed at which the loader chucks 25, 26 are moved. In the control program PR, the positions of the transfer position P (see FIG. 1), the work supply unit 12A (see FIG. 2), the work discharge unit 12B (see FIG. 2) and the like in the machine tool system SYS are the positions in the X direction. , Coordinates in the Y direction and coordinates in the Z direction are used. The position of each unit in the machine tool system SYS is stored in the storage unit 31 as position information IP (see FIG. 1). The control program PR reads the position of each position in the machine tool system SYS from the position information IP and uses it. The position of each part in the machine tool system SYS is set in advance before operating the machine tool system SYS. The position of each part in the machine tool system SYS is a teaching position set by teaching. The above control program PR is an example, and the control program PR can be set arbitrarily.

  The operation execution unit 32 (see FIG. 1) causes each unit of the loader 20 to execute automatic operation based on the control program PR. The operation execution unit 32 passes through the X-axis motor control unit 34X, the Y-axis motor control unit 34Y, the Z-axis motor control unit 34Z, and the loader chuck control unit 33, and then the X-axis motor MX, the Z-axis motor MZ, and the Y-axis motor. By controlling the MY and the loader chucks 25 and 26, each part is caused to execute a predetermined operation based on the control program PR.

  For example, when the loader control device 1 moves the loader chucks 25 and 26 to the coordinates defined by the control program PR, the operation execution unit 32 causes the traveling body BX, the lifting rod BY, and the front-rear moving body BZ to move to the coordinates. The X-axis motor control unit 34X, the Y-axis motor control unit 34Y, and the Z-axis motor control unit 34Z are controlled so as to move to. The X-axis motor control unit 34X, the Y-axis motor control unit 34Y, and the Z-axis motor control unit 34Z drive the X-axis motor MX, the Z-axis motor MZ, and the Y-axis motor MY, respectively, by giving a current value. To control. Further, the operation execution unit 32 controls the grasping claws 25a and 26a opening / closing operations of the loader chucks 25 and 26, the rotation mechanism of the loader chucks 25 and 26, and the like via the loader chuck control unit 33.

  The X-axis motor control unit 34X, the Y-axis motor control unit 34Y, and the Z-axis motor control unit 34Z respectively rotate information about the encoders and the like provided on the X-axis motor MX, the Z-axis motor MZ, and the Y-axis motor MY. Feedback control is performed on the X-axis motor MX, the Z-axis motor MZ, and the Y-axis motor MY based on (rotation speed, rotation position).

  The operation of the loader 20 passing the work W to the machine tool chuck CH will be described. 5 and 6 are diagrams showing an example of an operation in which the loader 20 transfers the work W to the machine tool chuck CH. 5 and 6, (A) is a top view when viewed from the + Y direction, and (B) is a front view when viewed from the + Z direction. 5 and 6 show the above operation when the delivery position P is an ideal position. 5 and 6 show the operation of the loader chuck 25 passing the work W to the chuck 13a of the machine tool 10.

  When the loader 20 delivers the work W to the chuck 13a of the machine tool 10 (referred to as the machine tool chuck 13a), as shown in FIGS. 5A and 5B, the loader chuck 25 holding the work W is It moves to the delivery position P under the control of the control device 1. The transfer position P is a position at which the work W can be transferred between the machine tool chuck 13a and the loader chuck 25. In this state, as shown in FIG. 5 (B), the grasping claw 13b of the machine tool chuck 13a is in an open state. Further, in this state, when the transfer position P is an ideal position, the central axis AX1 of the machine tool chuck 13a and the central axis AX6 of the loader chuck 25 are coaxial. The work W held by the loader chuck 25 is also coaxial with the central axis AX6 of the loader chuck 25. Then, the loader control device 1 transmits a signal indicating that the loader chuck 25 has moved to the delivery position P to the device control unit C1 of the machine tool 10.

  Subsequently, as shown in FIGS. 6A and 6B, when the device control unit C1 of the machine tool 10 receives a signal from the loader control device 1 indicating that the loader chuck 25 has moved to the delivery position P. Then, the grasping claw 13b of the machine tool chuck 13a is controlled to be closed. Since the central axis AX1 of the machine tool chuck 13a and the central axis AX6 of the loader chuck 25 are located coaxially, the work W is evenly distributed to the respective gripping claws 13b of the machine tool 10 when the gripping claws 13b of the machine tool chuck 13a are closed. Contact. The work W is held by both the machine tool chuck 13 a and the loader chuck 25 by closing the grasping claw 13 b of the machine tool chuck 13 a.

  Subsequently, the device control unit C1 of the machine tool 10 transmits to the loader control device 1 a signal indicating that the grasping claw 13b of the machine tool chuck 13a is closed and holds the work W. The loader control device 1 controls to open the grasping claw 25a of the loader chuck 25 when receiving a signal indicating that the grasping claw 13b of the machine tool chuck 13a is closed and holds the work W. By this operation, the work W held by the loader chuck 25 is transferred to the machine tool chuck 13a. At the ideal transfer position P, the central axis of the work W passed to the machine tool chuck 13a is also coaxial with the central axis AX1 of the machine tool chuck 13a, and the workpiece W is positioned at an ideal position for machining by the machine tool 10.

  After that, the work W passed to the machine tool chuck 13 a is processed by the machine tool 10. After the processing of the work W is completed, the device control unit C1 of the machine tool 10 transmits a signal indicating that the processing of the work W is completed to the loader control device 1. When the loader control device 1 receives a signal from the device control unit C1 of the machine tool 10 indicating that the machining of the workpiece W is completed, the loader control device 1 moves the loader chuck 25 to the transfer position P to machine the machine tool chuck 13a. The loader 20 is controlled so as to receive and carry out the completed work W. The operation of receiving the processed work W from the machine tool chuck 13a by the loader chuck 25 is the opposite operation to that of FIGS. 5 and 6 described above. When the processed work W is carried out from the machine tool chuck 13a by the loader chuck 25, the loader chuck 25 moves to the delivery position P, and the processed work W held by the machine tool chuck 13a is held by the loader chuck 25. After the loader chuck 25 holds the processed work W, the grasping claws 13b of the machine tool chuck 13a open to release the work W, so that the work W is passed from the machine tool chuck 13a to the loader chuck 25. Then, the loader chuck 25 moves the held processed work W to the work discharge part 12B.

  Next, an operation in which the loader 20 transfers the work W to the machine tool chuck CH when the transfer position P deviates from the ideal position will be described. FIG. 7 is a diagram showing an operation in which the loader 20 transfers the work W to the machine tool chuck CH when the transfer position P is deviated from the ideal position. 7A and 7B are top views when viewed from the + Y direction. Note that FIG. 7 shows an example in which the delivery position P is displaced in the −X direction from the ideal delivery position P shown in FIGS. 5 and 6. Further, FIG. 7 shows an operation in which the loader chuck 25 transfers the work W to the chuck 13 a of the machine tool 10.

  In the example of FIG. 7A, when the loader chuck 25 delivers the work W to the machine tool chuck 13a, the loader chuck 25 holding the work W is shifted in the -X direction from the ideal delivery position. Move to position P. Such positional deviation is caused by various factors as described above.

  After the loader 20 moves to the delivery position P, the operation of closing the grasping claw 13b of the machine tool chuck 13a starts. When the grasping claws 13b of the machine tool chuck 13a are closed, the grasping claws 13b on the −X side (side where the transfer position is displaced) of the machine tool chuck 13a first come into contact with the work W to move the work W to the + X side (chuck. 13a to the central axis AX1 direction). The force with which the grasping claw 13b pushes the work W toward the + X side is applied to the loader chuck 25 that holds the work W.

  When a force that the grasping claw 13b pushes to the + X side is applied to the loader chuck 25, the loader chuck 25 moves to the + X side. When the loader chuck 25 moves to the + X side, the X-axis motor control unit 34X uses feedback control to move the loader chuck 25 to the −X side position (delivery position P) before being pushed by the grasping claw 13b. , The X-axis motor MX is driven, but since the loader chuck 25 is pushed by the grasping claw 13b of the machine tool chuck 13a, a large load is generated on the X-axis motor MX (see FIG. 8B).

  Subsequently, as shown in FIG. 7B, the grasping claw 13b of the machine tool chuck 13a is further closed. Since the central axis AX1 of the grasping claw 13b of the machine tool chuck 13a and the central axis AX6 of the loader chuck 25 are deviated, the work W is deviated from the above-described ideal position, and the machine tool chuck 13a and the loader chuck 25 are deviated. Held on both sides. Subsequently, the loader chuck 25 releases the work W, and the work W is held by the machine tool chuck 13a in a state of being displaced from the ideal position. If the work W is held by the machine tool chuck 13a in a state where it is displaced from the ideal position, the machining failure or the machine failure may occur as described above.

  In this example, the delivery position P is deviated from the ideal position in the −X direction, but the delivery position P is in other directions (+ X direction, Y direction, Z direction, XY direction, XZ direction, Even when the work W is deviated in the YZ direction, the XYZ direction, etc., the work W is held by the machine tool chuck 13a in a state of deviating from the ideal position.

  The load detector 35 (see FIG. 1) detects the load applied to the drive unit 22. The load detection unit 35 is driven at least when the work W is held by both the loader chucks 25 and 26 and the machine tool chuck CH (13a, 14a, 17, 18) during the automatic operation by the operation execution unit 32. The load L applied to the unit 22 (see FIG. 8 and the like) is detected. In the present specification, the load applied to the drive unit 22 when the work W is held by both the loader chucks 25 and 26 and the machine tool chuck CH may be abbreviated as “load L”.

  The load detection unit 35 detects a load on each of the traveling body drive unit DX, the elevating rod drive unit DY, and the front-rear moving body drive unit DZ. In the present embodiment, the load detection units 35X, 35Y, 35Z are provided in the X-axis motor MX, the Y-axis motor MY, and the Z-axis motor MZ, and the traveling body drive unit DX, the lifting rod drive unit DY, and the front-rear moving body are provided. The load on each of the drive units DZ is detected. When the load detection unit 35 is configured to detect the load on each of the traveling body drive unit DX, the lifting rod drive unit DY, and the front-rear moving body drive unit DZ, the load on each axis can be accurately detected. The load detectors 35X, 35Y, 35Z detect the load torque of each motor. The load detectors 35X, 35Y, 35Z detect, for example, the amount and direction of the load torque of the motor. The load detectors 35X, 35Y, and 35Z detect the amount and direction of the load torque of the motor by detecting the current supplied to each motor. The amount of load torque is obtained based on the current value. The direction of the load torque is obtained based on the sign of the current.

  The load detection units 35X, 35Y, 35Z store the detected load in the storage unit 31 as load history information. The load history information is, for example, time-series data of the load of each axis detected by the load detection units 35X, 35Y, and 35Z. The loader control device 1 may be configured to display the load information detected by the load detection unit 35 (35X, 35Y, 35Z) on a display device such as a display simultaneously with the detection.

  The configuration of the load detection unit 35 (35X, 35Y, 35Z) is not limited to the configuration described above, and, for example, based on the target value of rotation of the servo motor and the rotation information (rotation speed, rotation position), It may be configured to detect the load. With the configuration of the load detection unit 35, the load can be detected based on the difference between the target value of the rotation speed of the servo motor and the rotation information acquired from the encoder. For example, if the number of revolutions obtained from the encoder is much lower than the target value of the number of revolutions of the servo motor, it can be seen that the servo motor is heavily loaded.

  8A and 8B are diagrams showing an example of the load detected by the load detection unit 35. FIG. 8A shows a load L applied to the X-axis motor MX when the transfer position P shown in FIGS. 5 and 6 is an ideal position. FIG. 8B shows the load applied to the X-axis motor MX when the transfer position P shown in FIG. 7 is deviated from the ideal position.

  As shown in FIG. 8A, when the transfer position P is an ideal position, the X-axis motor when the work W is held by both the loader chuck 25 and the machine tool chuck 13a (see FIG. 6). The load L applied to MX is small because the loader chuck 25 is stationary at the ideal transfer position P at this time.

  On the other hand, as shown in FIG. 8B, when the transfer position P is deviated from the ideal position, the work W is held by both the loader chuck 25 and the machine tool chuck 13a (see FIG. 7). The load L applied to the X-axis motor MX is from when the grasping claw 13b of the machine tool chuck 13a starts the closing operation and when the grasping claw 13b on the −X side contacts the work W until the grasping claw 13b is completely closed. It increases and then decreases from the time when the loader chuck 25 releases the work W. The load L that exceeds the threshold value is detected by the determination unit 36 described later.

  In this example, the delivery position P is deviated from the ideal position in the −X direction, but the delivery position P is in other directions (+ X direction, Y direction, Z direction, XY direction, XZ direction, 8B, the load L as shown in FIG. 8B depends on the displacement amount of the transfer position P and the displacement direction of the motors MX, MY of the respective axes. Hanging on MZ.

  The determination unit 36 (see FIG. 1) determines whether the load L when the work W is held by both the loader chucks 25 and 26 and the machine tool chuck CH exceeds the threshold value T. In the case of the example shown in FIG. 8B, the determination unit 36 determines that the load L exceeds the threshold T. The determination unit 36 determines whether or not the load L applied to each of the motors MX, MY, and MZ exceeds a threshold value T. The threshold value T is set in each of the motors MX, MY, MZ. The threshold value T is set to an arbitrary value that can detect that the delivery position P is displaced. The threshold T is set in advance and stored in the storage unit 31. The threshold T can be set by a preliminary test or the like. A plurality of thresholds T may be set in each of the motors MX, MY, MZ.

  The load processing unit 37 performs a predetermined process when the determination unit 36 determines that the load L exceeds the threshold value T. The load processing unit 37 includes a notification unit 40 and a specific process execution unit 41.

  The notification unit 40 notifies that the load L exceeds the threshold T when the determination unit 36 determines that the load L exceeds the threshold T. By the notification of the notification unit 40, it is possible to notify that the delivery position P has shifted without stopping the automatic operation of the loader. The notification unit 40 may notify the degree (value) of the load L. The notification unit 40 notifies by, for example, at least one of the display device 50, the audio output device 51, and the terminal 52. With this configuration, the notification can be effectively performed.

  The display device 50 is a display, a touch panel, or the like. The display device 50 may be installed at any place, for example, near the machine tool 10, the loader 20, or the loader control device 1, or outside the installation place of the machine tool 10, the loader 20, or the loader control device 1. Good. Further, the display device 50 may be the display device 50 connected to the machine tool 10, the loader 20, or the loader control device 1, or the display device 50 of the worker.

  The terminal 52 is, for example, a computer or a mobile terminal such as a smartphone. The notification unit 40 displays a message indicating that the load L exceeds the threshold value T on, for example, a predetermined display device 50 or terminal 52 that is set in advance. The message is arbitrary, and may be, for example, a sentence or an error number. Further, the notification unit 40 may notify by sending a message to the terminal 52 by e-mail.

  The audio output device 51 is, for example, a speaker or the like. In addition, the notification unit 40 may notify by lighting (including blinking) a predetermined lighting device (for example, a lamp or the like). Also, the notification unit 40 may notify by making a call to a preset telephone or mobile phone and transmitting a predetermined message.

  When the determination unit 36 determines that the load L exceeds the threshold value T, the specific process execution unit 41 causes the loader 20 to execute a predetermined operation set in advance via the operation execution unit 32. With this configuration, it is possible to automatically perform processing for coping with the deviation of the teaching position during automatic operation. For example, the specific process execution unit 41 may cause the operation execution unit 32 to execute a stop of operation or the like as a predetermined operation. The stop of the operation may be performed after the end of the automatic operation, after a predetermined time (a predetermined number of operations) has elapsed, or immediately after the determination by the determination unit 36. Whether or not the specific process executing unit 41 is provided is arbitrary.

  Next, the loader control method of the present embodiment will be described based on the loader control device 1 of the present embodiment described above. FIG. 9 is a flowchart showing an example of the loader control method of this embodiment. Note that the following description is an example, and the loader control method of the present embodiment is not limited to the following description.

  In the loader control method of the present embodiment, in step S1, the loader chucks 25 and 26 are automatically moved to the transfer position P by the control program PR that transfers the work between the loader chucks 25 and 26 and the machine tool chuck CH. Carry out driving. Step S1 is executed by executing the instructions X1 to X4 of the control program PR of FIG. 4 by the loader control device 1, for example. In this case, the loader control device 1 moves the loader chucks 25 and 26 to the work supply unit 12A and causes the loader chucks 25 and 26 to hold the work W arranged in the work supply unit 12A, and then the loader chucks 25 and 26. It controls to move to the delivery position P. Subsequently, the loader control device 1 controls so that the work W held by the loader chucks 25 and 26 is transferred to the machine tool chuck CH. Subsequently, the loader control device 1 moves the loader chucks 25 and 26 to the delivery position P after the work W is machined by the machine tool 10, and receives the work W from the machine tool chuck CH by the loader chucks 25 and 26. Control. Subsequently, the loader control device 1 controls the loader chucks 25 and 26 to be moved to the work discharge unit 12B, and the work W held by the loader chucks 25 and 26 to be moved to the work discharge unit 12B.

  Subsequently, in step S2, the load L applied to the drive unit 22 when the work W is held by both the loader chucks 25 and 26 and the machine tool chuck CH is detected during the automatic operation of the loader 20. Step S2 is executed by detecting the load L by the load detection unit 35 of the loader control device 1, for example. Subsequently, in step S3, it is determined whether the load L exceeds the threshold value T. The step S3 is performed, for example, by the determination unit 36 of the loader control device 1 making the above determination. When it is determined in step S3 that the load L does not exceed the threshold value T (NO in step S3), the process returns to step S2.

  When it is determined in step S3 that the load L exceeds the threshold T (YES in step S3), the load L exceeds the threshold T in step S4. The step S4 is executed by, for example, the above notification by the notification unit 40 of the loader control device 1. By step S4, it is possible to notify that the delivery position P has shifted without stopping the automatic operation of the loader.

  Then, after step S4, the process returns to step S1 to perform the above-mentioned automatic operation. Moreover, steps S2 to S4 are continuously performed until the above-mentioned automatic operation is completed.

  In the loader control method, specific processing may be performed when it is determined that the load L exceeds the threshold T in step S3 (YES in step S3). The specific processing is performed by, for example, the specific processing execution unit 41 of the loader control device 1 performing the above-described processing such as stopping the operation.

  Further, the loader control method may be realized by a loader control program. In this case, the loader control program performs the process of causing the loader to perform the automatic operation by the control program, and the load applied to the drive unit when the work is held by both the loader chuck and the machine tool chuck during the automatic operation. It includes causing the computer to execute a process of determining whether the load exceeds the threshold value and a process of notifying that the load exceeds the threshold value when it is determined that the load exceeds the threshold value. The loader control program may be provided by being stored in a computer-readable storage medium such as a hard disk, a CD-ROM, a DVD, a USB memory, or an SD card.

  As described above, the loader control device 1 of the present embodiment includes the loader chucks 25 and 26 that hold the work W and the drive unit 22 that moves the loader chucks 25 and 26, and is provided in the machine tool 10. The loader controller 1 controls the loader 20 that transfers the work W to the chucks CH (13a, 14a, 17, 18) that hold the work W by moving the loader chucks 25 and 26 to the transfer position P. Then, the operation execution unit 32 that executes the automatic operation by the control program PR that transfers the work between the loader chucks 25 and 26 and the chuck CH of the machine tool 10, and the loader chuck during the automatic operation by the operation execution unit 32. Load applied to the drive unit 22 when the work W is held by both the chucks 25 and 26 and the chuck CH of the machine tool 10. When the load detection unit 35 (35X, 35Y, 35Z) that detects the load L, the determination unit 36 that determines whether the load L exceeds the threshold T, and the determination unit 36 that the load L exceeds the threshold T And a notification unit 40 that notifies that the load L exceeds the threshold T. In the loader control device 1, the configuration other than the above is an arbitrary configuration, and the configuration other than the above may or may not be provided.

  As described above, the loader control device 1 and the loader control method according to the present embodiment automatically operate the loader 20, detect the deviation of the teaching position during the automatic operation of the loader 20, and perform the process corresponding to the deviation of the teaching position. By performing the automatic operation without stopping, it is possible to suppress a decrease in the operating rate of the device due to the stop of the loader 20.

[Second Embodiment]
The second embodiment will be described. In the present embodiment, configurations similar to those in the above-described embodiments are designated by the same reference numerals, and the description thereof will be omitted or simplified as appropriate. Further, among the matters described in the embodiments of the present specification, configurations applicable to the present embodiments are appropriately applied to the present embodiments.

  FIG. 10 is a diagram showing an example of the loader control device 1A of the second embodiment. The loader control device 1A includes a storage unit 31, an operation execution unit 32, a loader chuck control unit 33 (see FIG. 1), an X-axis motor control unit 34X (see FIG. 1), a Y-axis motor control unit 34Y (see FIG. 1), A Z-axis motor control unit 34Z (see FIG. 1), a load detection unit 35 (see FIG. 1), a determination unit 36, and a load time processing unit 37A are provided. In the loader control device 1A, the storage unit 31, the operation execution unit 32, the loader chuck control unit 33, the X-axis motor control unit 34X, the Y-axis motor control unit 34Y, the Z-axis motor control unit 34Z, the load detection unit 35, and the determination unit. The configuration of 36 is similar to that of the first embodiment. Further, the loader control device 1A of the second embodiment is applied to the same machine tool system SYS as that of the first embodiment.

  1 A of loader control apparatuses differ from the loader control apparatus 1 of 1st Embodiment in the structure provided with 37 A of load processing parts which have the correction | amendment part 42. FIG. When the determining unit 36 determines that the load L exceeds the threshold value T, the correcting unit 42 corrects the predetermined transfer position P during the automatic operation.

  11A to 11C are diagrams illustrating an example of the correction by the correction unit 42. FIG. 12 is a diagram showing the load L at the time of the correction shown in FIGS. 11A to 11C are top views as viewed from the + Y direction. 11A to 11C, the transfer position P is in the -X direction with respect to the ideal position shown in FIGS. 5 and 6, as in FIGS. 7A and 7B. An example of deviation is shown. 11A to 11C show the operation of the loader chuck 25 passing the work W to the chuck 13a of the machine tool 10.

  The correction of this example is used when correcting the horizontal component of the transfer position P. As shown in FIG. 11A, when the delivery position P is deviated from the ideal position, when the machine tool chuck 13a is closed, the -X of the machine tool chuck 13a is similar to that of FIG. 7A. The side grasping claw 13b comes into contact with the work W and pushes the work W toward the + X side, whereby a load L is generated on the X-axis motor MX. At this time, as shown in FIG. 12, the load L exceeding the threshold T is applied to the X-axis motor MX, and the determining unit 36 determines that the load L exceeds the threshold T.

  When the determining unit 36 determines that the load L exceeds the threshold value T, the correcting unit 42 does not perform the position control of the loader chuck 25 by the control program PR, and the work W held by the loader chuck 25 is machine tool chucked. 13a. The correction unit 42 causes the operation execution unit 32 to stop the position control of the loader chuck 25 by the operation execution unit 32. When stopping the position control of the loader chuck 25, the operation execution unit 32 instructs the X-axis motor control unit 34X, the Y-axis motor control unit 34Y, and the Z-axis motor control unit 34Z to perform the X-axis motor MX and the Y-axis motor. Commands the MY and Z axis motors to turn off the servo.

  Subsequently, as shown in FIG. 11B, the grasping claw 13b on the −X side of the machine tool chuck 13a further moves to the + X side. At this time, since the position of the loader chuck 25 is not controlled, the loader chuck 25 is also pushed by the grasping claw 13b and moves to the + X side. At this time, as shown in FIG. 12, the load L applied to the X-axis motor MX is eliminated because the motors MX, MY, MZ of the respective axes are in the servo-off state.

  Then, as shown in FIG. 11C, the grasping claws 13b of the machine tool chuck 13a are completely closed. At this time, the loader chuck 25 is further pushed by the grasping claw 13b to move to the + X side, and finally the central axis AX6 of the loader chuck 25 becomes coaxial with the central axis AX1 of the machine tool chuck 13a. This state is similar to the case where the delivery position P shown in FIG. 6A is the ideal position. The correction unit 42 corrects the position followed by the loader chuck 25 at this time as the transfer position P. The correction unit 42 acquires the position (coordinates) followed by the loader chuck 25 by a sensor or the like that detects the position of the loader chuck 25, sets the acquired position as a new transfer position P, and transfers the position information IP to the transfer position. P is updated (corrected) to the new delivery position P. Subsequently, the correction unit 42 restarts the position control of the loader chuck 25 by the operation execution unit 32.

  As described above, when correcting the component (axis) of the transfer position P in the horizontal direction (X direction, Z direction), the correction unit 42 of this example controls the position of the loader chucks 25 and 26 by the control program PR. Instead, the work W held by the loader chucks 25, 26 is held by the machine tool chuck CH, and the position followed by the loader chucks 25, 26 is corrected as the transfer position P. In the case of this configuration, the load on the drive unit 22 can be effectively eliminated by simple control.

  13A and 13B are diagrams showing another example of correction by the correction unit 42. FIG. 14 is a diagram showing a load at the time of the correction shown in FIGS. 13 (A) and 13 (B). 13A and 13B are top views as viewed from the + Y direction. 13A and 13B, the transfer position P is in the −X direction with respect to the ideal position shown in FIGS. 5 and 6, as in FIGS. 7A and 7B. An example of deviation is shown. 13A and 13B show an operation in which the loader chuck 25 transfers the work W to the chuck 13a of the machine tool 10.

  The correction of this example can be used when correcting the component (axis) of the workpiece transfer position P in the vertical direction (Y direction) and the horizontal direction (X direction, Z direction). As shown in FIG. 13 (A), when the transfer position P is displaced from the ideal position, when the grasping claw 13b of the machine tool chuck 13a is closed, as shown in FIG. 7 (A) and FIG. 11 (A). Similarly, a load L is generated in the X-axis motor MX, and the determination unit 36 determines that the load L exceeds the threshold T, as shown in FIG.

  When the determination unit 36 determines that the load L exceeds the threshold T, the correction unit 42 of the present example corrects the load L detected by the load detection unit 35 to a position where the load L is eliminated. In the example shown in FIG. 13A, the X-axis motor control unit 34X uses feedback control to move the loader chuck 25 to the position (delivery position P) on the −X side before being pushed by the grasping claw 13b. Since the axis motor MX is driven, a load L is generated on the X axis motor MX. At this time, the load detection unit 35 detects the amount of the load L (load torque) and the direction of the load L as described above. The correction unit 42 corrects the delivery position P based on the load L detected by the load detection unit 35. The correction unit 42 corrects the transfer position P to a direction opposite to the direction of the load L detected by the load detection unit 35 and a position corresponding to the amount of the load L such as load torque. Accordingly, the correction unit 42 can correct the load L detected by the load detection unit 35 to a position where the load L is eliminated, and can reliably eliminate the load L applied to the drive unit. For example, as shown in FIG. 13B, the correction unit 42 moves the loader chuck 25 to the + X side by an amount according to the amount of the load L via the operation execution unit 32, and the loader chuck 25 moves. The position is updated (corrected) as a new work transfer position P. The movement of the loader chuck 25 by the correction unit 42 eliminates the load L applied to the X-axis motor MX, as shown in FIG.

  The timing of the correction by the correction unit 42 in this example is arbitrary, and may be immediately after the determination unit 36 determines that the load L exceeds the threshold value T, or at the timing when the loader chuck 25 is completely closed, for example. . The movement amount of the loader chuck 25 according to the amount of the load L can be obtained by calculation or preliminary test. Note that the correction unit 42 may monitor the load L detected by the load detection unit 35 after moving the loader chuck 25, and perform the correction to move the loader chuck 25 again by an amount based on the load L. The above process may be repeated a plurality of times until the load L falls below a predetermined threshold value T.

  Further, when the correction unit 42 corrects the components of the workpiece transfer position P in the vertical direction (Y direction) and the horizontal direction (X direction, Z direction), after correcting the horizontal component, the vertical component is corrected. In this case, the correction can be performed more accurately than the case where the horizontal component is corrected after the vertical component is corrected.

  Next, the loader control method of the present embodiment will be described based on the loader control device 1A of the present embodiment described above. FIG. 15 is a flowchart showing an example of the loader control method of this embodiment. Note that the following description is an example, and the loader control method of the present embodiment is not limited to the following description.

  Steps S1 to S3 of the loader control method of this embodiment are the same as those of the loader control method of the first embodiment. When it is determined in step S3 that the load L does not exceed the threshold value T (NO in step S3), the process returns to step S2.

  When it is determined in step S3 that the load L exceeds the threshold value T (YES in step S3), a predetermined work transfer position is corrected in step S6. Step S6 is performed by the correction unit 42 of the loader control device 1A performing the above correction. By step S6, the teaching position can be corrected without stopping the automatic operation of the loader.

  Then, after step S6, the process returns to step S1 to perform the above-described automatic operation. Further, steps S2, S3, and S6 are continuously performed during the above-mentioned automatic operation.

  In addition, in the loader control method, when it is determined that the load L exceeds the threshold value T after step S3, step S4 (notification) of the first embodiment shown in FIG. 9 may be performed, or the above-described identification may be performed. You may perform the preset specific process by the process execution part 41.

  Further, the loader control method may be realized by a loader control program. In this case, the loader control program performs the process of causing the loader to perform the automatic operation by the control program, and the load applied to the drive unit when the work is held by both the loader chuck and the machine tool chuck during the automatic operation. It includes causing the computer to execute a process of determining whether or not the threshold value is exceeded, and a process of correcting a predetermined work transfer position when it is determined that the load exceeds the threshold value. The loader control program may be provided by being stored in a computer-readable storage medium such as a hard disk, a CD-ROM, a DVD, a USB memory, or an SD card.

  As described above, the loader control device 1A of the present embodiment is a loader control device that controls the loader 20, and includes the operation execution unit 32, the load detection unit 35, the determination unit 36, and the load determined by the determination unit 36. The correction unit 42 corrects a predetermined work transfer position when L is determined to exceed the threshold T. In the loader control device, the configurations other than the above are arbitrary configurations, and the configurations other than the above may or may not be provided. The loader control device 1A of the present embodiment may include the notification unit 40.

  As described above, since the loader control device 1A and the loader control method of the present embodiment detect the deviation of the teaching position during the automatic operation of the machine tool system SYS, when the teaching position of the machine tool system is deviated. It is possible to suppress a decrease in the operating rate of the device that occurs in

  Note that the technical scope of the present invention is not limited to the modes described in the above embodiments and the like. One or more of the requirements described in the above embodiments and the like may be omitted. Further, the requirements described in the above-described embodiments and the like can be combined as appropriate. In addition, as long as it is permitted by law, the disclosures of all the documents cited in the above-mentioned embodiments are incorporated into the description of the text.

  Further, in the above-described embodiment, the transfer position P of the work W between the machine tool 10 and the loader 20 has been described by taking the transfer position P of the work W between the loader chuck 25 and the machine tool chuck 13a as an example. The work transfer position P may be another transfer position. For example, the delivery position P may be the delivery position of the work W between the loader chuck 26 and the machine tool chuck 13a, or the delivery position of the work W between the loader chucks 25 and 26 and the machine tool chuck 14a. Alternatively, it may be a position where the work W is transferred between the loader chucks 25 and 26 and the chucks 17 and 18 of the reversing device 19.

  Further, in the above-described embodiment, the loader control devices 1 and 1A are applied to the three-axis loader device as the loader 20, but the loader control devices 1 and 1A may be applied to other loaders. . FIG. 16 is a perspective view showing another loader 20A. The loader 20A is a so-called articulated robot apparatus, and FIG. 16 schematically shows the tip portion of the articulated robot apparatus. The loader 20A has a first arm 60, a second arm 61, and a joint 62. The first arm 60 is connected to the second arm 61 via the joint portion 62. The joint portion 62 is provided with a drive source 63 such as a motor for rotating the first arm 60 with respect to the second arm 61, and a speed reducer 64. A loader chuck 25 is provided at the tip of the first arm 60. The loader chuck 25 has a grasping claw 25a. In addition to the loader 20A, the loader control devices 1 and 1A can be applied to a uniaxial or biaxial loader.

SYS ... Machine tool system 1, 1A ... Loader control device 10 ... Machine tool CH, 13a, 14a, 17, 18 ... Chuck (machine tool chuck)
13, 14 ... Spindles 13b, 14b, 17a, 18a ... Grasping claw (machine tool chuck)
15, 16 ... Turret 19 ... Reversing device 20, 20A ... Loader 21 ... Device body 22 ... Drive part 23 ... Work holding part 25, 26 ... Loader chuck 25a, 26a ... Grasping claw (loader chuck)
31 ... Storage unit 32 ... Operation execution unit 33 ... Loader chuck control unit 34X, 34Y, 34Z ... Motor control unit 35, 35X, 35Y, 35Z ... Load detection unit 36 ... Judgment unit 37, 37A ... Load processing unit 40 ... Notification Part 41 ... Specific process executing part 42 ... Correcting part 50 ... Display device 51 ... Sound output device 52 ... Terminal DX ... Running body drive part DY ... Elevating rod drive part DZ ... Front and rear moving body drive part MX ... X axis motor MY ... Y Axis motor MZ ... Z axis motor L ... Load T ... Threshold value P ... Transfer position PR ... Control program IP ... Position information W ... Work

Claims (9)

A loader control device comprising: a loader chuck for holding a work; and a drive unit for moving the loader chuck, the loader control device controlling a loader provided on a machine tool for delivering a work to a chuck holding the work. ,
An operation execution unit that executes the automatic operation by a control program that moves the loader chuck to a work transfer position and transfers the work between the loader chuck and the chuck of the machine tool.
During the automatic operation by the operation execution unit, a load detection unit that detects a load applied to the drive unit when a work is held by both the loader chuck and the chuck of the machine tool,
A determination unit that determines whether the load exceeds a threshold,
A loader control device comprising: a notification unit that notifies that the load exceeds the threshold value when the determination unit determines that the load exceeds the threshold value.   The loader control device according to claim 1, wherein the notification unit gives notification by at least one of a display device, a voice output device, and a terminal. A loader control device comprising: a loader chuck for holding a work; and a drive unit for moving the loader chuck, the loader control device controlling a loader provided on a machine tool for delivering a work to a chuck holding the work. ,
An operation execution unit that executes the automatic operation by a control program that moves the loader chuck to a work transfer position and transfers the work between the loader chuck and the chuck of the machine tool.
During the automatic operation by the operation execution unit, a load detection unit that detects a load applied to the drive unit when a work is held by both the loader chuck and the chuck of the machine tool,
A determination unit that determines whether the load exceeds a threshold,
A loader control device, comprising: a correction unit that corrects a predetermined transfer position of the work when the load is determined to exceed the threshold value by the determination unit.   The loader control device according to claim 3, wherein the correction unit corrects the transfer position of the workpiece to a position where the load is canceled with respect to the load detected by the load detection unit. The correction unit is
When correcting the horizontal component of the work transfer position,
The position of the loader chuck is not controlled by the control program, the work held by the loader chuck is held by the chuck of the machine tool, and the position followed by the loader chuck is corrected as the work transfer position. Item 4. The loader control device according to item 3.   The operation execution unit causes the loader to execute a predetermined operation set in advance when the determination unit determines that the load exceeds a threshold value. The loader control device described in 1. The drive unit includes a Y-axis drive unit that moves the loader chuck in a Y-axis direction parallel to a vertical direction, an X-axis drive unit that moves the loader chuck in an X-axis direction orthogonal to the Y-axis direction, and A Z-axis drive unit for moving the loader chuck in a Z-axis direction orthogonal to both the Y-axis direction and the X-axis direction,
The loader according to any one of claims 1 to 6, wherein the load detection unit detects the load in each of the X-axis drive unit, the Y-axis drive unit, and the Z-axis drive unit. Control device. A loader control method comprising: a loader chuck for holding a work; and a drive unit for moving the loader chuck, the method being for controlling a loader provided in a machine tool for delivering a work to a chuck for holding the work. ,
Performing an automatic operation by a control program that moves the loader chuck to a work transfer position and transfers a work between the loader chuck and the chuck of the machine tool;
Detecting a load applied to the drive unit when a work is held by both the loader chuck and the chuck of the machine tool during the automatic operation;
Determining whether the load exceeds a threshold,
If it is determined that the load has exceeded the threshold value, then notification that the load has exceeded the threshold value is provided. A loader control method comprising: a loader chuck for holding a work; and a drive unit for moving the loader chuck, the method being for controlling a loader provided in a machine tool for delivering a work to a chuck for holding the work. ,
Performing an automatic operation by a control program that moves the loader chuck to a work transfer position and transfers a work between the loader chuck and the chuck of the machine tool;
Detecting a load applied to the drive unit when a work is held by both the loader chuck and the chuck of the machine tool during the automatic operation;
Determining whether the load exceeds a threshold,
A loader control method, comprising: performing a correction of a predetermined transfer position of the work when it is determined that the load exceeds the threshold value.

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