JP2020069581A - Transport device and machine tool - Google Patents

Abstract

To provide a transport device in which an arm device can be prevented from colliding with a door depending on an opened/closed condition of the door, and a machine tool.SOLUTION: A CPU receives a movement command to move a gripping part to a target coordinate (S11). The CPU sets an operable range on the basis of a position of a door and an extension and contraction position of an arm device (S12). The operable range is a range in which the gripping part does not contact a wall part of a cover and the door when extending the arm device toward the cover side or to the opposite side thereof and moving the arm device along a running shaft. The CPU determines whether or not the target coordinate is in the operable range (S13). When the target coordinate is in the operable range (S13:YES), the CPU starts to move the arm device (S14). When the target coordinate is out of the operable range (S13:NO), the CPU restricts execution of the movement command (S21). Therefore, the transport device can prevent the arm device from colliding with the door and the wall part.SELECTED DRAWING: Figure 18

Description

  The present invention relates to a carrier device and a machine tool.

  The machine tool includes a cover that covers the entire machine tool so that lubricating oil, chips, and the like do not scatter around during machining. The cover has an opening for taking out the work material on the wall portion and a door for opening and closing the opening. The work material replacement robot described in Patent Document 1 is provided so as to be movable along the opening and closing direction of the door. The robot includes a connecting mechanism. The connecting mechanism connects with the door when the dog provided on the door is detected by the sensor. When the robot and the door are connected, the door is opened and closed by the movement of the robot. The robot is an articulated arm device having a plurality of arms. The arm device grasps the work material with the gripping part at the tip of the arm, conveys the work material from the outside onto the work table in the cover with the door opened by the movement of the robot, or finishes the machined work material. Transport the material outside the cover.

Japanese Patent No. 3249553

  If the door is not sufficiently open, the arm operation of the arm device may cause the arm device to collide with the door.

  An object of the present invention is to provide a carrier device and a machine tool capable of preventing the arm device from colliding with the door depending on the opened / closed state of the door.

  The transport apparatus according to claim 1, wherein a traveling shaft provided in parallel to a moving direction of a door that opens and closes an opening provided in a wall portion of a cover that surrounds the machine tool, and a moving unit that moves along the traveling axis. And a gripping part provided on the moving part, capable of expanding and contracting in a predetermined direction parallel to the direction orthogonal to the opening part, and having a tip part capable of gripping a work material, when extended to the cover side. An arm device that can enter the cover through an opening, and an operation control unit that controls operations of the moving unit and the arm device, and the operation control unit controls the moving unit and the arm device. And a moving position detecting unit for detecting a door position which is a position of the door, and a moving position detecting a moving position which is a position of the moving unit. And the predetermined direction of the arm device An arm position detection unit that detects an expansion / contraction position, the door position detected by the door position detection unit, the movement position detected by the movement position detection unit, and the expansion / contraction position detected by the arm position detection unit. Based on the above, when the arm device is extended to the cover side or the opposite side to the cover side and the moving part is moved along the traveling axis, the arm device is attached to both the wall part and the door. An operable range setting unit that sets an operable range that does not contact, a reception unit that receives a movement command to move the gripping unit to a target position, and if the reception unit receives the movement command, the target position is the movement And a determination unit that determines whether the target position is within the operable range set by the possible range setting unit. An execution unit that controls the operations of the moving unit and the arm device and executes the movement command; and, if the determination unit determines that the target position is outside the operable range, limits the execution of the movement command. And an execution limiting unit. The transfer device changes the operable range of the grip portion of the arm device based on the door position, the moving position, and the expansion / contraction position of the arm device. The carrier device limits execution of the movement command when the target position of the movement command is outside the operable range. Therefore, the transfer device can prevent the arm device from colliding with the door and the wall. For example, even if the door is not fully opened, when the movement command for moving the grip portion to the cover side is received, the transport device limits execution of the movement command, so that the arm device does not collide with the door. It can be prevented.

  When the door position detected by the door position detection unit is a closing position that closes the opening, the operable range setting unit of the transport apparatus according to claim 2 sets an entire region of the traveling shaft of the moving unit. Detected by the first range setting unit that sets the first operable range and the door position detection unit based on the travelable entire-region travel stroke and the outer expansion / contraction stroke that is the expansion / contraction stroke on the opposite side of the arm device. When the door position is the open position for opening the opening, and the expansion / contraction position detected by the arm position detection unit is on the opposite side, the moving unit corresponding to the opening range of the opening is A travel stroke on a travel axis, an inner expansion / contraction stroke that is an expansion / contraction stroke on the cover side of the arm device, the entire region travel stroke, and the outer expansion / contraction stroke. Based on the above, the second range setting section that is the second operable range and the door position detected by the door position detection section are the open positions that open the opening section, and the expansion and contraction detected by the arm position detection section. When the position is on the cover side, a third range setting unit that sets a third operable range based on the traveling stroke and the expansion / contraction stroke of the arm device in the predetermined direction may be provided. The transfer device sets any one of the first operable range, the second operable range, and the third operable range according to the door position, the moving position, and the expansion / contraction position of the arm device. Therefore, the transfer device can effectively prevent the arm device from colliding with the door and the wall.

  The transport apparatus according to claim 3, wherein the traveling shaft is provided in parallel with a moving direction of a door that opens and closes an opening provided in a wall of a cover that surrounds the machine tool, and a moving unit that moves along the traveling shaft. And a gripping part provided on the moving part, capable of expanding and contracting in a predetermined direction parallel to the direction orthogonal to the opening part, and having a tip part capable of gripping a work material, when extended to the cover side. An arm device that can enter the cover through an opening, a connection mechanism that connects the arm device and the door, and an operation control unit that controls operations of the moving unit, the arm device, and the connection mechanism. In the transfer device, in which the operation control unit controls the moving unit, the arm device, and the connection mechanism to transfer the work material held by the holding unit, a door position that is the position of the door is set. Door position detection unit to detect and the arm The arm device based on the arm position detection unit that detects the expansion / contraction position of the stationary unit in the predetermined direction, the door position detected by the door position detection unit, and the expansion / contraction position detected by the arm position detection unit. An operation of setting an operable range in which the arm device does not come into contact with either the wall part or the door when the moving part is extended along the traveling axis along the cover side or the opposite side of the cover. A possible range setting unit, a receiving unit that receives a movement command to move the gripping unit to a target position, and, if the receiving unit receives the movement command, the target position is the operation set by the operable range setting unit. A determination unit that determines whether or not the target position is within the operable range, the operation control unit determines whether the target position is within the operable range. And an execution limiting unit that limits the execution of the movement command when the determination unit determines that the target position is outside the operable range. It is characterized by The transfer device changes the operable range of the grip portion of the arm device based on the door position and the expansion / contraction position of the arm device. The carrier device limits execution of the movement command when the target position of the movement command is outside the operable range. Therefore, the transfer device can prevent the arm device from colliding with the door and the wall. For example, even if the door is not fully opened, when the movement command for moving the grip portion to the cover side is received, the transport device limits execution of the movement command, so that the arm device does not collide with the door. It can be prevented.

  When the door position detected by the door position detection unit is a closing position that closes the opening, the operable range setting unit of the transport device according to claim 4 sets the entire area of the traveling axis of the moving unit. Detected by the first range setting unit that sets the first operable range and the door position detection unit based on the travelable entire-region travel stroke and the outer expansion / contraction stroke that is the expansion / contraction stroke on the opposite side of the arm device. When the door position is an open position that opens the opening, and the expansion / contraction position detected by the arm position detection unit is the opposite side, the opening of the moving unit that is connected to the door by the connecting mechanism. Travel stroke on the travel shaft corresponding to the opening range of the portion, an inner expansion / contraction stroke that is an expansion / contraction stroke on the cover side of the arm device, and the entire region travel straw. And a second range setting unit that is in a second operable range based on the outer expansion and contraction stroke, and the door position detected by the door position detection unit is an open position that opens the opening, and the arm position. When the expansion / contraction position detected by the detection unit is on the cover side, a third range setting unit that sets a third operable range based on the traveling stroke and the expansion / contraction stroke of the arm device in the predetermined direction is provided. Be prepared. The transfer device sets one of the first operable range, the second operable range, and the third operable range according to the door position and the expansion / contraction position of the arm device. Therefore, the transfer device can effectively prevent the arm device from colliding with the door and the wall.

  The transport device according to claim 5, further comprising a connection detection unit that detects connection between the arm device and the door, and a movement position detection unit that detects a movement position of the arm device, wherein the door position detection unit includes the connection. The door position may be detected based on the moving position detected by the moving position detecting unit in a state where the detecting unit detects the connection. Since the transport device can know the door position by detecting the moving position of the arm device connected to the door, it is not necessary to detect the door position and the moving position separately.

  The movable range setting unit of the transport device according to claim 6, wherein the expansion / contraction position detected by the arm position detection unit is closer to the cover than a reference position set between the door and the arm device, It is preferable that the telescopic position includes an arm position determination unit that determines the cover side. When the expansion / contraction position of the arm device is closer to the cover than the reference position, the expansion / contraction position is determined to be the cover side. Therefore, even if the door is open and the arm device does not enter the cover, the transport device sets the third operable range if the expansion / contraction position is on the cover side. Therefore, the transfer device can effectively prevent the arm device from colliding with the door.

  The arm device of the carrier device according to claim 7, comprising a plurality of elongated arm portions, and at least one joint portion that bendably connects the plurality of arm portions, and the arm position detection portion, The position of the joint part and the position of the grip part are detected, and the arm position determination part determines that at least one of the position of the joint part and the position of the grip part detected by the arm position detection part is the reference. When the position is closer to the cover than the position, the expansion / contraction position may be determined to be toward the cover. Even if at least a part of the arm device is located closer to the cover than the reference position, the transport device determines that the expansion / contraction position is on the cover side, so that the arm device can be effectively prevented from colliding with the door.

  The transport apparatus according to claim 8, further comprising an arm length receiving unit that receives an arm length that is the length of the arm unit in the lengthwise direction, and the operable range setting unit includes the arm length receiving unit that receives the arm length. Based on the above, it is preferable to include a calculation unit that calculates the outside expansion / contraction stroke, the inside expansion / contraction stroke, and the expansion / contraction stroke. Therefore, the transfer device can calculate the outer expansion / contraction stroke, the inner expansion / contraction stroke, and the expansion / contraction stroke from the changed arm length even if the arm length is changed by exchanging the arm device.

The machine tool according to claim 9, wherein a cover surrounding the machine tool and an opening provided in a wall portion of the cover can be opened and closed, and a work material can be transferred. And a device. Since the machine tool includes the carrying device according to any one of claims 1 to 8, the effect according to any one of claims 1 to 8 can be obtained.

The perspective view from the diagonal right front of the machine tool 1. The perspective view from the diagonally right rear of the machine tool 1. FIG. 3 is a perspective view of the arm device 12. The front view of the arm device 12. The figure which shows the position of the arm apparatus 12 when the door 6 is closed. The figure which shows the position of the arm apparatus 12 when the door 6 opens. The elements on larger scale around the rod mechanism 30 shown in FIG. The figure which shows the state 1. The figure which shows the state 2-1. The figure which shows the state 2-2. The figure which shows the one aspect | mode of expansion / contraction of the arm part 122. The figure which shows another aspect of expansion and contraction of the arm part 122. The figure which shows another aspect of expansion and contraction of the arm part 122. The figure which shows another aspect of expansion and contraction of the arm part 122. FIG. 3 is a block diagram showing an electrical configuration of the carrier device 10. The conceptual diagram of the range setting table 741. The flow chart of expansion-contraction stroke calculation processing. The flowchart of a movement control process. The flowchart of an operable range setting process. The conceptual diagram of the range setting table 742 (2nd embodiment). The figure which shows the state 1-1. The figure which shows the state 1-2. The figure which shows the state 2-1. The figure which shows the state 2-2. The figure which shows the state 2-3. The flowchart of an operable range setting process (2nd embodiment).

  A first embodiment of the present invention will be described. In the following description, left and right, front and rear, and up and down indicated by arrows in the drawing are used. The left-right direction, the front-back direction, and the up-down direction of the machine tool 1 are the X-axis direction, the Y-axis direction, and the Z-axis direction of the machine tool 1, respectively.

  The structure of the machine tool 1 will be described with reference to FIGS. 1 and 2. The machine tool 1 is a vertical machine tool whose main axis (not shown) extends in the Z-axis direction. The machine tool 1 includes a base 2, a machine body 3, and a cover 5. The base part 2 is an iron base. The machine body 3 is provided above the base unit 2. The machine body 3 cuts a work material (not shown) fixed to the upper surface of a work table (not shown). The workbench is installed on the upper surface of the base 2. The cover 5 is fixed to the upper part of the base 2 and surrounds the machine body 3. The operation of the machine tool 1 is controlled by the numerical controller 8 (see FIG. 15).

  The cover 5 includes an opening 511, a wall 512, and a door 6 on the right side wall 51. The opening 511 is provided on the rear side of the right side wall 51 and is formed in a substantially rectangular shape in right side view. The wall portion 512 is provided side by side on the front side of the opening portion 511 and is formed in a substantially rectangular shape in right side view. The door 6 is provided slidably in the front-rear direction along the inner surface of the wall portion 512 and opens and closes the opening portion 511. The opening / closing mechanism of the door 6 includes, for example, guide rails (not shown) provided above and below the opening 511 of the right side wall 51, a plurality of bearings provided above and below the door 6, and the like. The guide rail extends in the Y-axis direction. A plurality of bearings provided on the door 6 side slide along the guide rails, and the door 6 slides in the Y-axis direction. The cover 5 further mounts the transfer device 10 on the outside of the right side wall 51. The transfer device 10 communicates with the numerical control device 8 to transfer the work material and open / close the door 6.

  The configuration of the transport device 10 will be described with reference to FIGS. As shown in FIGS. 1 and 2, the transfer device 10 includes a moving unit 11, an arm device 12, a moving mechanism 14, and the like. The moving unit 11 slides in the Y-axis direction by the moving mechanism 14. The arm device 12 is provided on the upper part of the moving unit 11, is capable of expanding and contracting in the X-axis direction and the Z-axis direction, and is capable of gripping a work material. Therefore, the arm device 12 can exchange the work material held on the upper surface of the work table (not shown) in the cover 5 with the door 6 opened.

  The moving mechanism 14 is provided on the right side surface of the base portion 2, and includes a frame body portion 15, a moving motor 16 (see FIG. 2), a ball screw 17, a pair of traveling shafts 18A and 18B, a bellows cover 19, and the like. The frame body portion 15 is formed in a substantially rectangular shape when viewed from the right side, and is fixed to the right side surface of the base portion 2. The moving motor 16 is fixed so as to project rearward from the rear portion of the frame body portion 15. The output shaft of the moving motor 16 projects forward in the frame body portion 15. The ball screw 17 is arranged in the frame body portion 15 so as to extend in the Y-axis direction and is rotatably supported. The ball screw 17 is coaxially connected to the output shaft of the moving motor 16.

  The pair of traveling shafts 18A and 18B are provided in parallel with each other so as to sandwich the ball screw 17 from the vertical direction inside the frame body portion 15 and extend in the Y-axis direction. The traveling shafts 18A and 18B support the moving unit 11 so that it can be guided in the Y-axis direction. In the following description, the traveling shafts 18A and 18B will be collectively referred to as the traveling shaft 18 when they are collectively referred to. The moving part 11 is attached to the ball screw 17. The bellows cover 19 covers the right side of the opening of the frame body portion 15 and is fixed to the frame body portion 15 so as to be expandable and contractable in the Y-axis direction. The rear end of the bellows cover 19 is fixed to the front side of the moving unit 11. The same thing as the bellows cover 19 is also provided in the rear part of the moving part 11. The bellows cover 19 expands and contracts as the moving unit 11 moves in the Y-axis direction. Therefore, the moving mechanism 14 can prevent chips and the like from entering the frame body portion 15. When the moving motor 16 is driven, the ball screw 17 rotates. With the rotation of the ball screw 17, the moving unit 11 moves in the Y-axis direction, so that the arm device 12 moves in the Y-axis direction.

  The arm device 12 includes a main body 121 and an arm 122. The main body 121 is erected on the upper part of the moving part 11 and is formed in a substantially rectangular parallelepiped shape that is long in the vertical direction. The main body 121 includes the first joint 41 on the upper rear surface. The first joint section 41 rotatably supports a first arm 21 of the arm section 122, which will be described later, around an axis extending in the Y-axis direction. The main body 121 stores the first motor 81 (see FIG. 15) inside. The first motor 81 rotationally drives the first arm 21. The main body 121 includes the rod mechanism 30 on the upper surface. The rod mechanism 30 drives the rod 35 (see FIGS. 4 and 5) so as to be able to move forward and backward with respect to the left side which is the cover 5 side. The rod 35 can be inserted into and engaged with the connecting hole 65 (see FIG. 7) of the connecting plate 60 (see FIGS. 1, 4, and 7) provided at the rear end of the outer surface of the door 6. The connecting plate 60 supports the door 6 with a gap leftward from the rear end of the outer surface of the door 6. The connecting hole 65 penetrates the central portion of the connecting plate 60 in the left-right direction. When the rod 35 is inserted into and engaged with the connecting hole 65, the rod mechanism 30 and the connecting plate 60 are connected, and the main body 121 and the door 6 are integrated. Therefore, the door 6 can open and close the opening 511 of the right side wall 51 by moving in the Y-axis direction integrally with the arm device 12 (see FIGS. 5 and 6).

  As shown in FIGS. 3 and 4, the arm portion 122 includes a first arm 21 and a second arm 22 that can be folded. The first joint portion 41 of the main body portion 121 rotatably supports one end portion of the first arm 21. The first arm 21 has a second joint 42 at the other end. The second joint portion 42 rotatably supports one end portion of the second arm 22 about an axis extending in the Y-axis direction. The second arm 22 includes a third joint 43 at the other end. The third joint portion 43 rotatably supports the two gripping portions 23A and 23B (not shown in FIGS. 1 and 2) about an axis extending in the Y-axis direction. The grip portions 23A and 23B are respectively supported at positions separated by 90 ° in the circumferential direction around the axis of the third joint portion 43. The gripping portions 23A and 23B can grip the work material.

  The first arm 21 stores the second motor 82 (see FIG. 15) inside. The second motor 82 drives the second arm 22 via a gear (not shown) of the second joint section 42. The second arm 22 stores the third motor 83 (see FIG. 15) inside. The third motor 83 rotationally drives the grip portions 23A and 23B via the gear of the third joint portion 43. The grip portions 23A and 23B include an air cylinder 231. The air cylinder 231 is a drive source for gripping a work material. In the following description, the two grips 23 will be collectively referred to as the grip 23.

  The structure of the rod mechanism 30 will be described with reference to FIG. 7. The rod mechanism 30 is fixed to the upper surface of the main body 121. The rod mechanism 30 includes an air cylinder 33, a connecting rod 34, a rod 35, advance / retreat sensors 36 and 37, a cover 38 (see FIG. 3), and the like. The air cylinder 33 is formed in a tubular shape, and is fixed to the upper surface portion so that the open front end side is directed to the left side which is the cover 5 side and along the X-axis direction. The air cylinder 33 is provided with a cylinder rod 331 that can move forward and backward in the left direction from the tip portion. The connecting rod 34 is coaxially fixed to the tip end portion of the cylinder rod 331 of the air cylinder 33 and protrudes leftward.

  The rod 35 is coaxially fixed to the tip of the connecting rod 34 and formed into a rod shape. The rod 35 projects toward the door 6. The rod 35 is coaxially connected to the cylinder rod 331 of the air cylinder 33 via the connecting rod 34. Therefore, the rod 35 can move in the left-right direction as the cylinder rod 331 moves back and forth.

  The advance / retreat sensors 36 and 37 are fixed on the upper surface of the main body 121 in the vicinity of the connecting rod 34 so as to be separated in the Y axis direction. The position of the advance / retreat sensor 37 corresponds to the position of the connecting rod 34 when the rod 35 moves leftward and engages with the connecting hole 65. The position of the rod 35 in the state of being engaged with the connecting hole 65 is the protruding position. Therefore, the advance / retreat sensor 37 detects that the rod 35 has moved to the protruding position. The advance / retreat sensor 36 corresponds to the position of the connecting rod 34 when the rod 35 moves to the right and is completely removed from the connecting hole 65. The position of the rod 35 completely removed from the connection hole 65 is the standby position. Therefore, the advance / retreat sensor 36 detects that the rod 35 has moved to the standby position. The cover 38 covers the air cylinder 33, the connecting rod 34, the rod 35, and the like from above, and is fixed to the upper surface of the main body 121. Therefore, the cover 38 can prevent chips and the like from accumulating in the rod mechanism 30.

  As shown in FIG. 4, the main body part 121 fixes the proximity sensor 91 to the door 6 side of the first joint part 41. The proximity sensor 91 detects the approach of a member by the change of magnetism. The proximity sensor 91 can detect the dog 67 for position detection fixed to the door 6 side. The dog 67 is fixed to the door 6 at a position corresponding to the proximity sensor 91. When the proximity sensor 91 detects the dog 67, the main body 121 faces the rear end of the door 6, and the rod 35 and the connecting hole 65 face each other (see FIGS. 5 and 7).

  An example of the operation of the transport device 10 will be described with reference to FIGS. 1, 5, and 6. The carrier device 10 moves the arm device 12 along the traveling shaft 18 to the closed end position of the door 6. The closed end position of the door 6 is the rearmost position of the moving range of the traveling shaft 18 in the Y-axis direction. The carrier device 10 moves the arm device 12 from the closed end position toward the open end direction (front direction) of the door 6 at a low speed.

  When the proximity sensor 91 on the arm device 12 side detects the dog 67 on the door 6 side, the transport device 10 stops the arm device 12. When the door 6 is already closed (see FIG. 5), the proximity sensor 91 detects the dog 67 at the same time when the arm device 12 starts moving, and the rod 35 and the connecting hole 65 face each other. The transfer device 10 drives the air cylinder 33 to move the connecting rod 34 and the rod 35 to the left. The tip of the rod 35 is inserted into and engaged with the connecting hole 65. Since the rod 35 cannot move to the left, the air cylinder 33 holds the position of the rod 35. The transfer device 10 moves forward at high speed in a state where the arm device 12 is integrally connected to the door 6. The arm device 12 opens the door 6 at high speed and widens the opening 511.

  The carrier device 10 stops the arm device 12 at the admissible position. The accessible position is a position of the arm device 12 when the grip 23 forms an opening width that allows the grip 23 to enter the cover 5 in the opening 511. In addition, when the width of the work material is larger than the grip portion 23 in the Y-axis direction, the admissible position is preferably the position of the arm device 12 when forming the opening width that allows the work material to enter the cover 5. .. Further, the transfer device 10 may stop the arm device 12 at the open end position. The open end position is the foremost end in the range of movement in the Y-axis direction, and is the position where the opening 511 is completely opened. The transfer device 10 drives the arm part 122 to move the grip part 23 into the cover 5 through the opening part 511, and performs a work material exchange operation for fixing the work part to the upper surface of the work table, for example. After the work material replacement operation, the transfer device 10 moves the arm portion 122 to the outside of the cover 5.

  The transfer device 10 moves at high speed to the closed end position of the door 6 while the arm device 12 is integrally connected to the door 6. When the arm device 12 stops at the closed end position, the transfer device 10 stops driving the air cylinder 33. Since the cylinder rod 331 is retracted to the right, the rod 35 is retracted to the right along with the connecting rod 34, and is removed from the connecting hole 65. The connection between the arm device 12 and the door 6 is released. A series of operations of the carrier device 10 is completed.

  Control points of the arm portion 122 will be described with reference to FIGS. 4, 8, and 11 to 14. The arm unit 12 is movable in the Y-axis direction along the traveling shaft 18 by the moving unit 11. The arm part 122 is expandable / contractible in the X-axis direction and the Z-axis direction. The transport device 10 sets three control points on the arm portion 122 in order to accurately recognize the expansion / contraction position of the arm portion 122 in the X-axis direction and the Z-axis direction. The extension / contraction position of the arm portion 122 means the position of the grip portion 23 due to the extension / contraction operation of the arm portion 122. In the present embodiment, for convenience of description, the expansion / contraction position of the arm portion 122 in the X-axis direction will be specifically described, and the expansion / contraction position in the Z-axis direction will be briefly described with reference to the description of the X-axis direction. In the following description, the expansion / contraction position of the arm portion 122 in the X-axis direction is referred to as the X-axis position of the arm portion 122.

  As shown in FIG. 4, the control points of the arm portion 122 are the coordinate positions of the three points of the second joint portion 42, the third joint portion 43, and the tip portion 44 of the grip portion 23. The tip portion 44 of the grip portion 23 is the tip portion of the grip portion 23A that protrudes in the X-axis direction among the grip portions 23A and 23B. The coordinate positions of these three points are calculated based on the respective rotational positions of the first arm 21, the second arm 22, and the first motor 81 that drives the grip 23, the second motor 82, and the third motor 83.

  The arm part 122 can be controlled to a standby posture. As shown in FIG. 1 and FIG. 2, the arm member 122 is in a standby posture in which the first arm 21 and the second arm 22 are bent and bent 180 ° at the second joint portion 42 and vertically upward so that the first arm 21 and the second arm 22 overlap each other in parallel. It is a standing posture. As shown in FIG. 8, in the standby posture, the second joint portion 42, the third joint portion 43, and the tip end portion 44 of the grip portion 23 are on a reference line P extending parallel to the traveling shaft 18 in plan view. To position. The reference line P is x = 0. In the present embodiment, the right side of the reference line P, the side opposite to the cover 5 is the plus (+) side, and the cover 5 side of the reference line P is the minus (-) side. In the plus side area, for example, a work table (not shown) on which a work material can be placed may be installed.

  When all the control points of the second joint portion 42, the third joint portion 43, and the tip end portion 44 of the grip portion 23 are located on the plus side, the X-axis position of the arm portion 122 is on the plus side. Even when all the control points of the second joint portion 42, the third joint portion 43, and the tip end portion 44 of the grip portion 23 are located on the reference line P, the X-axis position of the arm portion 122 is on the plus side. When any one of the control points of the second joint portion 42, the third joint portion 43, and the tip portion 44 of the grip portion 23 is located on the minus side, the X-axis position of the arm portion 122 is on the minus side.

  11 to 14 show a plurality of examples when the X-axis position of the arm portion 122 is on the minus side. In FIG. 11, all the control points of the second joint portion 42, the third joint portion 43, and the tip end portion 44 of the grip portion 23 are located on the minus side. In FIG. 12, the two control points of the tip portion 44 of the grip portion 23 and the third joint portion 43 are located on the minus side. In FIG. 13, only the control point of the tip portion 44 of the grip portion 23 is located on the minus side. In FIG. 14, only the control point of the second joint 42 is located on the minus side. In each of these four examples, the X-axis position of the arm portion 122 is on the minus side.

  The open state and the closed state of the door 6 will be described with reference to FIGS. 5 and 6. The arm device 12 opens and closes the door 6 by moving along the traveling shaft 18 while being connected to the door 6 by the rod mechanism 30. Therefore, when the door 6 and the arm device 12 are connected, the positions of the door 6 and the arm device 12 in the Y-axis direction are the same. Therefore, when the door 6 and the arm device 12 are connected to each other, the transport device 10 detects the position of the arm device 12 in the Y-axis direction (hereinafter referred to as the Y-axis position) to determine whether the door 6 is in the open state or the closed state. Can be indirectly recognized. The open state is a state of the door 6 in which at least the gripping portion 23 can form an opening width that allows the grip 23 to enter the cover 5 in the opening 511, and when the arm device 12 is positioned between the enterable position and the open end position. This is the state of the door 6 (see FIG. 6). The closed state is a state of the door 6 in which the grip portion 23 cannot enter the cover 5, and is a state of the door 6 when the arm device 12 is positioned between the closed end position and the admissible position (see FIG. 5). ). Therefore, the transport device 10 can recognize whether the door 6 is open or closed by detecting the Y-axis position of the arm device 12.

  The operable range of the arm portion 122 will be described with reference to FIGS. The operable range of the arm unit 122 differs depending on the Y-axis position of the arm device 12 and the X-axis position of the arm unit 122. In this embodiment, the state of the arm device 12 is classified into three states 1, 2-1, and 2-2 according to the Y-axis position of the arm device 12 and the X-axis position of the arm portion 122. In state 1, the door 6 is closed, and in states 2-1 and 2-2, the door 6 is open.

  The Y-axis position of the arm device 12 is classified into two types: entry possible and entry impossible. Entry is possible when the arm device 12 is between the entry position and the open end position, and the grip portion 23 can enter the cover 5. Inaccessible is a position where the arm device 12 is between the closed end position or the closed position and the accessible position, and the grip portion 23 cannot enter the cover 5. In the present embodiment, the operable range of the arm unit 122 is set according to the state of the arm device 12. In the present state, when the arm part 122 is expanded and contracted in the X-axis direction and the Z-axis direction and the arm device 12 is moved in the Y-axis direction in the current state, the arm part 122 moves to the right side wall 51 of the cover 5. It means a range that does not collide with any of the doors 6.

  In state 1 shown in FIG. 8, the door 6 is closed, the Y-axis position of the arm device 12 cannot enter, and the X-axis position of the arm portion 122 is on the plus side. Since the door 6 is in the closed state, the arm portion 122 cannot extend or contract to the minus side, but only to the plus side. The arm device 12 is capable of traveling over the entire area of the traveling shaft 18 in a state of being disconnected from the door 6. The total travel stroke of the entire travel axis 18 of the arm device 12 is L1. The outward expansion stroke on the plus side of the arm portion 122 is L2. Therefore, in the present embodiment, the region 101 is calculated based on the entire region traveling stroke L1 and the outside expansion / contraction stroke L2, and the region 101 is set as the first operable range 100. Therefore, when the arm device 12 travels along the traveling shaft 18 in the state 1 in a state where the arm device 12 is disconnected from the door 6, the arm portion 122 can extend and contract within the first operable range 100. ..

  In the state 2-1 shown in FIG. 9, the door 6 is in the open state, the Y-axis position of the arm device 12 can enter, and the X-axis position of the arm portion 122 is the plus side. Since the door 6 is in the open state, the arm portion 122 can expand and contract on both the plus side and the minus side. When the arm device 12 and the door 6 are connected, the traveling stroke of the arm device 12 on the traveling shaft 18 is L3. The inner expansion / contraction stroke of the arm 122 on the cover 5 side is L4. Therefore, in the present embodiment, the area 102 is calculated based on the traveling stroke L3 and the inner expansion / contraction stroke L4, and the area in which the area 102 and the area 101 are combined is set as the second operable range 200. Therefore, when the arm device 12 is connected to the door 6 in the state 2-1 and travels along the traveling shaft 18, the arm portion 122 can be expanded and contracted within the second operable range 200.

  In the state 2-2 shown in FIG. 10, the door 6 is in the open state, the Y-axis position of the arm device 12 can enter, and the X-axis position of the arm portion 122 is on the minus side. Since the door 6 is in the open state, the arm portion 122 can expand and contract on both the plus side and the minus side. In this case, on the minus side, the arm portion 122 can be expanded and contracted within the area 102, as in the state 2-1. On the plus side, unlike the state 2-1, since the arm portion 122 is located on the cover 5 side, the range in which the arm device 12 can move along the traveling shaft 18 is the range corresponding to the opening range of the opening 511. Restrict. Therefore, in the present embodiment, on the plus side, the area 103 is calculated based on the traveling stroke L3 and the outside expansion / contraction stroke L2, and the area in which the area 103 and the area 102 are combined is set as the third operable range 300. Therefore, in the state 2-2, when the arm device 12 is connected to the door 6 and travels along the traveling shaft 18, the arm portion 122 can be expanded and contracted within the third operable range 300.

  The Z-axis direction in the first operable range 100, the second operable range 200, and the third operable range 300 is preferably set at the height position of the upper end of the opening 511. Therefore, the arm portion 122 can prevent the collision with the right side wall 51 on the upper side of the opening 511. In the movement control process (see FIG. 17) described later, the carrier device 10 sets the above operable range according to the state of the arm device 12.

  The electrical configuration of the transfer device 10 will be described with reference to FIG. The carrier device 10 includes a control unit 70. The control unit 70 includes a CPU 71, a ROM 72, a RAM 73, a storage device 74, and an input / output unit 77. The CPU 71 centrally controls the operation of the transport device 10. The ROM 72 stores various programs such as an expansion / contraction stroke calculation program and a movement control program. The expansion / contraction stroke calculation program executes expansion / contraction stroke calculation processing (see FIG. 17) described later. The movement control program executes a movement control process (see FIG. 18) described later. The RAM 73 temporarily stores various information. The storage device 74 is nonvolatile and stores various information such as a range setting table 741 (see FIG. 16) described later. The input / output unit 77 inputs / outputs data to / from an external device. The proximity sensor 91, the advance / retreat sensors 36, 37, the moving motor 16, the first motor 81, the second motor 82, the third motor 83, the air cylinder 33, the air cylinder 231, and the like are connected to the input / output unit 77.

  The moving motor 16 includes an encoder 16A and an origin sensor 16B. The encoder 16A detects the rotational position of the moving motor 16. The origin sensor 16B detects the origin position of the moving motor 16. The encoder 16A and the origin sensor 16B are connected to the input / output unit 77. The first motor 81 includes an encoder 81A and an origin sensor 81B. The encoder 81A detects the rotational position of the first motor 81. The origin sensor 81B detects the origin position of the first motor 81. The encoder 81A and the origin sensor 81B are connected to the input / output unit 77. The second motor 82 includes an encoder 82A and an origin sensor 82B. The encoder 82A detects the rotational position of the second motor 82. The origin sensor 82B detects the origin position of the second motor 82. The encoder 82A and the origin sensor 82B are connected to the input / output unit 77. The third motor 83 includes an encoder 83A and an origin sensor 83B. The encoder 83A detects the rotational position of the third motor 83. The origin sensor 83B detects the origin position of the third motor 83. The encoder 83A and the origin sensor 83B are connected to the input / output unit 77.

  The range setting table 741 will be described with reference to FIG. The range setting table 741 stores the door state, the Y-axis position of the arm device 12, the X-axis position of the arm unit 122, and the operable range in the above states 1, 2-1, and 2-2 in association with each other. In state 1, the state shown in FIG. 8 is stored, the door state is closed, the Y-axis position is inaccessible, the X-axis position is the plus side, and the operable range is the first operable range. In the state 2-1, the state shown in FIG. 9 is stored, the door state is opened, the Y-axis position is enterable, the X-axis position is positive, and the operable range is the second operable range. In state 2-2, the state shown in FIG. 10 is stored, the door state is open, the Y-axis position is enterable, the X-axis position is negative, and the operable range is the third operable range.

  The expansion / contraction stroke calculation process will be described with reference to FIG. The outer extension stroke L2 and the inner extension stroke L4 (hereinafter, referred to as extension strokes L2 and L4 when collectively referred to) are the length A1 of the first arm 21 (hereinafter referred to as the first arm length A1), It is the sum of the length A2 of the two arms 22 (hereinafter referred to as the second arm length A2) and the length A3 of the grip 23. Specifically, if the length A1 of the first arm 21 is the length from the rotation center K1 of the first joint portion 41 to the rotation center K2 of the second joint portion 42 when viewed in the Y-axis direction. Good. The length A2 of the second arm 22 may be a length from the rotation center K2 of the second joint portion 42 to the rotation center K3 of the third joint portion 43 when viewed in the Y-axis direction. The length A3 of the grip portion 23 may be the length from the rotation center K3 of the third joint portion 43 to the tip portion 44 when viewed in the Y-axis direction.

  For example, when replacing the arm device 12 with a new one, the operator inputs the arm length of the new arm portion on the operation panel 1A. When the operator inputs the arm length, the CPU 71 reads the expansion / contraction stroke calculation program from the ROM 72 and executes this processing. The CPU 71 receives the first arm length A1 (S1). The first arm length A1 is the length of the first arm 21. The operator inputs the first arm length A1 to the operation panel 1A. The CPU 71 receives the second arm length A2 (S2). The second arm length A2 is the length of the second arm 22. The operator inputs the second arm length A2 to the operation panel 1A. The CPU 71 receives the length A3 of the grip portion 23 (S3). The operator inputs the length A3 of the grip portion 23 into the operation panel 1A. The CPU 71 receives various data of A1, A2, A3 from the numerical control device 8 and stores them in the storage device 74. The CPU 71 calculates expansion / contraction strokes L2, L4 based on the stored A1, A2, A3 (S4). The CPU 71 stores the calculated expansion / contraction strokes L2, L4 in the storage device 74 (S5), and ends this processing.

  Referring to FIG. 18, the movement control process is executed. When the carrier device 10 is activated, the CPU 71 reads the movement control program from the ROM 72 and executes this processing. The CPU 71 receives a movement command from the numerical controller 8 to a target coordinate (corresponding to the coordinate position of the target position of the present invention) (S11). The command to move to the target coordinates is a command to move the grip portion 23 to the target coordinates. When the move command is received, the CPU 71 executes operable range setting processing (S12).

  The operable range setting process will be described with reference to FIG. The CPU 71 determines whether or not the arm device 12 and the door 6 are connected (S31). As shown in FIG. 4, when the proximity sensor 91 on the arm device 12 side detects the dog 67 on the door 6 side and the advancing / retreating sensor 37 detects the connecting rod 34, the rod 35 faces the connecting hole 65 of the connecting plate 60. In addition, since the rod 35 is in the protruding position, the rod 35 engages with the connecting hole 65. Since the arm device 12 and the door 6 are connected (S31: YES), the CPU 71 can determine whether the door 6 is open or closed by the Y-axis position of the arm device 12.

  For example, when the proximity sensor 91 detects the dog 67 but the advancing / retreating sensor 37 does not detect the connecting rod 34, the rod 35 is in the standby position, so the rod 35 does not engage with the connecting hole 65, and the arm device 12 and the door. 6 is not connected (S31: NO). Even when the proximity sensor 91 does not detect the dog 67 on the door 6 side, the arm device 12 and the door 6 are not connected (S31: NO). In such a case, the CPU 71 executes a connection process (S33). In the coupling process, as described above, the CPU 71 once moves the arm device 12 along the traveling shaft 18 to the closed end position of the door 6, and then moves at a low speed from the closed end position toward the open end of the door 6. .. When the proximity sensor 91 detects the dog 67, the CPU 71 stops the arm device 12. The rod 35 and the connecting hole 65 face each other. The CPU 71 drives the air cylinder 33 to move the connecting rod 34 and the rod 35 to the left. The tip of the rod 35 is inserted into and engaged with the connecting hole 65. The rod 35 engages with the connecting hole 65, and the arm device 12 and the door 6 are connected. The CPU 71 returns to S31.

  When the arm device 12 and the door 6 are connected (S31: YES), the CPU 71 detects the Y-axis position of the arm device 12 based on the detection signal from the encoder 16A of the moving motor 16 (S32). The CPU 71 determines whether or not the detected Y-axis position can enter, and stores the determination result in the RAM 73. Whether or not entry is possible is determined by whether or not the grip portion 23 can enter the cover 5 through the opening 511. When the Y-axis position is between the approachable position and the open end position, it is determined that the entry is possible, and when the Y-axis position is between the closed end position or between the closed end position and the approachable position, it is determined that the entry is impossible.

  The CPU 71 determines whether the door 6 is in the closed state based on the determination result and the range setting table 741 (see FIG. 16) (S34). If the Y-axis position is inaccessible, the door 6 is closed (S34: YES). In this case, since the arm device 12 is in the state 1 (see FIG. 8), the CPU 71 sets the first operable range 100 (S35). The first operable range 100 (area 101) is set based on the outside expansion / contraction stroke L2 stored in the storage device 74 and the entire area travel stroke L1. The entire region traveling stroke L1 may be stored in the storage device 74 in advance. The CPU 71 ends this processing and advances the processing to S13 of FIG.

  On the other hand, if the Y-axis position can be entered, the door 6 is open (S34: NO). In this case, the CPU 71 detects the X-axis position of the arm portion 122 based on the detection signals from the encoder 81A of the first motor 81, the encoder 82A of the second motor 82, and the encoder 83A of the third motor 83 (S36).

  Based on the detected X-axis position, the CPU 71 determines whether the X-axis position of the arm portion 122 is on the plus side (S37). When the X-axis position is on the plus side (S37: YES), the arm device 12 is in the state 2-1 (see FIG. 9), so the CPU 71 sets the second operable range 200 (S38). The area 102 of the second operable range 200 is set based on the inner extension stroke L4 stored in the storage device 74 and the traveling stroke L3 corresponding to the Y-axis position detected in S32. Area 101 is as described above.

  When the X-axis position is on the minus side (S37: NO), the arm device 12 is in the state 2-2 (see FIG. 10), so the CPU 71 sets the third operable range 300 (S39). The area 103 of the third operable range 300 is set based on the outer expansion / contraction stroke L2 stored in the storage device 74 and the traveling stroke L3 corresponding to the Y-axis position detected in S32. Area 102 is as described above. The CPU 71 ends this processing and advances the processing to S13 of FIG.

  Returning to FIG. 18, the CPU 71 determines whether or not the target coordinates of the move command are within the set operable range (S13). If the target coordinate is outside the operable range (S13: NO), the gripper 23 cannot be moved to the target coordinate, so the CPU 71 limits the movement to the target coordinate (S21) and executes the first warning (S22). The first warning informs that the movement is forcibly restricted because the arm 122 or the grip 23 may collide with the cover 5 when the grip 23 is moved to the target coordinates. Although the mode of notification is not limited, for example, sound, light, display on the operation panel 1A, or the like can be adopted. By the notification, the worker can promptly notice that there is an error in the program command received from the numerical control device 8, for example.

  For example, as shown in FIG. 8, when the target coordinate is within the cover 5 even though the door 6 is in the closed state, the gripping portion 23 is temporarily set to the target coordinate because it is outside the first operable range 100. When moving, the arm portion 122 or the grip portion 23 collides with the right side wall 51 of the cover 5 or the door 6 during movement. Therefore, when the target coordinate is out of the operable range, the CPU 71 limits the movement to the target coordinate. Therefore, the transport device 10 can prevent the arm portion 122 and the grip portion 23 from colliding with the right side wall 51 of the cover 5 and the door 6 by the operation of the arm portion 122 when the door 6 is not sufficiently opened. After the execution of the first warning, the CPU 71 ends this processing.

  When the target coordinates are within the operable range (S13: YES), the CPU 71 starts moving the gripping portion 23 toward the target coordinates (S14). The CPU 71 calculates the moving coordinates on the path to the target coordinates in the next control cycle (S15). The CPU 71 determines whether the moving coordinate is within the operable range (S16). When the moving coordinate is out of the operable range (S16: NO), the arm unit 122 cannot move to the moving coordinate, so the CPU 71 limits the movement to the moving coordinate (S23) and executes the second warning (S24). The second warning notifies that the movement is forcibly stopped because the arm 122 may collide with the cover 5 while moving the grip 23 to the target coordinates. As for the notification mode, similar to the first warning, for example, sound, light, display on the operation panel 1A, or the like can be adopted.

  As shown in FIG. 9, for example, with the second operable range 200 set in S12, the CPU 71 temporarily targets the point G1 which is the left rear corner of the area 102 to the point G2 which is the left rear corner of the area 101. When the movement command for coordinates is received, the point G2, which is the target coordinate, is within the second operable range 200, so the CPU 71 starts moving the grip portion 23.

  For example, when the arm unit 12 moves in the Y-axis direction and the arm unit 122 moves in the X-axis direction so that the gripping unit 23 moves linearly from the point G1 to the point G2, during the movement, The arm portion 122 may come out of the second operable range 200 and collide with the right side wall 51 of the cover 5. Therefore, even when the moving coordinate of the next control cycle is outside the second operable range 200 while the gripper 23 is moving toward the target coordinate (S16: NO), the CPU 71 restricts the moving to the moving coordinate. Yes (S23). Therefore, the transport device 10 can prevent the arm portion 122 from colliding with the right side wall 51 of the cover 5 and the door 6 by the operation of the arm portion 122 while the grip portion 23 is moving. After the execution of the second warning (S24), the CPU 71 ends this processing.

  When the moving coordinate of the next control cycle is within the operable range (S16: YES), the CPU 71 moves the grip 23 to the moving coordinate (S17). The CPU 71 calculates the position of the grip portion 23 based on the detection signals of the encoders 16A and 81A to 83A, and determines whether or not the grip portion 23 has reached the target coordinates (S18). When the target coordinates are not reached (S18: NO), the CPU 71 returns to S15 and repeats the processing. When the target coordinates are reached (S18: YES), the CPU 71 completes the movement of the grip portion 23 (S19), and ends this processing.

  As described above, the machine tool 1 according to the first embodiment includes the transport device 10 on the right side wall 51 of the cover 5. The transfer device 10 includes a traveling shaft 18, a moving unit 11, an arm device 12, a rod mechanism 30, and a control unit 70. The traveling shaft 18 is provided parallel to the moving direction of the door 6 that opens and closes the opening 511 provided in the right side wall 51 of the cover 5 of the machine tool 1. The moving direction of the door 6 is the Y-axis direction. The moving unit 11 moves along the traveling shaft 18. The arm device 12 is provided on the upper part of the moving unit 11 and is provided with an arm part 122 that can expand and contract in the X-axis direction, and a grip part 23 that can grip a work material at the tip of the arm part 122 and extends to the cover 5 side. When it is opened, it can enter the cover 5 through the opening 511. The rod mechanism 30 connects the arm device 12 and the door 6. The transfer device 10 transfers the work material gripped by the gripping part 23 by the controller 70 controlling the operations of the moving part 11, the arm device 12, and the rod mechanism 30.

  The CPU 71 of the control unit 70 detects the position of the door 6 and the expansion / contraction position of the arm device 12 in the X-axis direction (X-axis position of the arm unit 122). The CPU 71 sets the operable range based on the position of the door 6 and the X-axis position of the arm device 12. The operable range means that when the arm device 12 is extended to the cover 5 side or the side opposite to the cover 5 and the moving part 11 is moved along the traveling shaft 18, the arm part 122 and the gripping part 23 cause the right side wall 51 and the grip part 23 to move. It is a range that does not touch any of the doors 6. The CPU 71 receives a movement command for moving the grip portion 23 to the target coordinates, and determines whether the target coordinates are within the operable range. When it is determined that the target coordinates are within the operable range, the CPU 71 controls the operations of the moving unit 11 and the arm device 12, and executes the movement command. When determining that the target coordinate is outside the operable range, the CPU 71 limits execution of the movement command. Therefore, the transfer device 10 can prevent the arm part 122 and the grip part 23 of the arm device 12 from colliding with the door 6 and the right side wall 51. For example, when the movement instruction to move the grip portion 23 to the cover 5 side is received even though the door 6 is not fully opened, the conveyance device 10 restricts execution of the movement instruction, and therefore the grip portion 23 and the grip portion It is possible to prevent the portion 23 from colliding with the door 6.

  In the first embodiment, the CPU 71 sets one of the first operable range 100, the second operable range 200, and the third operable range 300 according to the position of the door 6 and the X-axis position of the arm portion 122. To do. Therefore, the carrier device 10 can effectively prevent the arm portion 122 and the grip portion 23 from colliding with the door 6 and the right side wall 51.

  The transport device 10 according to the first embodiment detects that the proximity sensor 91 provided on the arm device 12 side, the position detection dog 67 provided on the door 6 side, and the rod 35 of the rod mechanism 30 have moved to the projecting position. An advance / retreat sensor 37 is provided. When the proximity sensor 91 detects the dog 67, the rod 35 and the connecting hole 65 of the connecting plate 60 face each other. When the rod 35 faces the connecting hole 65 and the advancing / retreating sensor 37 detects that the rod 35 has moved to the projecting position, the rod 35 is inserted into the connecting hole 65 and engages with the door 6 and the arm device 12. Connect to each other. The CPU 71 can detect the Y-axis position of the arm device 12 based on the detection signal from the encoder 16A of the moving motor 16. When the door 6 and the arm device 12 are connected to each other, the CPU 71 detects the position of the door 6 by detecting the Y-axis position of the arm device 12. Therefore, the carrier device 10 can know the position of the door 6 by detecting the Y-axis position of the arm device 12 connected to the door 6, and therefore it is necessary to detect the position of the door 6 and the Y-axis position of the arm device 12 separately. There is no.

  In the first embodiment, when the X-axis position of the arm device 12 is on the cover 5 side with respect to the reference line P, the CPU 71 determines that the X-axis position is on the cover 5 side. Therefore, even if the door 6 is open and the arm device 12 does not enter the cover 5, the carrier device 10 sets the third operable range 300 when the X-axis position is on the cover 5 side. .. Therefore, the carrier device 10 can effectively prevent the arm portion 122 and the grip portion 23 from colliding with the door 6.

  The arm device 12 of the first embodiment is a multi-joint robot including a first arm 21, a second arm 22, a grip 23, a first joint 41, a second joint 42, a third joint 43, and the like. .. When at least one of the grip 23, the second joint 42, and the third joint 43 of the arm device 12 is located closer to the cover 5 than the reference line P, the CPU 71 determines that the X-axis position is the cover 5 side. .. Therefore, the carrier device 10 can effectively prevent the arm portion 122 and the grip portion 23 from colliding with the door 6.

  The carrier device 10 of the first embodiment receives the arm lengths of the first arm 21 and the second arm 22 of the arm portion 122 on the operation panel 1A. The CPU 71 calculates the extension / contraction stroke (L2, L4) of the arm portion 122 in the X-axis direction based on the arm length received by the operation panel 1A. Therefore, even if the arm lengths of the first arm 21 and the second arm 22 are changed by exchanging the arm device 12, the transfer device 10 can calculate the extension / contraction stroke from the arm length after the exchange. Therefore, the transport device 10 can set the operable range based on the calculated expansion / contraction stroke.

  In the above description, the CPU 71 of the control unit 70 is an example of the operation control unit of the present invention. CPU71 which performs the process of S34 of FIG. 19 is an example of the door position detection part of this invention. CPU71 which performs the process of S32 is an example of an arm position detection part. CPU71 which performs the process of S34-S39 is an example of an operable range setting part. CPU71 which performs the process of S11 of FIG. 18 is an example of the reception part of this invention. CPU71 which performs the process of S13 and S16 is an example of the determination part of this invention. CPU71 which performs the process of S14 is an example of the execution part of this invention. The CPU 71 that executes the process of S21 is an example of the execution limiting unit of the present invention.

  CPU71 which performs the process of S35 of FIG. 19 is an example of the 1st range setting part of this invention. CPU71 which performs the process of S38 is an example of the 2nd range setting part of this invention. CPU71 which performs the process of S39 is an example of the 3rd range setting part of this invention. The proximity sensor 91, the dog 67, and the advance / retreat sensor 37 are an example of the connection detection unit of the present invention. The CPU 71 that executes the processes of S36 and S37 is an example of an arm position determination unit. The 1st arm 21 and the 2nd arm 22 are examples of a plurality of arm parts of the present invention. The CPU 71 that executes the processes of S1 and S2 in FIG. 17 is an example of the arm length acceptance unit of the present invention. CPU71 which performs the process of S4 is an example of the calculation part of this invention.

  A second embodiment of the present invention will be described with reference to FIGS. The machine tool of the second embodiment is provided with a transfer device as in the first embodiment, but is different in that the rod mechanism 30 is not provided (see FIG. 20). Since the door 6 and the arm device 12 are not connected, the door 6 is manually opened and closed. Therefore, unlike the first embodiment, the second embodiment needs to detect the position of the door 6 separately from the Y-axis position of the arm device 12.

  As shown in FIG. 21, the transport device according to the second embodiment includes a distance sensor 55 to detect the position of the door 6. The distance sensor 55 is, for example, an optical sensor, and receives a reflected wave of the detection wave transmitted from the transmission section reflected by a foreign object at the reception section, and applies a triangulation method to measure the distance to the foreign object. Etc. can be used. The distance sensor 55 is provided on the outer surface of the right side wall 51 of the cover 5 at a position facing the upper end of the rear end of the door 6 when the opening 511 is closed. A detected part 61 is attached to the upper part of the rear end of the door 6. The distance sensor 55 measures the distance to the detected part 61 and outputs a measurement signal to the control part 70. The CPU 71 determines whether the door 6 is open or closed based on the measurement signal. The method of detecting the position of the door 6 is not limited to the distance sensor, but another type of sensor or the like may be used, for example, a proximity sensor may be used. Moreover, you may use the mechanical switch etc. which turn on / off mechanically according to opening / closing of the door 6.

  Since the door 6 opens and closes independently of the arm device 12, the positional relationship between the door 6 and the arm device 12 is different from that in the first embodiment. As described above, in the first embodiment, the state of the arm device 12 that can be connected to the door 6 is classified into three types of state 1, state 2-1, and state 2-2. In the second embodiment, the states of the door 6 and the arm device 12 are the states 1-1, 1-2, 1-3, 1-4, 2-1, 2-2, 2-3, 2-4 described later. It is classified into eight types.

  The storage device 74 of the second embodiment stores a range setting table 742 (see FIG. 20). The range setting table 742 associates the door state, the Y-axis position of the arm device 12, the X-axis position of the arm unit 122, and the operable range, respectively, similarly to the range setting table 741 (see FIG. 16) of the first embodiment. To remember. There are eight types of states 1-1, 1-2, 1-3, 1-4, 2-1, 2-2, 2-3, and 2-4. The door states of states 1-1, 1-2, 1-3, 1-4 are closed, and the door states of states 2-1, 2-2, 2-3, 2-4 are open.

  The state 1-1 has the same positional relationship as the state 1 of the first embodiment (see FIG. 21). Therefore, the range setting table 742 stores, for state 1-1, the door state is closed, the Y-axis position is inaccessible, the X-axis position is the plus side, and the operable range is the first operable range 100. State 1-2 is a positional relationship in which the door 6 is in the closed state, but the arm device 12 is in a position where the grip portion 23 can enter the cover 5 (see FIG. 22). The arm portion 122 extends to the plus side. Since the door 6 is in the closed state, the operable range is set to the first operable range 100. Therefore, the range setting table 742 stores the door closed, the Y-axis position is enterable, the X-axis position is positive, and the operable range is the first operable range.

  In the state 1-3, the X-axis position is on the minus side even though the door 6 is in the closed state, so that the arm portion 122 and the grip portion 23 may interfere with the door 6 and the right side wall 51. high. Therefore, the range setting table 742 does not store the operable range and causes an error. Even in the state 1-4, the X-axis position is on the minus side even though the door 6 is closed, so that the arm portion 122 and the grip portion 23 are likely to interfere with the door 6 and the right side wall 51. Therefore, the range setting table 742 does not store the operable range and causes an error.

  The state 2-1 has the same positional relationship as the state 2-1 of the first embodiment (see FIG. 23). Therefore, the range setting table 742 stores the state 2-1 in which the door state is open, the Y-axis position is enterable, the X-axis position is positive, and the operable range is the second operable range 200. The state 2-2 also has the same positional relationship as the state 2-2 of the first embodiment (see FIG. 24). Therefore, the range setting table 742 stores the state 2-2 in which the door state is open, the Y-axis position is enterable, the X-axis position is negative, and the operable range is the third operable range 300.

  State 2-3 is a positional relationship in which the door 6 is in the open state, but the arm device 12 is at the closed end position of the traveling shaft 18 and the grip portion 23 is in a position where it cannot enter the cover 5 (Fig. 25). The X-axis position of the arm portion 122 is on the plus side. Although the door 6 is in the open state, since the grip 23 cannot enter the cover 5, the operable range is set to the first operable range 100. Therefore, the range setting table 742 stores the door state is open, the Y-axis position is enterable, the X-axis position is positive, and the operable range is the first operable range 100. In the state 2-4, although the Y-axis position is inaccessible, the X-axis position is on the minus side, so that the arm portion 122 and the grip portion 23 may interfere with the door 6 and the right side wall 51. Is high. Therefore, the range setting table 742 does not store the operable range and causes an error.

  The operable range setting process will be described with reference to FIG. The movement control process executed by the CPU 71 of the second embodiment is the same as the movement control process (see FIG. 18) of the first embodiment, and thus the description thereof is omitted. The CPU 71 detects the position of the door 6 based on the measurement signal from the distance sensor 55 (S41). The CPU 71 determines whether or not it is in the closed state based on the detected position of the door 6 (S42). When the door 6 is in the closed state (S42: YES), the CPU 71 detects the X-axis position of the arm section 122 (S43). The CPU 71 determines whether the X-axis position is on the plus side (S44).

  When the X-axis position is on the plus side (S44: YES), since it is the state 1-1, the CPU 71 sets the first operable range 100 based on the range setting table 742 (S45). When the X-axis position is on the minus side (S44: YES), the arm portion 122 is likely to interfere with the door 6 and the right side wall 51, so the CPU 71 issues a warning (S46) and stops the operation (S47). The process ends. As for the warning mode, for example, sound, light, display on the operation panel 1A, or the like can be adopted. Therefore, the carrier device 10 can prevent the arm portion 122 from moving while interfering with the door 6 when the door 6 is in the closed state.

  When the door 6 is in the open state (S42: NO), the CPU 71 detects the Y-axis position of the arm device 12 (S51). The CPU 71 determines whether or not the detected Y-axis position can enter (S52). When it is possible to enter (S52: YES), the CPU 71 detects the X-axis position of the arm portion 122 (S53). The CPU 71 determines whether the X-axis position is on the plus side (S54). If the X-axis position is on the plus side (S54: YES), the state is 2-1 and the CPU 71 sets the second operable range 200 based on the range setting table 742 (S55). When the X-axis position is on the minus side (S54: NO), the state is 2-2, so the CPU 71 sets the third operable range 300 based on the range setting table 742 (S56).

  When the Y-axis position is inaccessible (S52: NO), the CPU 71 detects the X-axis position of the arm portion 122 (S58). The CPU 71 determines whether the X-axis position is on the plus side (S59). When the X-axis position is on the plus side (S59: YES), the state is 2-3, so the CPU 71 sets the first operable range 100 based on the range setting table 742 (S60). When the X-axis position is on the minus side (S59: NO), the arm portion 122 is likely to interfere with the door 6 and the right side wall 51, so the CPU 71 advances the processing to S46 to issue a warning and stop the operation (S47). ) And ends the process.

  As described above, the machine tool of the second embodiment includes the transfer device as in the first embodiment, but does not include the connecting mechanism that connects the door 6 and the arm device 12. Therefore, the CPU 71 of the transport device detects the position of the door 6, the Y-axis position of the arm device 12, and the X-axis position of the arm portion 122, respectively. The CPU 71 sets the operable range based on the position of the door 6, the Y-axis position of the arm device 12, and the X-axis position of the arm unit 122. The CPU 71 receives a movement command for moving the grip portion 23 to the target coordinates, and determines whether the target coordinates are within the operable range. When it is determined that the target coordinates are within the operable range, the CPU 71 controls the operations of the moving unit 11 and the arm device 12, and executes the movement command. When determining that the target coordinate is outside the operable range, the CPU 71 limits execution of the movement command. Therefore, the carrier device of the second embodiment can prevent the arm device 12 from colliding with the door 6 and the right side wall 51, as in the first embodiment. The door 6 may not be opened and closed manually, but may be automatically opened and closed by a drive source such as a servo motor, an air cylinder, a hydraulic cylinder or the like.

  The present invention is not limited to the first and second embodiments described above, and various modifications are possible. For example, although the machine tool 1 is a vertical machine tool, it may be a horizontal machine tool whose main axis extends in the horizontal direction. The machine tool 1 may be anything as long as it is a machine for processing a work material, and may be, for example, a lathe or a composite machine capable of both machining and cutting.

  The transfer device 10 is provided on the right side wall 51 of the cover 5, but may be provided on another wall portion, for example, on the front wall portion, the left wall portion, or the back wall portion.

  The arm unit 122 of the arm device 12 includes two first arms 21 and two second arms 22, but may include two or more arms. The arm portion 122 may be provided with a joint portion in accordance with the number of arms. The grip structure of the grip portion 23 is not limited to the above embodiment.

  The rod mechanism 30 is a system in which the rod 35 is projected toward the cover 5 side and is inserted into and engaged with the connecting hole 65 of the connecting plate 60 provided in the door 6, but the door 6 and the arm device 12 are connected by a method other than this. You may.

  In S11 of the movement control process (see FIG. 18) of the above embodiment, the CPU 71 receives a movement command from the numerical control device 8. For example, the transport device 10 is provided with an operation unit (not shown), and the movement command is issued from the operation unit. May be accepted.

DESCRIPTION OF SYMBOLS 1 Machine tool 1A Operation panel 5 Cover 6 Door 10 Transfer device 11 Moving part 12 Arm device 18 Traveling shaft 21 First arm 22 Second arm 23 Gripping part 30 Rod mechanism 41 First joint part 42 Second joint part 43 Third joint Part 51 Right Side Wall 55 Distance Sensor 65 Connection Hole 71 CPU
100 First movable range 200 Second movable range 300 Third movable range 511 Opening 512 Wall part A1 First arm length A2 Second arm length L1 Full range traveling stroke L2 Outside expansion stroke L3 Running stroke L4 Inside expansion stroke P reference line

Claims (9)

A traveling axis provided parallel to the moving direction of the door that opens and closes the opening provided in the wall of the cover that surrounds the machine tool;
A moving unit that moves along the traveling axis,
The moving part is provided with a gripping part capable of expanding and contracting in a predetermined direction parallel to the direction orthogonal to the opening part, and having a tip part capable of gripping a work material, and the opening part when extended to the cover side. An arm device that can enter into the cover via
An operation control unit that controls the operation of the moving unit and the arm device;
In a transfer device in which the operation control unit controls the moving unit and the arm device to transfer the work material held by the holding unit,
A door position detection unit that detects a door position that is the position of the door,
A moving position detecting unit that detects a moving position that is the position of the moving unit,
An arm position detection unit that detects an expansion / contraction position of the arm device in the predetermined direction,
Based on the door position detected by the door position detection unit, the movement position detected by the movement position detection unit, and the expansion / contraction position detected by the arm position detection unit, the arm device is provided on the cover side, or Operable range setting that extends to the side opposite to the cover side and sets an operable range in which the arm device does not come into contact with either the wall part or the door when the moving part is moved along the traveling axis Department,
A receiving unit that receives a movement command to move the gripping unit to a target position,
When the reception unit receives the movement command, the target position includes a determination unit that determines whether the target position is within the operable range set by the operable range setting unit,
The operation control unit,
If the determination unit determines that the target position is within the operable range, an execution unit that controls operations of the moving unit and the arm device and executes the movement command,
A carrying device, comprising: an execution restriction unit that restricts execution of the movement command when the determination unit determines that the target position is outside the operable range. When the door position detected by the door position detection unit is a closed position that closes the opening, the operable range setting unit is a full-area travel stroke capable of traveling in the entire area of the travel axis of the moving unit. And a first range setting unit that sets a first operable range based on an outside expansion / contraction stroke that is an expansion / contraction stroke on the opposite side of the arm device,
When the door position detected by the door position detection unit is an open position for opening the opening, and the expansion / contraction position detected by the arm position detection unit is on the opposite side, the opening range of the opening is A second operation is possible based on the traveling stroke of the corresponding moving portion on the traveling axis, the inner stretching stroke that is the stretching stroke on the cover side of the arm device, the entire region traveling stroke, and the outer stretching stroke. A second range setting section for the range,
When the door position detected by the door position detection unit is an open position that opens the opening and the expansion / contraction position detected by the arm position detection unit is on the cover side, the travel stroke and the arm The transport device according to claim 1, further comprising a third range setting unit that sets a third operable range based on a stretching stroke of the device in the predetermined direction. A traveling axis provided parallel to the moving direction of the door that opens and closes the opening provided in the wall of the cover that surrounds the machine tool;
A moving unit that moves along the traveling axis,
The moving part is provided with a gripping part capable of expanding and contracting in a predetermined direction parallel to the direction orthogonal to the opening part, and having a tip part capable of gripping a work material, and the opening part when extended to the cover side. An arm device that can enter into the cover via
A connecting mechanism for connecting the arm device and the door,
An operation control unit that controls the operation of the moving unit, the arm device, and the connecting mechanism;
In a transfer device in which the operation control unit controls the moving unit, the arm device, and the connection mechanism, and which transfers the work material held by the holding unit,
A door position detection unit that detects a door position that is the position of the door,
An arm position detection unit that detects an expansion / contraction position of the arm device in the predetermined direction,
Based on the door position detected by the door position detection unit and the expansion / contraction position detected by the arm position detection unit, the arm device is extended to the cover side or the side opposite to the cover, and the moving unit is extended. An operable range setting unit that sets an operable range in which the arm device does not come into contact with either the wall portion or the door when the arm device moves along the traveling axis;
A receiving unit that receives a movement command to move the gripping unit to a target position,
When the reception unit receives the movement command, the target position includes a determination unit that determines whether the target position is within the operable range set by the operable range setting unit,
The operation control unit,
If the determination unit determines that the target position is within the operable range, an execution unit that controls operations of the moving unit and the arm device and executes the movement command,
A carrying device, comprising: an execution restriction unit that restricts execution of the movement command when the determination unit determines that the target position is outside the operable range. The operable range setting unit,
When the door position detected by the door position detection unit is a closing position that closes the opening, the entire region traveling stroke capable of traveling the entire region of the traveling shaft of the moving unit, and the opposite of the arm device. A first range setting unit that sets the first operable range based on the outer expansion and contraction stroke that is the expansion and contraction stroke on the side,
When the door position detected by the door position detection unit is an open position that opens the opening and the expansion / contraction position detected by the arm position detection unit is on the opposite side, the door is connected to the door by the connecting mechanism. The traveling stroke of the traveling shaft corresponding to the opening range of the opening of the moving unit, the inner stretching stroke that is the stretching stroke on the cover side of the arm device, the entire region traveling stroke, and the outer stretching stroke. Based on, and a second range setting unit to the second operable range,
When the door position detected by the door position detection unit is an open position that opens the opening and the expansion / contraction position detected by the arm position detection unit is on the cover side, the travel stroke and the arm The transport device according to claim 3, further comprising: a third range setting unit that sets a third operable range based on a stretching stroke of the device in the predetermined direction. A connection detection unit that detects the connection between the arm device and the door,
A moving position detecting unit for detecting a moving position of the arm device;
The door position detection unit,
The transport apparatus according to claim 3, wherein the door position is detected based on the movement position detected by the movement position detection unit in a state where the connection detection unit detects the connection. The operable range setting unit,
When the extension / contraction position detected by the arm position detection unit is closer to the cover than the reference position set between the door and the arm device, the extension / contraction position is determined to be the cover side by an arm position determination unit. The transport apparatus according to claim 2, further comprising: The arm device is
A plurality of long arm parts,
At least one joint that connects the plurality of arms in a bendable manner,
The arm position detection unit detects a position of the joint unit and a position of the grip unit,
If at least one of the position of the joint portion and the position of the grip portion detected by the arm position detection unit is closer to the cover than the reference position, the arm position determination unit determines that the expansion / contraction position is The transport device according to claim 6, wherein the transport device is determined to be on the cover side. An arm length receiving unit that receives an arm length that is the length of the arm unit in the lengthwise direction,
The operable range setting unit,
The transport device according to claim 7, further comprising: a calculation unit that calculates the outer expansion / contraction stroke, the inner expansion / contraction stroke, and the expansion / contraction stroke based on the arm length received by the arm length reception unit. A cover surrounding the machine tool,
A machine tool comprising: the transport device according to any one of claims 1 to 8, which is capable of opening and closing an opening provided in a wall portion of the cover and capable of transporting a work material.

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