JP2020138315A - Production system - Google Patents

Abstract

To provide a production system that is constituted of an unmanned carrier, a robot with a camera, and a machine tool, and that is capable of discharging swarf when an accumulated amount of the swarf reaches a discharge reference amount.SOLUTION: A production system includes: a machine tool 10; a robot 20 which is provided with a camera 26 for capturing images, and carries out work on the machine tool 10; an unmanned carrier 30 loaded with the robot 20, and passing a work position set for the machine tool 10; and a control device 40 for controlling the unmanned carrier 30 and the robot 20. The control device 40 makes the robot 20 operate, after moving the unmanned carrier 30 to the work position, and images inside a processing area of the machine tool 10 using the camera 26 in order to detect an accumulated state of swarf in the processing area on the basis of the acquired image, and determines whether cleaning is required or not inside the processing area.SELECTED DRAWING: Figure 3

Description

The present invention includes a machine tool that processes a work, a robot that works on the machine tool, an automatic guided vehicle that is equipped with the robot and passes through a work position set for the machine tool, and these robots and an automatic guided vehicle. The present invention relates to a production system equipped with a control device for controlling the operation of.

Conventionally, as an example of the above-mentioned production system, a production system disclosed in Japanese Patent Application Laid-Open No. 2019-93481 (Patent Document 1 below) is known. In such a production system, an automatic guided vehicle equipped with a robot moves to a work position set for the machine tool, and at the work position, the robot performs work such as attaching / detaching the work to the machine tool. Will be executed.

In this production system, one robot moved by an automatic guided vehicle can perform work such as attaching / detaching a work to a plurality of machine tools, so that the robot is fixed to the machine tools. Since the degree of freedom in the layout of the machine tool is increased as compared with the case of disposing in the above, the layout of the machine tool can be set to a layout capable of further improving the production efficiency. In addition, compared to the conventional production system in which the robots are arranged in a fixed state, it is possible to work on more machine tools with one robot, so that the equipment cost can be reduced. ..

On the other hand, since the automatic guided vehicle has a structure of self-propelling using wheels, its positioning accuracy of stopping at the working position is not necessarily high. Therefore, in order for the robot to perform accurate work on the machine tool, the posture of the robot when the automatic guided vehicle is positioned at the work position and the robot set at the time of so-called teaching, which is a control reference, are used. It is necessary to compare with the reference posture, detect the amount of error, and correct the working posture of the robot according to the amount of error.

As a technique for correcting the posture of such a robot, a position correction method as disclosed in Japanese Patent Application Laid-Open No. 2016-221622 (Patent Document 2 below) is conventionally known. Specifically, in this position correction method, a visual target composed of two calibration markers is arranged on the outer surface of the machine tool, and the visual target is imaged by a camera provided on a movable part of the robot. The relative positional relationship between the robot and the machine tool is measured based on the captured image and the position and orientation of the camera, and the working posture of the robot is corrected based on the measured positional relationship. ..

JP-A-2019-93481 JP-A-2016-221622

By the way, in the case of a machine tool, particularly a machine tool that performs cutting, if chips are accumulated in the processing area, it is expected that the guide portion of the moving body will be adversely affected, and the heat storage caused by the chips will cause the machine tool to be thermally deformed. Causes the problem of doing.

Therefore, conventionally, the coolant used at the time of processing is periodically discharged into the processing area, and the chips accumulated in the processing area are guided (washed out) to an appropriate discharge device such as a chip conveyor and passed through the discharge device. Therefore, chips are discharged out of the processing area.

However, the cleaning process of discharging the coolant into the processing area to wash away the chips needs to be performed by interrupting the processing. Therefore, if this cleaning process is performed frequently, the problem of chip accumulation in the processing area is solved. On the other hand, there is a problem that the operating rate of the machine tool is lowered and the productivity is lowered.

Therefore, even in the above-mentioned production system, the amount of chips accumulated in the processing area is detected, and the amount of chips accumulated exceeds a predetermined reference value. It is preferable that the cleaning process is executed when the cleaning process reaches a certain level, because the balance between the merit obtained by discharging the chips out of the processing area and the productivity can be improved.

The present invention has been made in view of the above circumstances, and is used in a production system in which a robot mounted on an automatic guided vehicle and equipped with a camera is configured to perform work on a machine tool. The purpose is to provide a production system that enables the discharge of the chips when the accumulated amount reaches the emission standard amount.

The present invention for solving the above problems
Machine tools that perform predetermined machining on workpieces and
A robot that has a camera that captures images and works on the machine tool,
An automatic guided vehicle equipped with the robot and passing through a work position set for the machine tool.
A production system including the automatic guided vehicle and a control device for controlling a robot.
The control device moves the automatic guided vehicle to the working position, then operates the robot, images the inside of the processing area of the machine tool with the camera, and based on the obtained image. The present invention relates to a production system configured to detect the accumulated state of chips in the processing area and determine the necessity of cleaning in the processing area.

According to this production system, the automatic guided vehicle and the robot are controlled by the control device, and the automatic guided vehicle passes through a working position set for the machine tool. Then, under the control of the control device, the robot sequentially takes a plurality of working postures according to an operation program including a preset operation command, so that, for example, a work such as attaching / detaching a work to a machine tool can be performed. Execute.

At that time, the control device was obtained by first moving the automatic guided vehicle to the working position, then operating the robot, and using the camera to image the inside of the processing area of the machine tool. Based on the image, it is possible to detect the accumulated state of chips in the processed region and determine the necessity of cleaning in the processed region. For example, the control device processes an image in the processing area captured by the camera to detect the distribution state of chips occupied by the image, and if the distribution of chips exceeds a predetermined range, it is paraphrased. For example, if the volume of chips exceeds the emission standard amount, it is determined that the processing area needs to be cleaned. The distribution state of chips can be detected by capturing an initial image of a state in which chips are not accumulated with the camera in advance and acquiring it, and comparing the initial image with the current image. A machine learning method can be used for the processing.

Then, when it is determined that the cleaning in the machining area is unnecessary, the control device controls the robot according to the operation program and causes the designated subsequent operation to be executed.

Thus, in this production system, when the machine tool is made to perform work by using an automatic guided vehicle and a robot, first, an image in the processing area is captured by using a camera arranged in the robot. By detecting the accumulated state of chips in the machining area and determining the necessity of cleaning in the machining area, it is possible to accurately and appropriately determine when cleaning in the machining area is necessary. be able to. In addition, since the camera placed on the robot that can perform highly flexible movements is used to detect the chip accumulation state, the chip accumulation state can be detected at any place in the machining area. Can be done.

If the control device is configured to output to the outside when it is determined that cleaning is necessary, for example, a machine tool operator removes chips from the machining area. Can be executed properly.

Alternatively, in the above production system, when the machine tool has a function of executing a cleaning process for discharging chips in the machining area, the control device determines that cleaning is necessary, and the work is performed. It is possible to take an embodiment configured to transmit a cleaning signal to the machine to perform the cleaning process.

According to this production system, when the control device determines that cleaning is necessary, a cleaning signal is transmitted from the control device to the machine tool, and the machine tool that receives the cleaning signal executes the cleaning process. When chips are accumulated in the processing area and cleaning is required, the cleaning can be automatically performed, whereby the necessary cleaning work can be performed more appropriately. Then, by doing so, good production can be performed without lowering the operating rate of the machine tool more than necessary. As an embodiment for cleaning chips, an embodiment using coolant or compressed gas can be exemplified.

Further, in the present invention, the process of detecting the accumulated state of the chips may be executed by a processing device provided separately from the control device. In this case, in addition to the above configuration, the production system includes a processing device that performs data processing, and the control device operates the robot after moving the unmanned transport vehicle to the working position. The camera is configured to image the inside of the processing area of the machine tool and transmit the obtained image data to the processing device, and the processing device is configured based on the image data transmitted from the control device. It is configured to detect the accumulated state of chips in the processing area and determine the necessity of cleaning in the processing area.

Then, when it is determined that cleaning is necessary, the processing apparatus may be configured to output the fact to the outside, and further, a cleaning process in which the machine tool discharges chips in the processing area. If the processing device is provided with a function to execute the cleaning process, the processing device is configured to send a cleaning signal to the machine tool to execute the cleaning process when it is determined that cleaning is necessary. Can be taken.

Alternatively, in the present invention, the process of detecting the accumulated state of the chips may be executed by the machine tool. In this case, the control device of the production system is obtained by moving the automatic guided vehicle to the working position, then operating the robot, and using the camera to image the inside of the processing area of the machine tool. The machine tool is configured to transmit the image to the machine tool, and the machine tool detects the accumulated state of chips in the processing region based on the image transmitted from the control device, and transmits the chip accumulation state in the processing region. It is configured to determine the need for cleaning.

When the machine tool determines that cleaning is necessary, the machine tool may be configured to output the fact to the outside, and further, the machine tool discharges chips in the machining area. If the machine tool is provided with a function of executing the above, the machine tool may be configured to execute the cleaning process when it is determined that cleaning is necessary.

According to the production system according to the present invention, when a machine tool is made to perform work by using an automatic guided vehicle and a robot, first, an image in a processing area is imaged by using a camera arranged in the robot. As a result, the accumulated state of chips in the machining area is detected to determine the necessity of cleaning in the machining area, so that the time when cleaning in the machining area is necessary can be accurately and appropriately determined. can do. In addition, since the camera placed on the robot that can perform highly flexible movements is used to detect the chip accumulation state, the chip accumulation state can be detected at any place in the machining area. Can be done.

Then, when it is determined that cleaning is necessary, if it is output to the outside to that effect, for example, the operator of the machine tool can appropriately perform the cleaning work of removing chips from the machining area. .. Alternatively, if the machine tool has a function to execute a cleaning process for discharging chips in the machining area, the machine tool automatically executes the cleaning when it is determined that cleaning is necessary. be able to. Then, in this way, the necessary cleaning work of chips can be appropriately executed, and good production can be performed without lowering the operating rate of the machine tool more than necessary.

It is a top view which showed the production system which concerns on 1st Embodiment of this invention. It is a perspective view which showed the automatic guided vehicle and the robot which concerns on 1st Embodiment. It is a block diagram which showed the structure of the production system which concerns on 1st Embodiment. It is a flowchart which showed the process in the cleaning necessity determination part of 1st Embodiment. It is explanatory drawing for demonstrating the operation posture of the robot which concerns on 1st Embodiment. It is explanatory drawing for demonstrating the operation posture of the robot which concerns on 1st Embodiment. It is a block diagram which showed the structure of the production system which concerns on 2nd Embodiment. It is a block diagram which showed the structure of the production system which concerns on 3rd Embodiment. It is a flowchart which showed the process in the cleaning necessity determination part of the machine tool which concerns on 3rd Embodiment.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings.

(First Embodiment)
First, the first embodiment of the present invention will be described. As shown in FIGS. 1 to 3, the production system 1 of this example controls a machine tool 10, an automatic guided vehicle 30, a robot 20 mounted on the automatic guided vehicle 30, and the robot 20 and the automatic guided vehicle 30. It is composed of a control device 40 and the like.

As shown in FIGS. 5 and 6, the machine tool 10 includes a work spindle 11 on which a chuck (not shown) for gripping the work is mounted, and a tool spindle 12 on which a tool (not shown) is held. It is a so-called multi-tasking type NC (numerical control) machine tool, and can perform both turning and milling. Further, coolant nozzles 13 and 14 for discharging coolant are provided in the vicinity of the work spindle 11, and similarly, a coolant nozzle 15 for discharging coolant is provided in the vicinity of the tool spindle 12. These coolant nozzles 13, 14 and 15 function as a chip cleaning mechanism. In addition, in FIGS. 5 and 6, the chuck and the tool are not shown for convenience.

As shown in FIG. 1, the automatic guided vehicle 30 is provided with the robot 20 mounted on a mounting surface 31 on the upper surface thereof, and an operation panel 32 that can be carried by an operator. The operation panel 32 includes an input / output unit for inputting / outputting data, an operation unit for manually operating the automatic guided vehicle 30 and the robot 20, a display capable of displaying a screen, and the like.

Further, the automatic guided vehicle 30 is provided with a sensor (for example, a distance measurement sensor using a laser beam) capable of recognizing its own position in the factory, and the machine tool 10 is controlled by the control device 40. It is configured to travel on a trackless track in the factory including the area where the machine tool 10 is arranged, and in this example, the machine tool 10 passes through a working position set for the machine tool 10.

As shown in FIGS. 1 and 2, the robot 20 is an articulated robot having three arms, a first arm 21, a second arm 22, and a third arm 23, and is a tip of the third arm 23. A hand 24 as an end effector is attached to the portion, and two cameras 26 are attached via a support bar 25.

The control device 40 is housed in the housing of the automatic guided vehicle 30, and as shown in FIG. 3, the operation program storage unit 41, the movement position storage unit 42, the operation posture storage unit 43, and the map information storage unit 44. , Image storage unit 45, manual operation control unit 46, automatic operation control unit 47, position recognition unit 48, cleaning necessity determination unit 49, and input / output interface 50. The control device 40 is connected to the machine tool 10, the robot 20, the camera 26, the automatic guided vehicle 30, and the operation panel 32 via the input / output interface 50.

The control device 40 is composed of a computer including a CPU, RAM, ROM, etc., and the manual operation control unit 46, the automatic operation control unit 47, the position recognition unit 48, the cleaning necessity determination unit 49, and the input / output interface 50 are , The function is realized by a computer program, and the processing described later is executed. Further, the operation program storage unit 41, the moving position storage unit 42, the operation posture storage unit 43, the map information storage unit 44, and the image storage unit 45 are appropriately composed of storage media such as RAM.

The manual operation control unit 46 is a functional unit that operates the automatic guided vehicle 30, the robot 20, the camera 26, and the like according to an operation signal input from the operation panel 32 by the operator. That is, the operator can execute the manual operation of the automatic guided vehicle 30, the robot 20, the camera 26, and the like by using the operation panel 32 under the control of the manual operation control unit 46.

The operation program storage unit 41 is a functional unit that stores an automatic driving program for automatically driving the automatic guided vehicle 30 and the robot 20 at the time of production. The automatic operation program is input from, for example, an input / output unit provided on the operation panel 32 and stored in the operation program storage unit 41.

In addition, this automatic driving program includes a command code regarding a moving position, a moving speed, and a direction of the automatic guided vehicle 30 as a target position for the automatic guided vehicle 30 to move, and the operation in which the robot 20 operates sequentially. A command code relating to the operation of the camera 26 and a command code relating to the operation of the camera 26 are included.

The map information storage unit 44 is a functional unit that stores map information including arrangement information of machines, devices, devices, etc. (devices, etc.) arranged in the factory where the unmanned carrier 30 travels, and is created in advance, for example. The created map information is input from the input / output unit provided on the operation panel 32 and stored in the map information storage unit 44.

The position recognition unit 48 recognizes the position of the automatic guided vehicle 30 in the factory based on the distance data detected by the sensor and the map information in the factory stored in the map information storage unit 44. The operation of the automatic guided vehicle 30 is controlled by the automatic operation control unit 47 based on the position of the automatic guided vehicle 30 recognized by the position recognition unit 48.

The moving position storage unit 42 is a moving position as a specific target position for the automatic guided vehicle 30 to move, and is a functional unit that stores a specific moving position corresponding to a command code in the operation program. Yes, this moving position includes a working position set for the machine tool 10 described above. The movement position is determined, for example, by manually driving the automatic guided vehicle 30 with the operation panel 32 under the control of the manual operation control unit 46 to move the automatic guided vehicle 30 to each target position, and then recognizing the position. The position data recognized by the unit 48 is set by the operation of storing the position data in the moving position storage unit 42. This operation is called a so-called teaching operation.

The motion posture storage unit 43 is a posture (motion posture) of the robot 20 that changes sequentially when the robot 20 operates in a predetermined order, and is data related to the motion posture corresponding to the command code in the motion program. It is a functional part that memorizes. The data related to this operating posture is obtained when the robot 20 is manually operated to take each target posture by a teaching operation using the operation panel 32 under the control of the manual operation control unit 46. It is the rotation angle data of each joint (motor) of the robot 20 in each posture, and this rotation angle data is stored in the motion posture storage unit 43 as data related to the motion posture.

For example, in this example, at the position where the unmanned carrier 30 passes through the machine tool 10, the work start posture before entering the machine tool 10 and the work end posture after retreating from the machine tool 10 (FIG. 5). (See), each imaging posture (see, for example, FIG. 6) for allowing the camera 26 to enter the machine tool 10's machining area and the camera 26 to image one or more points in the machining area, chucking the workpiece. Each operating posture for attaching / detaching to (not shown) is set and stored in the operating posture storage unit 43. Since the work start posture is the same as the work end posture, this posture will be referred to as the work start posture hereafter. The imaging posture shown in FIG. 6 is merely an example, and the imaging region of the camera 26 is set to a region where chips are deposited.

The automatic operation control unit 47 executes an automatic operation program stored in the operation program storage unit 41, and data stored in the movement position storage unit 42 and the operation posture storage unit 43, and the position recognition unit 48. The automatic guided vehicle 30, the robot 20, and the camera 26 are operated by using the position data recognized by the machine, and signals are transmitted and received to and from the machine tool 10. The specific operations of the automatic guided vehicle 30 and the robot 20 under the control of the automatic driving control unit 47 will be described later.

The image storage unit 45 is a functional unit that stores an image captured by the camera 26. Specifically, the image storage unit 45 is an image captured by the camera 26 when the robot 20 takes each imaging posture when setting each imaging posture by the teaching operation, and chips are accumulated. In addition to storing the reference image in the non-existing state, the current image captured by the camera 26 when the robot 20 takes each imaging posture during continuous operation is stored.

The cleaning necessity determination unit 49 receives the processing start signal from the automatic operation control unit 47, and executes the processing of steps S1 to S11 shown in FIG. Specifically, the cleaning necessity determination unit 49 monitors whether or not an image in the processing area has been captured by the camera 26 (step S2), and if an image is captured, stores the image in the image storage unit 45. By comparing with the basic image obtained, the state of chip accumulation in the machined area is analyzed (step S3), and if the state of chip accumulation does not exceed a predetermined reference state (step S4), the automatic operation control An operation start command is output to unit 47 (step S10), and the process ends.

The quality of the chip accumulation state is determined by, for example, comparing the current image with the reference image to detect the chip distribution state occupied by the current image, and the chip distribution exceeds a predetermined range. If so, that is, when the accumulated amount of chips reaches the emission standard amount, it is determined that the processing area needs to be cleaned. In addition, a machine learning method can be used to detect the distribution state of the chips.

On the other hand, when it is determined that the accumulated state of chips exceeds a predetermined reference state (step S4), a signal related to a cleaning command is transmitted to the machine tool 10 to the machine tool 10, and the machine tool 10 is used. To execute a cleaning operation in which the coolant is discharged from the coolant nozzles 13, 14 and 15 to clean the inside of the machining area (step S5). Then, after the cleaning operation in the machine tool 10 is completed, the cleaning necessity determination unit 49 transmits a command to capture an image again to the automatic operation control unit 47, and the camera 26 captures an image in the processing region. (Step S9).

After that, the processing of steps S2 to S9 is repeated until the chip accumulation state in the processing region is within the allowable range, and when the repetition number n reaches the number of times m set as the repetition limit, the chip accumulation state is improved. Is determined to be impossible, an error is displayed on the display of the operation panel 32, and an error is output to the machine tool 10 (step S11).

According to the production system 1 of this example having the above configuration, unmanned automatic production is executed as follows.

That is, under the control of the automatic operation control unit 47 of the control device 40, the automatic operation program stored in the operation program storage unit 41 is executed, and according to this automatic operation program, for example, the automatic guided vehicle 30 and The robot 20 operates as follows, and the processing of the cleaning necessity determination unit 49, the cleaning operation of the machine tool 10, and the like are executed.

First, the automatic guided vehicle 30 moves to the work position set for the machine tool 10, and the robot 20 takes the above-mentioned work start posture. At this time, it is assumed that the machine tool 10 completes the predetermined machining and opens the door cover so that the robot 20 can enter the machining area.

Next, the automatic operation control unit 47 causes the robot 20 to take the imaging posture and transmits a processing start signal to the cleaning necessity determination unit 49. Then, when the robot 20 takes each imaging posture, the inside of the processing region is imaged by the camera 26, and the captured image is stored in the image storage unit 45. Then, the current image stored in the image storage unit 45 and the reference image already stored in the image storage unit 45 in this way are used in the process of the cleaning necessity determination unit 49.

Upon receiving the processing start signal from the automatic operation control unit 47, the cleaning necessity determination unit 49 executes the processes of steps S1 to S11 shown in FIG. 4 described above, and in step S4, the state of chip accumulation is predetermined. If it is determined that the reference state is not exceeded, an operation start command is output to the automatic operation control unit 47 (step S10), and the process ends. On the other hand, in step S4, when it is determined that the accumulated state of chips exceeds a predetermined reference state, a signal related to a cleaning command is transmitted to the automatic operation control unit 47 and the machine tool 10, and the machine tool 10 is caused to execute a cleaning operation in which the coolant is discharged from the coolant nozzles 13, 14 and 15 to clean the inside of the machining area (step S5).

At the time of this cleaning operation, the automatic operation control unit 47 shifts the robot 20 to the work start posture set outside the machining area of the machine tool 10, and then the machine tool 10 closes the door cover. Then, when the cleaning operation is completed, after the machine tool 10 opens the door cover, the automatic operation control unit 47 causes the robot 20 to take an imaging posture and causes the camera 26 to capture an image in the processing region.

After that, the processes of steps S2 to S9 are repeated until the chip accumulation state in the processing region is within the allowable range, and when it is determined that the chip accumulation state is within the allowable range by the cleaning operation. (Step S4), similarly to the above, an operation start command is output to the automatic operation control unit 47 (step S10), the process is terminated, and on the other hand, when the number of repetitions n reaches the number of times m set as the repetition limit. It is determined that it is impossible to improve the state of chip accumulation, an error is displayed on the display of the operation panel 32, an error is output to the machine tool 10 (step S11), and the process is completed.

Then, upon receiving the operation start command from the cleaning necessity determination unit 49 as described above, the automatic operation control unit 47 causes the robot 20 to execute the work attachment / detachment operation with respect to the machine tool 10, and after the attachment / detachment operation is completed. , The work start posture is shifted, and then a machining start command is transmitted to the machine tool 10. Then, after receiving this machining start command, the machine tool 10 closes the door cover and executes a predetermined machining.

Thus, in the production system 1 of this example, unmanned automatic production is executed in the machine tool 10 by repeating the above.

As described above, in the production system 1 of this example, when the machine tool 10 is made to perform the work by using the automatic guided vehicle 30 and the robot 20, first, the camera 26 arranged in the robot 20 is used. By capturing an image in the processing area, the accumulated state of chips in the processing area is detected to determine the necessity of cleaning in the processing area, so cleaning in the processing area is necessary. It is possible to judge the timing accurately and appropriately. Further, since the camera 26 arranged in the robot 20 capable of performing a highly flexible operation is used to detect the chip accumulation state, the chip accumulation state can be detected at any place in the processing area. can do.

Further, in this production system 1, the machine tool 10 has a function of executing a cleaning operation for discharging chips in the machining area, and when the cleaning necessity determination unit 49 determines that cleaning is necessary, the said operation. A cleaning command is transmitted from the cleaning necessity determination unit 49 to the machine tool 10, and the machine machine 10 that receives the cleaning command executes the cleaning operation. Therefore, chips are accumulated in the machining area and cleaning is required. In some cases, the cleaning can be performed automatically, which allows the necessary cleaning work to be performed more appropriately. By doing so, good production can be performed without lowering the operating rate of the machine tool 10 more than necessary.

(Second Embodiment)
Next, a second embodiment of the present invention will be described. As shown in FIG. 7, the production system 1'of this example includes a point that the control device 40'does not include the cleaning necessity determination unit 49 and a point that the control device 40'is provided with a processing device 50 connected to the control device 40'. Therefore, the configuration is different from that of the production system 1 of the first embodiment described above. Therefore, in FIG. 7, the same components as those of the production system 1 are designated by the same reference numerals, and detailed description thereof will be omitted below.

The processing device 50 is provided separately from the control device 40', and includes a cleaning necessity determination unit 51 and an image storage unit 52. The processing device 50 is composed of a computer including a CPU, RAM, ROM, etc., the function of the cleaning necessity determination unit 51 is realized by a computer program, and the image storage unit 52 is composed of an appropriate storage medium such as RAM. To. Then, the cleaning necessity determination unit 51 executes the process shown in FIG. 4 in the same manner as the cleaning necessity determination unit 49 according to the first embodiment. Since the specific processing is as described above, the description thereof will be omitted here.

The processing device 50 receives the basic image and the current image required for processing in the cleaning necessity determination unit 51 from the image storage unit 45 via the input / output interface 50, and stores the basic image and the current image in the image storage unit 52. Further, the cleaning necessity determination unit 51 of the processing device 50 receives the processing start signal from the automatic operation control unit 47 via the input / output interface 50, and executes the processing of steps S1 to S11. Then, in step S5, a cleaning command is transmitted to the machine tool 10, and in steps S9 and S10, each command is transmitted to the automatic operation control unit 47 via the input / output interface 50. Further, in step S11, an error is output to the operation panel 32 and the machine tool 10.

Thus, the production system 1'related to the second embodiment also has the same effect as the production system 1 according to the first embodiment described above.

(Third Embodiment)
Next, a third embodiment of the present invention will be described. As shown in FIG. 8, in the production system 1 "of this example, the control device 40'does not have the cleaning necessity determination unit 49, and the machine tool 10'connected to the control device 40'is cleaning necessity. The configuration is different from the production system 1 of the first embodiment described above in that the determination unit 16 and the image storage unit 17 are provided. Therefore, in FIG. 8, the same components as the production system 1 are shown. The same reference numerals are given, and detailed description thereof will be omitted below.

The cleaning necessity determination unit 16 and the image storage unit 17 are composed of a computer including a CPU, RAM, ROM, etc., the cleaning necessity determination unit 51 is realized by a computer program, and the image storage unit 52 is a RAM. It is composed of a storage medium as appropriate. The cleaning necessity determination unit 16 and the image storage unit 17 can be incorporated into a numerical control device (not shown) of the machine tool 10'.

The machine tool 10'receives a basic image and a current image necessary for processing in the cleaning necessity determination unit 16 from the image storage unit 45 via the input / output interface 50, and stores the basic image and the current image in the image storage unit 17. Further, the cleaning necessity determination unit 16 of the machine tool 10'receives a processing start signal from the automatic operation control unit 47 via the input / output interface 50, and executes the processing shown in FIG. The process shown in FIG. 9 executes a cleaning operation (step S21) instead of the output of the cleaning command according to the first embodiment (step S5), and the other processes are shown in FIG. It is the same as the processing shown. Therefore, in FIG. 9, the same reference numerals are given to the same processes as in FIG.

In this production system 1 ", when the cleaning necessity determination unit 16 determines in step 4 that the accumulated state of chips exceeds a predetermined reference state, the cleaning operation is executed in the machine tool 10'. (Step S21). Further, in steps S9 and S10, each command is transmitted to the automatic operation control unit 47 via the input / output interface 50, and in step S11, an error is output to the operation panel 32.

Thus, the production system 1 according to the third embodiment also has the same effect as the production system 1 in the first embodiment described above.

Although the embodiments of the present invention have been described above, the specific embodiments that the present invention can take are not limited to the embodiments of the first to third embodiments described above.

For example, when the above-mentioned machine tools 10 and 10'are not provided with cleaning mechanisms (coolant nozzles 13, 14, 15), the above-mentioned cleaning necessity determination units 49 and 51 are operated in the above-mentioned step S5, respectively. It may be configured to send a signal to the panel 32 and the machine tool 10 that cleaning is necessary and display this on the operation panel 32 and the machine tool 10, and similarly, it is determined whether cleaning is necessary. In step S21, the unit 16 transmits a signal to the operation panel 32 that cleaning is necessary, displays this on the operation panel 32, and displays that the machine tool 10 also needs cleaning. It may be configured in. In this way, for example, the operator of the machine tool can appropriately perform a cleaning operation for removing chips from the machining area.

Further, in the first to third embodiments described above, the robot 20 is provided with two cameras 26, but the present invention is not limited to this, and it is natural that one camera 26 may be provided, or It may be provided with three or more cameras 26.

Again, the description of the embodiments described above is exemplary in all respects and not restrictive. Modifications and changes can be made appropriately for those skilled in the art. The scope of the present invention is indicated by the scope of claims, not by the above-described embodiment. Further, the scope of the present invention includes modifications from the embodiment within the scope of the claims and within the scope of the claims.

1 Production system 10 Machine machine 20 Robot 26 Camera 30 Automated guided vehicle 32 Operation panel 40 Control device 41 Operation program storage unit 42 Movement position storage unit 43 Operation posture storage unit 44 Map information storage unit 45 Image storage unit 46 Manual operation control unit 47 Automatic operation control unit 48 Position recognition unit 49 Cleaning necessity judgment unit

Claims (9)

Machine tools that perform predetermined machining on workpieces and
A robot that has a camera that captures images and works on the machine tool,
An automatic guided vehicle equipped with the robot and passing through a work position set for the machine tool.
A production system including the automatic guided vehicle and a control device for controlling a robot.
The control device moves the automatic guided vehicle to the working position, then operates the robot, images the inside of the processing area of the machine tool with the camera, and based on the obtained image. A production system characterized in that it is configured to detect the accumulated state of chips in the machined area and determine the necessity of cleaning in the machined area. The production system according to claim 1, wherein the control device is configured to output to the outside when it is determined that cleaning is necessary. The machine tool has a function of executing a cleaning process for discharging chips in the machining area.
The production system according to claim 1, wherein the control device transmits a cleaning signal to the machine tool to execute the cleaning process when it is determined that cleaning is necessary. Machine tools that perform predetermined machining on workpieces and
A robot that has a camera that captures images and works on the machine tool,
An automatic guided vehicle equipped with the robot and passing through a work position set for the machine tool.
A control device that controls the automatic guided vehicle and the robot,
It is a production system equipped with a processing device that processes data.
After moving the automatic guided vehicle to the working position, the control device operates the robot to image the inside of the processing area of the machine tool with the camera, and processes the obtained image data. Configured to send to the device
The processing device is configured to detect the accumulated state of chips in the processing area based on the image data transmitted from the control device and determine the necessity of cleaning in the processing area. A production system characterized by that. The production system according to claim 4, wherein the processing apparatus is configured to output to the outside when it is determined that cleaning is necessary. The machine tool has a function of executing a cleaning process for discharging chips in the machining area.
The production system according to claim 4, wherein the processing apparatus is configured to transmit a cleaning signal to the machine tool to execute the cleaning process when it is determined that cleaning is necessary. Machine tools that perform predetermined machining on workpieces and
A robot that has a camera that captures images and works on the machine tool,
An automatic guided vehicle equipped with the robot and passing through a work position set for the machine tool.
A production system including the automatic guided vehicle and a control device for controlling a robot.
After moving the automatic guided vehicle to the working position, the control device operates the robot to image the inside of the processing area of the machine tool with the camera, and obtains an image of the machine tool. Configured to send to
The machine tool is configured to detect the accumulated state of chips in the machining area based on the image transmitted from the control device and determine the necessity of cleaning in the machining area. A production system featuring. The production system according to claim 7, wherein the machine tool is configured to output to the outside when it is determined that cleaning is necessary. 7. The machine tool is provided with a function of executing a cleaning process for discharging chips in a machining area, and is configured to execute the cleaning process when it is determined that cleaning is necessary. The production system described.

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