JP2022127387A - Machine tool, machine tool control method, and machine tool control program - Google Patents

Abstract

To provide a technology for properly prohibiting an operator from remotely driving a transport apparatus which is an object of operation of the operator.SOLUTION: A machine tool 10 includes a transport apparatus that transports objects relating to processing of workpieces, a drive mechanism 300 that drives the transport apparatus, and a control unit 50 that includes an operator console 100 at which a drive operation to be performed on the drive mechanism is received. The operator console includes a human detection unit that uses an image, which is obtained from a camera 162, to detect a human being U2 existent within a predetermined distance from the transport apparatus, and an operation control unit that, when the human detection unit detects a human being, prohibits a drive operation from being received at the operator console.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to technology for limiting drive operations of machine tools.

A worker performs various operations on a machine tool. As an example, an operator attaches/removes a tool to/from a magazine provided in a machine tool. As a technique for preventing erroneous operation of the magazine, Japanese Patent Application Laid-Open No. 2016-43462 (Patent Document 1) discloses that "in manual operation of the tool magazine, an operator's erroneous operation can be recognized, and the erroneous operation may cause the tool magazine to open. machine tool that can be prevented from being driven.

JP 2016-43462 A

By the way, the operator also performs operations on various transfer devices in the machine tool in addition to attaching/detaching the tool to/from the magazine. Conventionally, in order to prevent the transport device from being driven unintentionally, a worker is prohibited from remotely operating the transport device before performing work on the transport device in the machine tool. I had to do the operation manually. Such prohibited operations are troublesome. In addition, there is a possibility that the worker forgets to cancel the drive-prohibited state of the conveying device after finishing the work. Therefore, it is desirable to appropriately prohibit the remote driving of the conveying device.

The present disclosure has been made to solve the problems described above, and an object in one aspect is to provide a technique for appropriately prohibiting remote driving of a conveying device that is a work target of a worker. It is to be. It should be noted that the machine tool disclosed in Patent Document 1 is not intended to automatically prohibit remote driving of the transfer device.

In one example of the present disclosure, a machine tool includes a conveying device for conveying an object for processing a workpiece, a drive mechanism for driving the conveying device, and detecting a person within a predetermined distance from the conveying device. a human detection unit for the purpose, an operation panel capable of receiving a driving operation for the driving mechanism, and a human detection unit for prohibiting acceptance of the driving operation by the operation panel when a person is detected by the human detection unit and an operation control unit.

In one example of the present disclosure, the carrier includes a magazine capable of holding multiple tools. The driving operation includes an operation related to driving the magazine.

In one example of the present disclosure, the machine tool includes a work station for a worker to attach a work to a pallet, and a machining area to machine the work attached to the pallet. The transport device includes a pallet transport device for transporting the pallet between the work station and the processing area. The driving operation includes an operation related to driving the pallet conveying device.

In one example of the present disclosure, the transport device includes a conveyor for transporting chips generated by the machine tool processing a workpiece. The driving operation includes an operation related to driving the conveyor.

In one example of the present disclosure, the transport device includes a robot for transporting a work to a processing area within the machine tool. The driving operation includes an operation related to driving the robot.

In an example of the present disclosure, the operation control unit, after prohibiting acceptance of the driving operation by the operation panel, based on a state in which the person detection unit has not detected the person for a predetermined time or longer, The prohibition of acceptance of the drive operation by the operation panel is released.

Another example of the present disclosure provides a method of controlling a machine tool. The machine tool includes a transport device for transporting an object for machining a workpiece, a drive mechanism for driving the transport device, and an operation panel capable of receiving a drive operation for the drive mechanism. The control method includes a step of detecting a person within a predetermined distance from the conveying device, and a step of prohibiting acceptance of the driving operation by the operation panel when the person is detected in the detecting step. .

Another example of the present disclosure provides a control program for a machine tool. The machine tool includes a transport device for transporting an object for machining a workpiece, a drive mechanism for driving the transport device, and an operation panel capable of receiving a drive operation for the drive mechanism. The control program causes the machine tool to detect a person within a predetermined distance from the conveying device, and prohibits the operation panel from accepting the driving operation when the person is detected in the detecting step. to perform the steps to be performed.

The above and other objects, features, aspects and advantages of the present invention will become apparent from the following detailed description of the invention taken in conjunction with the accompanying drawings.

It is a figure which shows the external appearance of a machine tool. It is a figure which shows an example of the apparatus structure of a machine tool. It is a figure showing an example of functional composition of a machine tool. It is a schematic diagram which shows an example of the hardware constitutions of a control panel. 4 is a flowchart showing operation prohibition processing of the drive mechanism; It is a figure which shows the external appearance of the machine tool according to a 1st modification. It is a figure which shows an example of the apparatus structure of the machine tool according to a 1st modification. It is a figure which shows the external appearance of the chip conveyor which is an example of a drive mechanism. It is a sectional view showing a chip conveyor. It is a figure which shows an example of the apparatus structure of the machine tool according to a 2nd modification. It is a figure which shows the external appearance of the machine tool according to a 3rd modification. It is a figure which shows an example of the apparatus structure of the machine tool according to a 3rd modification.

Hereinafter, each embodiment according to the present invention will be described with reference to the drawings. In the following description, identical parts and components are given identical reference numerals. Their names and functions are also the same. Therefore, detailed description of these will not be repeated. In addition, each embodiment and each modified example described below may be selectively combined as appropriate.

<A. Appearance of Machine Tool 10>
A machine tool 10 according to an embodiment will be described with reference to FIG. FIG. 1 is a diagram showing the appearance of a machine tool 10. As shown in FIG.

FIG. 1 shows a machine tool 10 as a machining center. The machine tool 10 may be a horizontal machining center or a vertical machining center.

Although the machine tool 10 as a machining center will be described below, the machine tool 10 is not limited to a machining center. For example, the machine tool 10 may be a lathe, an additional processing machine, or other cutting or grinding machine.

As shown in FIG. 1, the machine tool 10 includes a main operating panel 100, a sub operating panel 160, and a magazine 300A, which is an example of the drive mechanism 300. As shown in FIG.

The operation panel 100 functions as a main operation panel of the machine tool 10 and receives various operations related to the machine tool 10 as a whole. Machine tool 10 is configured by, for example, a general-purpose computer. Operation panel 100 is configured with, for example, a display and operation keys.

Operation panel 160 functions as a sub operation panel of machine tool 10 and receives various operations related to magazine 300A. The distance from operation panel 160 to magazine 300A is shorter than the distance from operation panel 100 to magazine 300A. Operation panel 160 includes, for example, a plurality of operation keys, and outputs a signal to machine tool 10 according to a pressed operation key. Each operation key receives, for example, an operation to drive magazine 300A, an operation to open/close a door provided in front of magazine 300A, an operation to lock the door, and the like.

Operation panel 160 includes camera 162 . Camera 162 is provided near magazine 300A. Stated differently, camera 162 is provided within a predetermined distance from magazine 300A. Camera 162 is arranged so as to be able to photograph operator U2 who operates operation panel 160 . The camera 162 may be a CCD (Charge Coupled Device) camera, an infrared camera (thermography), or other types of cameras.

Note that the camera 162 does not necessarily have to be attached to the operation panel 160 . As an example, the camera 162 may be installed so as to include both the drive mechanism 300 and the operation area of the drive mechanism 300 in its imaging field of view.

Magazine 300A has a plurality of tool pots. Each tool pot is configured to hold a tool. The tool pot is configured to be driven by a driving mechanism such as a motor 62 (see FIG. 2), which will be described later. The machine tool 10 drives necessary tools in the magazine 300A to predetermined replacement positions according to the machining program. The tool driven to the exchange position is attached to the spindle by an ATC (Automatic Tool Changer). In addition, operators U1 and U2 can use operation panels 100 and 160 to call any tool pot to a predetermined position.

<B. Device Configuration of Machine Tool 10>
Next, the configuration of the machine tool 10 will be described with reference to FIG. FIG. 2 is a diagram showing an example of the device configuration of the machine tool 10. As shown in FIG.

Machine tool 10 includes a control unit 50 , a motor driver 61 , a motor 62 , and a magazine 300A that is an example of drive mechanism 300 .

The “control unit 50 ” referred to in this specification means a device that controls the machine tool 10 . The device configuration of the control unit 50 is arbitrary. The control section 50 may be composed of a single control unit, or may be composed of a plurality of control units.

In the example of FIG. 2, the control unit 50 includes a CPU unit 20 as a PLC (Programmable Logic Controller), a CNC unit 30, and a control panel 100. CPU unit 20 and CNC unit 30 communicate with each other via Fieldbus B, for example. CNC unit 30 and operation panel 100 communicate with each other, for example, via network NW. The CNC unit 30 and the operation panel 100 may be communicatively connected by wire or may be communicatively connected by radio.

The CPU unit 20 controls various units constituting the machine tool 10 according to control programs prepared in advance. As an example, the unit includes a motor driver 61 . A control program for the CPU unit 20 is written in, for example, a ladder program.

Upon receiving a machining start command from the CPU unit 20, the CNC unit 30 starts executing a machining program prepared in advance. The machining program is written in, for example, an NC (Numerical Control) program.

The motor driver 61 sequentially receives input of target opening/closing positions from the CPU unit 20 and controls the motor 62 . The motor 62 may be a servomotor or a stepping motor. The motor 62 drives the magazine 300A inside the machine tool 10 and drives the designated tool to any position.

<C. Overview>
Next, with reference to FIGS. 1 and 2, a method for automatically restricting the remote drive operation of the magazine 300A will be described.

As shown in FIG. 1, operator U1 can drive various drive mechanisms 300 in machine tool 10 using operation panel 100 . As an example, operator U1 can use operation panel 100 to remotely drive magazine 300A. Thereby, the worker U1 can call an arbitrary tool.

On the other hand, operator U2 can operate magazine 300A using another operation panel 160 . In order to prevent the magazine 300A from being remotely driven by the worker U1 while the worker U2 is working, the machine tool 10 receives the magazine 300A from the operation panel 100 when the worker is near the magazine 300A. Prohibit remote drive operation. This prevents the magazine 300A from being unintentionally remotely driven while the operator U2 is working. This effect is particularly effective when the magazine 300A is separated from the operation panel 100 or when there is an obstacle between the operation panel 100 and the magazine 300A.

As a more specific process, in step S1, the control unit 50 of the machine tool 10 periodically acquires images from the camera 162 provided within a predetermined distance (for example, within 2 m) from the magazine 300A.

Next, in step S2, the control unit 50 executes a predetermined image processing program on the image to determine whether or not a person is shown in the image. Thereby, the control unit 50 detects a person within a predetermined range including the magazine 300A.

Next, in step S3, the control unit 50 prohibits acceptance of the drive operation of the magazine 300A on the operation panel 100 when a person is detected near the magazine 300A. As a result, the machine tool 10 can appropriately prohibit remote driving of the magazine 300A depending on the presence or absence of a person in the vicinity of the magazine 300A.

In the above description, an example of prohibiting the remote drive operation of the magazine 300A has been described, but the drive mechanism 300 for which the remote drive operation is prohibited is not limited to the magazine 300A. The drive mechanism 300 against which remote drive operation is prohibited may include various units on which an operator may work. Examples other than the magazine 300A will be described later.

Also, in the above description, an example of detecting a person by image processing has been described, but means for detecting a person is not limited to a method using image processing. As an example, the control unit 50 may determine whether or not there is a person near the drive mechanism 300 based on whether or not the operation panel 160 near the drive mechanism 300 is operated. More specifically, the control unit 50 determines that a person is in the vicinity of the drive mechanism 300 when an operation on the operation panel 160 is detected. On the other hand, the control unit 50 determines that there is no person in the vicinity of the drive mechanism 300 when no operation on the operation panel 160 is detected for a certain period of time or longer.

<D. Functional Configuration of Machine Tool 10>
Next, a functional configuration of the machine tool 10 will be described with reference to FIG. FIG. 3 is a diagram showing an example of the functional configuration of the machine tool 10. As shown in FIG.

The control unit 50 includes a person detection unit 152 and an operation control unit 154 as an example of a functional configuration. The functions of the human detection unit 152 and the operation control unit 154 will be described below in order.

The human detection unit 152 may be mounted in the CPU unit 20 described above, may be mounted in the CNC unit 30 described above, or may be mounted in the operation panel 100 described above. Similarly, the operation control section 154 may be mounted in the CPU unit 20 described above, may be mounted in the CNC unit 30 described above, or may be mounted in the operation panel 100 described above. Typically, the person detection unit 152 and the operation control unit 154 are mounted on the operation panel 100 .

(D1. Person detection unit 152)
First, the function of the person detection unit 152 shown in FIG. 3 will be described.

The person detection unit 152 detects a worker working on the drive mechanism 300 based on an image obtained from a camera 162 provided near the drive mechanism 300 . An arbitrary image processing program is adopted as an image processing algorithm for detecting a worker.

In a certain aspect, the person detection unit 152 acquires in advance a background image in which the worker is not shown. When the person detection unit 152 acquires an input image captured from the same viewpoint as the background image, the person detection unit 152 subtracts the background image from the input image. As a result, the human detection unit 152 can obtain a background difference image obtained by removing the background from the input image. The person detection unit 152 extracts an area having pixel values equal to or greater than a predetermined value from the background difference image, and detects the area as a person area.

In another aspect, the human detection unit 152 detects a worker from an image using a learned model. A trained model is generated in advance by a learning process using a learning data set. The learning data set includes a plurality of learning images in which people are shown. Each learning image is associated with a label indicating whether or not a person is shown. The internal parameters of the trained model are optimized in advance by learning processing using such a learning data set.

Various machine learning algorithms may be employed as learning techniques for generating trained models. For example, deep learning, convolutional neural network (CNN), full-layer convolutional neural network (FCN), support vector machine, etc. are adopted as the machine learning algorithm.

The human detection unit 152 shifts a predetermined rectangular area on the image obtained from the camera 162, and sequentially inputs partial images within the rectangular area to the trained model. Upon receiving an input of a partial image, the trained model outputs the probability that a person is shown in the partial image. The person detection unit 152 detects the worker based on the fact that the probability exceeds a predetermined value.

Note that the worker detection method by the person detection unit 152 is not limited to the above-described method using an image, and various methods are employed. As another example, the human detection unit 152 may detect a worker near the drive mechanism 300 using fingerprint authentication, iris authentication, vein authentication, voiceprint authentication, and other biometric authentication.

(D2. Operation control unit 154)
Next, functions of the operation control unit 154 shown in FIG. 3 will be described.

The operation control unit 154 prohibits the operation panel 100 from accepting the drive mechanism 300 when the person detection unit 152 detects a person. Operations to be prohibited may be preset or arbitrarily set by the user.

Accordingly, the operation control unit 154 appropriately prohibits reception of the drive operation by the operation panel 100 depending on whether or not there is a person in the vicinity of the operation panel 100 . As a result, operator U1 cannot remotely operate drive mechanism 300 while a person is near operation panel 100, and is prevented from driving drive mechanism 300 without noticing the presence of the person.

On the other hand, when the person detection unit 152 no longer detects a person, the operation control unit 154 cancels the prohibition of the remote operation of the driving mechanism 300 by the operation panel 100 . As an example, the operation control unit 154, after prohibiting the reception of the remote driving operation by the operation panel 100, determines that the remote driving operation by the operation panel 100 is performed based on the fact that the person detection unit 152 has not detected a person for a predetermined time or longer. Release the prohibition of accepting operations.

As a result, the operation control unit 154 can appropriately cancel prohibition of remote operation by the operation panel 100 based on the fact that the person has left the drive mechanism 300 .

In the above description, an example in which remote operation of the drive mechanism 300 is automatically prohibited according to the detection result of a person has been described. It may be switched whether to do or not. As an example, the operation prohibition button is provided on the operation panel 160 for the drive mechanism 300 .

More specifically, while the operation prohibition button is being pressed or while a person is being detected by the person detection unit 152, the operation control unit 154 causes the operation panel 100 to remotely operate the drive mechanism 300. restrict. On the other hand, when the depression of the operation prohibition button is released and the human detection unit 152 no longer detects a person, the operation control unit 154 releases the prohibition of the remote operation of the drive mechanism 300 by the operation panel 100. do.

<E. Hardware Configuration of Operation Panel 100>
Next, the hardware configuration of the operation panel 100 will be described with reference to FIG. FIG. 4 is a schematic diagram showing an example of the hardware configuration of the operation panel 100. As shown in FIG.

Operation panel 100 includes control circuit 101 , ROM (Read Only Memory) 102 , RAM (Random Access Memory) 103 , communication interface 104 , display 105 , operation keys 107 , and auxiliary storage device 120 . These components are connected to the internal bus B1.

The control circuit 101 is composed of, for example, at least one integrated circuit. Integrated circuits include, for example, at least one CPU (Central Processing Unit), at least one GPU (Graphics Processing Unit), at least one ASIC (Application Specific Integrated Circuit), at least one FPGA (Field Programmable Gate Array), or It can be configured by a combination of

The control circuit 101 controls operations of the operation panel 100 by executing various programs such as the control program 122 . The control program 122 is a program that has a function of setting whether prohibition of operation of the drive mechanism 300 is valid or invalid. The control circuit 101 reads the program from the auxiliary storage device 120 or the ROM 102 to the RAM 103 based on the execution instruction of various programs. The RAM 103 functions as a working memory and temporarily stores various data necessary for executing various programs.

The communication interface 104 is a communication unit for realizing communication using a LAN (Local Area Network) cable, WLAN, Bluetooth (registered trademark), or the like. As an example, the operation panel 100 realizes communication with external devices such as the CNC unit 30 described above via the communication interface 104 .

Display 105 is, for example, a liquid crystal display, an organic EL display, or another display device. Display 105 sends an image signal for displaying an image to display 105 in accordance with a command from control circuit 101 or the like. The display 105 is configured by, for example, a touch panel, and receives various operations for the machine tool 10 by touch operations.

The operation key 107 is composed of a plurality of hardware keys and accepts various user operations on the operation panel 100 . A signal corresponding to the pressed key is output to the control circuit 101 .

Auxiliary storage device 120 is, for example, a storage medium such as a hard disk or flash memory. Auxiliary storage device 120 stores control program 122, setting information 124, and the like. The setting information 124 defines, for example, the type of operation of the operation panel 100 that is prohibited when a person is around the driving mechanism 300 . The storage location of the control program 122 and the setting information 124 is not limited to the auxiliary storage device 120, but is stored in the storage area of the control circuit 101 (for example, cache memory), ROM 102, RAM 103, external equipment (for example, server), and the like. may

It should be noted that the control program 122 may be provided as a part of an arbitrary program, not as a standalone program. In this case, various processes according to the present embodiment are implemented in cooperation with arbitrary programs. Even a program that does not include some of these modules does not deviate from the gist of the control program 122 according to the embodiment. Furthermore, some or all of the functions provided by control program 122 may be implemented by dedicated hardware. Furthermore, the operation panel 100 may be configured in a form like a so-called cloud service in which at least one server executes part of the processing of the control program 122 .

<F. Flowchart>
Next, with reference to FIG. 5, a control flow relating to operation prohibition processing of the drive mechanism 300 will be described. FIG. 5 is a flow chart showing operation prohibition processing of the drive mechanism 300 .

The processing shown in FIG. 5 is implemented by the control circuit 101 of the operation panel 100 executing the control program. In other aspects, part or all of the processing may be performed by circuit elements or other hardware.

In step S<b>110 , the control circuit 101 functions as the person detection unit 152 (see FIG. 3 ) described above, and determines whether or not a person is detected based on the image obtained from the camera 162 . When control circuit 101 determines that a person is detected based on the image (YES in step S110), control is switched to step S112. Otherwise (NO in step S110), control circuit 101 executes the process of step S110 again.

In step S<b>112 , the control circuit 101 functions as the above-described operation control section 154 (see FIG. 3 ), and prohibits remote operation of the drive mechanism 300 on the operation panel 100 . Remote operations to be prohibited may be preset or arbitrarily set by the user.

In step S120, the control circuit 101 functions as the person detection unit 152 described above, and determines whether or not the person detection result has changed from the detected state to the non-detected state. As an example, the control circuit 101 detects a person in the first image obtained from the camera 162, but does not detect the person in the second image obtained after the first image. , it is determined that the person detection result has changed from the detected state to the non-detected state. When control circuit 101 determines that the detection result of the person has changed from the detected state to the non-detected state (YES in step S120), control is switched to step S122. Otherwise (NO in step S120), control circuit 101 executes the process of step S120 again.

In step S122, the control circuit 101 starts counting the time during which no person is detected by the person detection unit 152 (hereinafter also referred to as "unattended time"). The count is started after initialization of unattended time. For counting the unmanned time, for example, a clock function standardly installed in the OS (Operating System) of the operation panel 100 is used.

In step S<b>130 , the control circuit 101 functions as the person detection unit 152 described above, and determines whether or not a person has been detected based on the image obtained from the camera 162 . When control circuit 101 determines that a person has been detected based on the image (YES in step S130), control returns to step S120. Otherwise (NO in step S130), control circuit 101 switches control to step S140.

In step S140, the control circuit 101 determines whether or not the counted unattended time has exceeded a predetermined time. When control circuit 101 determines that the unmanned time has exceeded the predetermined time (YES in step S140), control circuit 101 switches control to step S142. Otherwise (NO in step S140), control circuit 101 executes the process of step S130 again.

In step S<b>142 , the control circuit 101 functions as the operation control unit 154 described above, and cancels the prohibition of the remote operation related to the drive mechanism 300 . Thereby, the operator can drive the drive mechanism 300 from the operation panel 100 .

<G. Modification 1>
(G1. Overview)
Next, a machine tool 10B according to Modification 1 will be described. In the machine tool 10 described above, the drive mechanism 300 whose operation is prohibited is the magazine 300A. On the other hand, in machine tool 10 according to the present modification, drive mechanism 300 whose operation is prohibited is a pallet conveying device.

(G2. Appearance of machine tool 10B)
Next, a machine tool 10B according to this modification will be described with reference to FIG. FIG. 6 is a diagram showing the appearance of the machine tool 10B.

As shown in FIG. 6, the machine tool 10B includes a main operating panel 100, a sub operating panel 160B, and a pallet conveying device 300B, which is an example of the drive mechanism 300. As shown in FIG.

The operation panel 100 functions as a main operation panel of the machine tool 10B, and receives various operations related to the entire machine tool 10B. Machine tool 10B is configured by, for example, a general-purpose computer. Operation panel 100 is configured with, for example, a display and operation keys.

The operation panel 160B functions as a sub operation panel of the machine tool 10B, and receives various operations related to the pallet conveying device 300B. The distance from the operation panel 160B to the pallet transport device 300B is shorter than the distance from the operation panel 100 to the pallet transport device 300B. Operation panel 160B is composed of, for example, a plurality of operation keys, and a signal corresponding to the pressed operation key is output to machine tool 10B. Each operation key receives, for example, an operation to drive the pallet transport device 300B, an operation to open/close a door provided in front of the pallet transport device 300B, an operation to lock the door, and the like.

Operation panel 160B includes camera 162B. Camera 162B is provided in the vicinity of pallet conveying device 300B. Stated differently, the camera 162B is provided within a predetermined distance from the pallet transporter 300B. Camera 162B is arranged so as to be able to photograph worker U2 who operates operation panel 160B. Camera 162B may be a CCD camera, an infrared camera (thermography), or any other type of camera.

A pallet conveying device 300B is provided inside the machine tool 10B. The pallet transport device 300B has a plurality of pallets. Each pallet is configured to be able to hold a work. The pallet transport device 300B transports the pallet specified by the machining program to the machining area within the machine tool 10B. After that, the machine tool 10B starts the work attached to the pallet.

Worker U2 can call any pallet using operation panel 160B. Pallet conveying device 300B conveys the specified pallet in front of worker U2 upon receiving the calling operation. Thereby, the worker U2 can mount the work to be processed on the pallet. The operator U1 can perform the same operation using the operation panel 100. FIG.

In the above description, the pallet conveying device 300B that conveys a specified pallet from among a plurality of pallets to the processing area of the machine tool 10B has been described, but the pallet conveying device 300B is not limited to such a conveying device. . As an example, the pallet transport device 300B may be a transport device for exchanging a pallet in the working area of the machine tool 10B and a pallet in the work area of the worker U2. In this case, two pallets (eg, first and second pallets) are provided within machine tool 10B.

More specifically, while the work mounted on the first pallet is being processed by the machine tool 10B, the operator U2 attaches the next work to be processed to the second pallet within the work area. The pallet conveying device 300B exchanges the first pallet and the second pallet based on the completion of the machining of the work mounted on the first pallet and the completion of the work of mounting the work on the second pallet. do. After that, worker U2 removes the processed work from the first pallet. On the other hand, machine tool 10B starts machining the workpiece mounted on the second pallet. The pallet transport device 300B may be such a pallet exchange device.

(G3. Device configuration of machine tool 10B)
Next, with reference to FIG. 7, the device configuration of machine tool 10B according to Modification 1 will be described. FIG. 7 is a diagram showing an example of the device configuration of a machine tool 10B according to this modification.

The machine tool 10B includes a control unit 50, a motor driver 61B, a motor 62B, and a pallet conveying device 300B that is an example of the drive mechanism 300.

A machine tool 10B shown in FIG. 7 differs from the machine tool 10 shown in FIG. 2 in that it includes a pallet conveying device 300B instead of a magazine 300A. Since other points are the same as the machine tool 10 shown in FIG. 2, description thereof will not be repeated below.

The motor driver 61B sequentially receives input of the target opening/closing position from the CPU unit 20 and controls the motor 62B. The motor 62B may be a servo motor, a stepping motor, or any other type of motor. The motor 62B drives the pallet conveying device 300B according to the control command from the motor driver 61B, and conveys the pallet carrying the work to be machined to the machining area in the machine tool 10B. The machining area is partitioned by a cover that forms the appearance of the machine tool 10B.

(G4. Operation Prohibition Processing of Pallet Transport Device 300B)
Next, with reference to FIGS. 6 and 7, a method for automatically restricting the remote drive operation of the pallet conveying device 300B will be described.

As shown in FIG. 6, operator U1 can use operation panel 100 to drive pallet conveying device 300B. On the other hand, operator U2 can remotely operate pallet transport device 300B using another operation panel 160D. In order to prevent the pallet conveying device 300B from being remotely driven by the worker U1 while the worker U2 is working, the machine tool 10B controls the operation panel 100 when the worker is near the pallet conveying device 300B. drive operation of the pallet conveying device 300B is prohibited. This prevents the pallet conveying device 300B from being unintentionally driven while the worker U2 is working. This effect is particularly effective when the pallet conveying device 300B is separated from the operation panel 100 or when there is an obstacle between the operating panel 100 and the pallet conveying device 300B.

As a more specific process, in step S1, the control unit 50 of the machine tool 10B periodically acquires images from the camera 162B provided within a predetermined distance from the pallet transport device 300B.

Next, in step S2, the control unit 50 executes a predetermined image processing program on the image to determine whether or not a person is shown in the image. The method of detecting a person is as described above, so the description thereof will not be repeated.

Next, in step S3, when a person is detected near the pallet conveying device 300B, the control unit 50 prohibits the operation panel 100 from accepting the driving operation of the pallet conveying device 300B. Accordingly, the machine tool 10B can appropriately prohibit remote driving of the pallet conveying device 300B depending on whether or not there is a person in the vicinity of the pallet conveying device 300B.

<H. Modification 2>
(H1. Overview)
Next, a machine tool 10C according to Modification 2 will be described. In the machine tool 10 described above, the operation-prohibited drive mechanism 300 is the magazine 300A or the pallet transport device 300B. On the other hand, in machine tool 10C according to the present modification, drive mechanism 300 whose operation is prohibited is a chip conveyor.

(H2. Chip conveyor 300C)
Next, a chip conveyor 300C provided in the machine tool 10C will be described with reference to FIG. FIG. 8 is a diagram showing the appearance of a chip conveyor 300C, which is an example of the drive mechanism 300. As shown in FIG.

As shown in FIG. 8, the machine tool 10C has a coolant tank 11, a machine tool main body 13, and a chip conveyor 300C.

The coolant tank 11 and the chip conveyor 300C are installed side by side with the machine tool main body 13 . The coolant tank 11 is configured to be able to store coolant. Chip conveyor 300C is housed in coolant tank 11 .

The chip conveyor 300</b>C receives work chips and coolant discharged from the machine tool body 13 . The chip conveyor 300</b>C conveys chips toward a chip bucket (not shown) and filters the coolant to discharge clean coolant to the coolant tank 11 .

FIG. 9 is a cross-sectional view showing the chip conveyor 300C. Referring to FIGS. 8 and 9, chip conveyor 300C has cover body 21 . The cover body 21 forms the appearance of the chip conveyor 300C. The cover body 21 has a housing shape that forms a space inside.

The cover body 21 has a horizontal portion 22 , a rising portion 26 , a chip receiving portion 23 and a chip discharging portion 27 as components thereof.

The cover body 21 as a whole has a bent shape between the horizontal portion 22 and the rising portion 26 . The horizontal portion 22 is placed inside the coolant tank 11 . The horizontal portion 22 has a plate-like appearance extending in the horizontal direction. The horizontal portion 22 has a rectangular shape in plan view. The rising portion 26 rises from one longitudinal end of the horizontal portion 22 and extends obliquely upward.

A chip receiving portion 23 is provided in the horizontal portion 22 . The chip receiving portion 23 is composed of a housing provided on the top surface of the horizontal portion 22 . A connection port 24 is provided in the chip receiving portion 23 . The connection port 24 consists of a through-hole penetrating through the chip receiving portion 23 . The chip receiving portion 23 is connected through a connection port 24 to the chip conveying device 12 which is equipment on the machine tool main body 13 side. The chip conveying device 12 includes, for example, a gutter extending in one direction and a spiral conveyor installed on the gutter.

The chip discharging portion 27 is provided at the end portion of the rising portion 26 extending obliquely upward from the horizontal portion 22 . The chip discharging portion 27 is formed by an opening of the cover body 21 that opens vertically downward. A chip bucket (not shown) for collecting chips is installed below the chip discharging section 27 . Chips of the work discharged from the machine tool body 13 are received in the cover body 21 through the chip receiving portion 23 . Chips are conveyed inside the cover body 21 by a chip conveying mechanism, which will be described subsequently, discharged from the chip discharging section 27, and collected in a chip bucket.

The chip conveyor 300C further has a chip conveying section 35 and a motor 62C (see FIG. 10), which will be described later. The chip conveyer 35 is accommodated in the cover body 21 . The chip conveying unit 35 is a device for conveying chips within the cover body 21 . The motor 62C is a drive source for driving the chip conveying section 35. As shown in FIG.

More specifically, the chip conveyer 35 has a pair of endless chains 34 , a drive sprocket 37 and a driven sprocket 38 .

The drive sprocket 37 is provided at the end of the rising portion 26 extending obliquely upward from the horizontal portion 22 . The drive sprocket 37 is arranged above the chip discharger 27 . The drive sprocket 37 is rotatably supported about an axis extending in a direction orthogonal to the plane of FIG. 9 (hereinafter, this direction is also referred to as "the width direction of the chip conveyor 300C"). The drive sprocket 37 is connected to the output shaft of the motor 62C. The drive sprocket 37 rotates when power is transmitted from the motor 62C.

A driven sprocket 38 is provided at a bend between the horizontal portion 22 and the rising portion 26 . The driven sprocket 38 is rotatably supported around an axis (central axis AX) extending in the width direction of the chip conveyor 300C.

The pair of endless chains 34 are arranged in parallel with a distance in the width direction of the chip conveyor 300C. The endless chain 34 is looped around the horizontal portion 22 and the rising portion 26 inside the cover body 21 . The endless chain 34 is arranged inside the cover body 21 so as to reciprocate between a position facing the chip receiving portion 23 and a position facing the chip discharging portion 27 .

The endless chain 34 is wound around a drive sprocket 37 and a driven sprocket 38 on a route routed inside the cover body 21 and is guided by a plurality of guide members. When the drive sprocket 37 rotates by receiving power from the motor 62C, the endless chain 34 rotates in the direction indicated by the arrow AR (hatched arrow) in FIG.

The chip conveyor 300C is provided with a camera 162C. In the example of FIG. 8, the camera 162C is provided on the cover body 21. As shown in FIG. The camera 162C is provided in the vicinity of the chip conveyor 300C, and is arranged so as to be able to photograph a worker who performs repair work or inspection work on the chip conveyor 300C. Stated differently, camera 162C is provided within a predetermined distance from chip conveyor 300C. The camera 162C may be a CCD camera, an infrared camera (thermography), or any other type of camera.

(H3. Device configuration of machine tool 10C)
Next, with reference to FIG. 10, the configuration of the machine tool 10C according to Modification 2 will be described. FIG. 10 is a diagram showing an example of the device configuration of a machine tool 10C according to this modification.

The machine tool 10C includes a control unit 50, a motor driver 61C, a motor 62C, and a chip conveyor 300C that is an example of the drive mechanism 300.

A machine tool 10C shown in FIG. 10 differs from the machine tool 10 shown in FIG. 2 in that it includes a chip conveyor 300C instead of a magazine 300A. Since other points are the same as the machine tool 10 shown in FIG. 2, description thereof will not be repeated below.

The motor driver 61C sequentially receives input of the target opening/closing position from the CPU unit 20 and controls the motor 62C. The motor 62C may be a servo motor, a stepping motor, or any other type of motor. The motor 62C drives the chip conveyor 300C in accordance with a control command from the motor driver 61C, and conveys chips of the work produced by machining in the machine tool 10C to the outside.

(H4. Processing for Prohibiting Operation of Chip Conveyor 300C)
Next, with reference to FIG. 10, a method for automatically restricting remote drive operation of the chip conveyor 300C will be described.

A worker U1 shown in FIG. 1 can drive the chip conveyor 300C using the operation panel 100. FIG. Meanwhile, another worker may inspect or repair chip conveyor 300C. In order to prevent chip conveyor 300C from being driven by worker U1 while another worker is inspecting or repairing chip conveyor 300C, machine tool 10C is configured to prevent chip conveyor 300C from being driven by worker U1. 2, driving operation of the chip conveyor 300C from the operation panel 100 is prohibited. This prevents the chip conveyor 300C from being unintentionally driven while another worker is working. This effect is particularly effective when the chip conveyor 300C is separated from the operation panel 100 or when there is an obstacle between the operation panel 100 and the chip conveyor 300C.

As a more specific process, in step S1, the control unit 50 of the machine tool 10C periodically acquires images from the camera 162C provided within a predetermined distance from the chip conveyor 300C.

Next, in step S2, the control unit 50 executes a predetermined image processing program on the image to determine whether or not a person is shown in the image. The method of detecting a person is as described above, so the description thereof will not be repeated.

Next, in step S3, the control unit 50 prohibits acceptance of driving operation of the chip conveyor 300C on the operation panel 100 when a person is detected near the chip conveyor 300C. As a result, the machine tool 10C can appropriately prohibit remote driving of the chip conveyor 300C depending on the presence or absence of a person in the vicinity of the chip conveyor 300C.

<I. Modification 3>
(I1. Overview)
Next, a machine tool 10D according to Modification 3 will be described. In the machine tool 10 described above, the drive mechanism 300 whose operation is prohibited is the magazine 300A, the pallet transport device 300B, or the chip conveyor 300C. On the other hand, in machine tool 10D according to the present modification, drive mechanism 300 whose operation is prohibited is a workpiece transfer robot.

(I2. Appearance of machine tool 10D)
Next, a machine tool 10D according to this modification will be described with reference to FIG. FIG. 11 is a diagram showing the appearance of the machine tool 10D.

As shown in FIG. 11, machine tool 10D includes main operation panel 100, sub-operation panel 160D, and robot 300D, which is an example of drive mechanism 300. As shown in FIG.

The operation panel 100 functions as a main operation panel of the machine tool 10D, and receives various operations related to the entire machine tool 10D. Machine tool 10D is configured by, for example, a general-purpose computer. Operation panel 100 is configured with, for example, a display and operation keys. The robot 300D can also be operated by using the operator U1 and the operation panel 100. FIG.

The operation panel 160D functions as a sub operation panel for the machine tool 10D and receives various operations related to the robot 300D. The distance from operation panel 160D to robot 300D is shorter than the distance from operation panel 100 to robot 300D. The operation panel 160D is composed of, for example, a plurality of operation keys, and outputs signals corresponding to the pressed operation keys to the machine tool 10D. Each operation key receives, for example, an operation to drive the robot 300D, an operation to open/close a door provided in front of the robot 300D, an operation to lock the door, and the like.

Operation panel 160D includes camera 162D. Camera 162D is provided near robot 300D. Stated differently, camera 162D is provided within a predetermined distance from robot 300D. Camera 162D is arranged so as to be able to photograph worker U2 who operates operation panel 160D. Camera 162D may be a CCD camera, an infrared camera (thermography), or any other type of camera.

A workpiece installation table is provided inside the machine tool 10D. The robot 300D transports the workpiece specified by the machining program from the installation table to the machining area within the machine tool 10D. As a result, the machine tool 10D starts machining the workpiece transported by the robot 300D.

Although FIG. 11 shows the robot 300D, which is a 4- to 7-axis-driven articulated robot, the robot 300D is not limited to an articulated robot. As an example, the robot 300D may be a 2- or 3-axis driven orthogonal robot (autoloader) or a self-propelled robot.

(I3. Device Configuration of Machine Tool 10D)
Next, with reference to FIG. 12, the device configuration of machine tool 10D according to Modification 3 will be described. FIG. 12 is a diagram showing an example of the configuration of a machine tool 10D according to this modified example.

The machine tool 10D includes a controller 50, a motor driver 61D, a motor 62D, and a robot 300D that is an example of the drive mechanism 300.

Machine tool 10D shown in FIG. 12 differs from machine tool 10 shown in FIG. 2 in that it includes robot 300D instead of magazine 300A. Since other points are the same as the machine tool 10 shown in FIG. 2, description thereof will not be repeated below.

The motor driver 61D sequentially receives input of the target opening/closing position from the CPU unit 20 and controls the motor 62D. The motor 62D may be a servo motor, a stepping motor, or any other type of motor. The motors 62D are provided according to the number of joints of the robot 300D. The motor 62D drives the joints of the robot 300D according to the control command from the motor driver 61D, and conveys the work to be processed to the processing area within the machine tool 10D. The machining area is defined by a cover that forms the appearance of the machine tool 10D.

(I4. Operation Prohibition Processing for Robot 300D)
Next, with reference to FIGS. 11 and 12, a method for automatically restricting the remote drive operation of the robot 300D will be described.

As shown in FIG. 11, operator U1 can use operation panel 100 to drive robot 300D. On the other hand, operator U2 can remotely operate robot 300D using another operation panel 160D. In order to prevent the robot 300D from being remotely driven by the worker U1 while the worker U2 is working, the machine tool 10D controls the remote control of the robot 300D from the operation panel 100 when the worker is near the robot 300D. Prohibit drive operation. This prevents the robot 300D from being unintentionally remotely driven while the worker U2 is working. This effect is particularly effective when the robot 300D is away from the operation panel 100 or when there is an obstacle between the operation panel 100 and the robot 300D.

As a more specific process, in step S1, the control unit 50 of the machine tool 10D periodically acquires images from the camera 162D provided within a predetermined distance from the robot 300D.

Next, in step S2, the control unit 50 executes a predetermined image processing program on the image to determine whether or not a person is shown in the image. The method of detecting a person is as described above, so the description thereof will not be repeated.

Next, in step S3, the control unit 50 prohibits acceptance of the driving operation of the robot 300D on the operation panel 100 when a person is detected near the robot 300D. As a result, the machine tool 10D can appropriately prohibit remote driving of the robot 300D depending on the presence or absence of a person in the vicinity of the robot 300D.

It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.

Reference Signs List 10, 10B, 10C, 10D machine tool, 11 coolant tank, 12 transfer device, 13 machine tool body, 20 CPU unit, 21 cover body, 22 horizontal portion, 23 chip receiving portion, 24 connection port, 26 rising portion, 27 Chip discharging part 30 CNC unit 34 Endless chain 35 Chip conveying part 37 Drive sprocket 38 Driven sprocket 50 Control part 61, 61B, 61C, 61D Motor driver 62, 62B, 62C, 62D Motor, 100, 160, 160B, 160D operation panel, 101 control circuit, 102 ROM, 103 RAM, 104 communication interface, 105 display, 107 operation key, 120 auxiliary storage device, 122 control program, 124 setting information, 152 human detection unit, 154 Operation control section, 162, 162B, 162C, 162D camera, 300 drive mechanism, 300A magazine, 300B pallet transport device, 300C chip conveyor, 300D robot.

Claims (8)

a machine tool,
a conveying device for conveying an object related to processing of a work;
a drive mechanism for driving the transport device;
a person detection unit for detecting a person within a predetermined distance from the conveying device;
a control panel capable of receiving a drive operation for the drive mechanism;
and an operation control section for prohibiting the operating panel from accepting the drive operation when the person detection section detects a person. The transport device includes a magazine capable of holding a plurality of tools,
2. The machine tool according to claim 1, wherein said driving operation includes an operation related to driving said magazine. The machine tool is
a work station for workers to attach works to pallets;
A processing area for processing the workpiece attached to the pallet,
the transport device includes a pallet transport device for transporting the pallet between the work station and the processing area;
3. The machine tool according to claim 1, wherein said driving operation includes an operation related to driving said pallet conveying device. The conveying device includes a conveyor for conveying chips generated by machining the workpiece by the machine tool,
The machine tool according to any one of claims 1 to 3, wherein said driving operation includes an operation related to driving said conveyor. The transport device includes a robot for transporting the workpiece to a processing area within the machine tool,
The machine tool according to any one of claims 1 to 4, wherein said driving operation includes an operation related to driving said robot. After the operation control unit prohibits acceptance of the driving operation by the operation panel, the driving operation by the operation panel is performed based on a state in which the person detection unit has not detected the person for a predetermined time or longer. 6. The machine tool according to any one of claims 1 to 5, wherein prohibition of acceptance of operation is lifted. A machine tool control method comprising:
The machine tool is
a conveying device for conveying an object related to processing of a work;
a drive mechanism for driving the transport device;
A control panel capable of receiving a drive operation for the drive mechanism,
The control method is
detecting a person within a predetermined distance from the conveying device;
and a step of prohibiting acceptance of the driving operation by the operating panel when a person is detected in the detecting step. A control program for a machine tool,
The machine tool is
a conveying device for conveying an object related to processing of a work;
a drive mechanism for driving the transport device;
A control panel capable of receiving a drive operation for the drive mechanism,
The control program causes the machine tool to:
detecting a person within a predetermined distance from the conveying device;
and prohibiting acceptance of the driving operation by the operating panel when a person is detected in the detecting step.

Images