JP6400817B2 - Machine tool cleaning system - Google Patents

Description

  The present invention relates to a machine tool cleaning system.

  There is known a system for removing machining waste generated during operation of a machine tool by colliding with a fluid (for example, Patent Document 1).

Japanese Patent Laid-Open No. 10-118884

  In this technical field, there is a demand for a technique that can more reliably remove the machining waste adhering to a jig for installing a workpiece.

  In one embodiment of the present invention, a cleaning system for a machine tool is imaged by a nozzle that can eject a fluid, a manipulator that moves the nozzle, an imaging unit that captures an area where a workpiece is installed, and an imaging unit Based on the image, a processing waste detection unit that detects processing waste existing in the region, and an arrangement determination unit that determines the position and orientation of the nozzle when the fluid is sprayed toward the processing waste detected by the processing scrap detection unit With.

  The cleaning system also supplies a fluid to the nozzle when the nozzle is arranged at the position and posture, and a manipulator control unit that controls the manipulator so that the nozzle is arranged at the position and posture determined by the arrangement determining unit. And a fluid supply section for ejecting the fluid through the nozzle.

  The arrangement determining unit may determine the position and orientation so that the machining waste can be blown off in a predetermined direction by the fluid ejected from the nozzle. The imaging unit includes a region before the workpiece is installed in the region to process the workpiece, and after the workpiece is processed by the machine tool and the workpiece is removed from the region. Each of these images may be taken.

  The processing scrap detection unit exists in the region by comparing the image captured before the workpiece is placed in the region with the image captured after the workpiece is removed from the region. Processing scraps may be detected.

  A priority area may be preset in the region. The processing waste detection unit may detect processing waste present in the priority area based on the image. The arrangement determining unit may determine a position and a posture when the fluid is sprayed on the machining waste existing in the priority area.

  The imaging unit may be moved by a manipulator. The manipulator control unit may operate the manipulator to arrange the imaging unit at a plurality of positions where the region can be imaged. The imaging unit may image a region at each of a plurality of positions.

  The imaging unit may image the region again after the fluid is ejected. The machining waste detection unit may detect the machining waste remaining in the region after the fluid is ejected based on an image captured by the imaging unit after the fluid is ejected.

  The manipulator control unit may operate the manipulator to re-position the nozzle in the position and posture when the remaining scraps are detected by the scrap detection unit. The fluid supply unit may supply the fluid to the nozzle again and eject the fluid again through the nozzle.

  The cleaning system may further include a warning generation unit that generates a warning when the number of times that the fluid supply unit performs the operation of ejecting the fluid from the nozzle exceeds a predetermined number of times.

1 is a schematic view of a cleaning system according to an embodiment of the present invention. It is a block diagram of the washing | cleaning system shown in FIG. It is an enlarged view of the nozzle shown in FIG. It is the figure which looked at the jig | tool shown in FIG. 1 from the paper upper surface of FIG. It is a flowchart which shows an example of the operation | movement flow of the washing | cleaning system shown in FIG. It is a flowchart which shows an example of the flow of step S4 in FIG. It is a flowchart which shows an example of the flow of step S6 in FIG. The example of the image imaged in step S3 in FIG. 5 is shown. It is a figure for demonstrating step S12, Comprising: An example of the position and attitude | position of a nozzle when spraying a fluid toward the process waste which exists in a 1st area is shown. It is a figure for demonstrating step S12, Comprising: An example of the position and attitude | position of a nozzle when spraying a fluid toward the process waste which exists in a 3rd area is shown. It is a figure for demonstrating step S12, Comprising: An example of the position and attitude | position of a nozzle when spraying a fluid toward the process waste which exists in a 4th area is shown. It is a block diagram of the washing system concerning other embodiments of the present invention. In the cleaning system shown in FIG. 12, an example of the position and posture of the nozzle when the fluid is sprayed toward the machining waste is shown.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. First, with reference to FIGS. 1-3, the washing | cleaning system 10 which concerns on one Embodiment of this invention is demonstrated. The cleaning system 10 is a system for cleaning the inside of the machine tool 100.

  The machine tool 100 includes a processing machine 102, a jig 104, and a machine tool control unit 106. The processing machine 102 processes a workpiece (not shown) as a workpiece installed on the jig 104 in response to a command from the machine tool control unit 106.

  The jig 104 is detachably installed in the machine tool 100. Not only the jig 104 shown in FIG. 1 but various types of jigs are prepared according to the type of workpiece to be processed. The jig 104 is installed inside the machine tool 100 before the workpiece is processed, and the workpiece is installed on the jig 104.

  When the workpiece is machined, machining waste is generated. As the machine tool 100 is operated, such processing waste may adhere on the jig 104. The cleaning system 10 according to the present embodiment removes the processing waste adhering to the jig 104 in this way.

  The cleaning system 10 includes a control unit 12, a robot 14, an imaging unit 16, a nozzle 18, and a fluid supply unit 20. The control unit 12 directly or indirectly controls each component of the cleaning system 10. The control unit 12 is communicably connected to the machine tool control unit 106 and executes an operation of cleaning the machine tool 100 while communicating with the machine tool control unit 106.

  The robot 14 is, for example, a vertical articulated robot, and includes a robot base 22, a turning drum 24, and a robot arm 26. The robot base 22 is fixed on the floor of the work cell. The turning drum 24 is attached to the robot base 22 so as to be turnable around a vertical axis.

  The robot arm 26 includes a rear arm portion 28 that is rotatably attached to the revolving barrel 24, and a forearm portion 30 that is rotatably attached to the tip of the rear arm portion 28. A wrist portion 32 is attached to the tip of the forearm portion 30. In the present embodiment, the robot 14 functions as a manipulator that moves the imaging unit 16 and the nozzle 18.

  The imaging unit 16 is attached to the wrist portion 32. The imaging unit 16 includes, for example, an imaging device made up of a CCD or CMOS sensor, and an optical system made up of lenses and the like. The imaging unit 16 photoelectrically converts a subject image that is transmitted through the optical system and outputs it as image data.

  In response to a command from the control unit 12, the imaging unit 16 images a region where a workpiece is placed (that is, the jig 104), and transmits the captured image data to the control unit 12. The control unit 12 receives the image data from the imaging unit 16 and stores the image data in the storage unit 34 (FIG. 2) built in the control unit 12.

  The nozzle 18 is attached to the wrist part 32 via an attachment 36. As shown in FIG. 3, the nozzle 18 is a hollow member that extends along the z-axis direction of the orthogonal coordinate system in FIG.

  The nozzle 18 has a through hole 38 that penetrates the center of the nozzle 18 in the z-axis direction. The through-hole 38 extends between a first opening 40 formed at the end 18a of the nozzle 18 in the z-axis plus direction and a second opening 42 formed at the end 18b of the nozzle 18 in the z-axis minus direction. Exists.

  The fluid supply unit 20 is fluidly connected to the nozzle 18 via a fluid supply pipe 44. The fluid supply pipe 44 has one end connected to the fluid supply unit 20 and the other end connected to the second opening 42.

  The fluid supply unit 20 supplies fluid (for example, compressed gas or compressed liquid) into the through hole 38 of the nozzle 18 through the fluid supply pipe 44. The fluid supplied from the fluid supply unit 20 into the through hole 38 of the nozzle 18 is ejected from the first opening 40 to the outside.

  In the present embodiment, the orthogonal coordinate system in FIG. 3 is set as a tool coordinate system that defines the position and orientation of the nozzle 18 and is stored in advance in the storage unit 34. The position and posture of the nozzle 18 in the three-dimensional space can be defined by the three-dimensional coordinates of the origin O of the tool coordinate system and the directions of the x-axis, y-axis, and z-axis. In the present embodiment, the origin O is arranged at the center of the first opening 40.

  The cleaning system 10 further includes a speaker 52 and a display unit 54. The speaker 52 outputs a sound wave according to the audio signal received from the control unit 12. The display unit 54 displays an image according to the image data received from the control unit 12.

  Next, the operation principle of the cleaning system 10 will be described with reference to FIGS. The cleaning system 10 processes a workpiece placed on the jig 104 by the processing machine 102, removes the workpiece from the jig 104, and then removes processing dust adhering to the jig 104.

  As shown in FIG. 4, the jig 104 according to the present embodiment has a relatively complicated structure. In such a jig 104, there is an area where it is difficult to remove the machining waste, or an area where the influence on the machining accuracy is particularly large when the machining waste adheres, while the machining waste is temporarily attached. Even so, there may be an area that is so small that the influence on processing accuracy is negligible (that is, an area that does not require cleaning).

  In the present embodiment, the user presets an area in which the processing waste is to be cleaned intensively as an important area. For example, in the example shown in FIG. 4, the first area 108 a, the second area 108 b, the third area 108 c, and the fourth area 108 d are included in the area 108 on the jig 104 as the important areas. Is set.

  Such an important area can be set by the user for each of various works. The storage unit 34 stores the type of work and the priority area set for the work in association with each other.

  For example, in the example illustrated in FIG. 4, the storage unit 34 associates the type of the jig 104 with information on the first area 108 a, the second area 108 b, the third area 108 c, and the fourth area 108 d. Is stored in advance.

  In this way, the control unit 12 can recognize the first area 108a, the second area 108b, the third area 108c, and the fourth area 108d set for the jig 104.

  The cleaning system 10 takes images of the area 108 on the jig 104 before and after the workpiece is processed, and based on the images, the first area 108a, the second area 108b, the third area 108c, and the second area 108c. The processing waste existing in each of the four areas 108d is detected.

  Then, the cleaning system 10 supplies fluid to the processing waste when the processing waste is detected in any of the first area 108a, the second area 108b, the third area 108c, and the fourth area 108d. The processing waste is removed by spraying.

  Hereinafter, an operation flow of the cleaning system 10 will be described with reference to FIGS. The flow shown in FIG. 5 starts when the machine tool control unit 106 receives a workpiece machining command from a user, a host controller, or a machining program. When the flow shown in FIG. 5 starts, the control unit 12 receives information on the type of workpiece to be machined from the machine tool control unit 106, the host controller, or the machining program.

  In step S1, the control unit 12 captures an image of a region where a work is placed. As an example, the control unit 12 operates the robot 14 to place the imaging unit 16 at a predetermined position above the jig 104. This predetermined position is a position where the imaging unit 16 can image the entire area 108 on the jig 104 and is predetermined by the user.

  As another example, the control unit 12 operates the robot 14 to sequentially arrange the imaging unit 16 at a plurality of positions determined in advance by the user, and at each of the plurality of positions by the imaging unit 16, The region 108 on the jig 104 may be imaged.

  For example, in the case of the jig 104 illustrated in FIG. 4, the control unit 12 captures a first position where an enlarged image (detailed image) of the first area 108 a can be imaged and an enlarged image of the second area 108 b. The imaging unit 16 is sequentially placed at a possible second position, a third position where an enlarged image of the third area 108c can be taken, and a fourth position where an enlarged image of the fourth area 108d can be taken. It may be arranged.

  In this case, the storage unit 34 associates the information of the first area 108a, the second area 108b, the third area 108c, and the fourth area 108d stored in advance with the first position, Information relating to the position, the third position, the three-dimensional coordinates of the fourth position, and the posture (line-of-sight data) of the imaging unit 16 at each position is stored in advance.

  In step S <b> 1, the control unit 12 stores the three-dimensional coordinates of the first position, the second position, the third position, and the fourth position from the storage unit 34, and the posture of the imaging unit 16 at each position ( (Line-of-sight data) is read from the storage unit 34. Then, the control unit 12 sequentially arranges the imaging unit 16 at the first position, the second position, the third position, and the fourth position in a posture determined with respect to each position.

  In response to a command from the control unit 12, the imaging unit 16 performs the first area 108a, the second area 108b, and the second area at the first position, the second position, the third position, and the fourth position. The enlarged images of the third area 108c and the fourth area 108d are respectively captured. The imaging unit 16 transmits captured image data to the control unit 12.

  The control unit 12 stores the image data received from the imaging unit 16 in the storage unit 34. In step S <b> 1, the control unit 12 causes the imaging unit 16 to image the region 108 before the workpiece is placed in the region 108 on the jig 104 in order to process the workpiece.

  In step S2, the machine tool control unit 106 performs workpiece machining. Specifically, the machine tool control unit 106 sends a command to a workpiece transfer robot (for example, the robot 14) and places the workpiece on the jig 104.

  Then, the machine tool control unit 106 sends a command to the processing machine 102 to process the workpiece by the processing machine 102. After the processing of the workpiece is completed, the machine tool control unit 106 sends a command to the workpiece transfer robot and takes out the workpiece from the machine tool 100.

  In step S3, the control part 12 images the area | region where a workpiece | work is installed similarly to above-mentioned step S1. Specifically, the control unit 12 sends a command to the robot 14, arranges the imaging unit 16 at the same position and posture as the position where the workpiece W is imaged in step S <b> 1, and the imaging unit 16 places the image on the jig 104. The area 108 is imaged. The imaging unit 16 transmits the captured image data to the control unit 12.

  The control unit 12 stores the image data received from the imaging unit 16 in the storage unit 34. In step S <b> 3, the control unit 12 causes the imaging unit 16 to image the region 108 after processing the workpiece and removing the workpiece from the region 108.

  In step S4, the control unit 12 executes the operation scheme 1. Step S4 will be described with reference to FIG.

  After starting Step S4, in Step S11, the control unit 12 detects whether or not machining waste exists in the nth zone (n = 1, 2, 3, or 4). As will be described later, after starting step S4, control unit 12 loops steps S11 to S16 until it is determined YES in step S16.

  Hereinafter, the case where the control part 12 performs step S11-S16 of the 1st round is demonstrated. When executing step S11 in the first round, the control unit 12 sets the area number “n” to n = 1, and in step S11, determines whether or not processing waste exists in the first area 108a. To detect.

  Specifically, the control unit 12 reads the image captured by the imaging unit 16 in step S1 and the image captured by the imaging unit 16 in step S3 from the storage unit 34.

An example of an image captured in step S3 is shown in FIG. In this case, machining scraps A ₀ , A ₁ , A ₃ , A ₄ are generated by machining the workpiece in step S 2. More specifically, the first region 108a of region 108, the processing refuse _{A 1} is present.

In addition, the processing waste A ₃ exists in the third area 108 c of the region 108. Further, the fourth section 108d of the region 108, the processing refuse _{A 4} are present. On the other hand, there is no processing waste in the second area 108b, and outside the first area 108a, the second area 108b, the third area 108c, and the fourth area 108d. , there are a plurality of processing refuse a _0.

The control unit 12 compares the image captured in step S1 (for example, the image illustrated in FIG. 4) with the image illustrated in FIG. 8 captured in step S3, and determines a difference in luminance or color wavelength. calculated, hereinafter, detects the processing refuse _{a 1} present in the first area 108a.

  As described above, in the present embodiment, the control unit 12 has a function as the processing waste detection unit 46 (FIG. 2) that detects processing waste existing in the region 108 on the jig 104.

Controller 12, when detecting the machining chips _{A 1} at step S11, it is determined YES, and the process proceeds to step S12. On the other hand, the control unit 12, when not detected a processing refuse _{A 1} at step S11, it is determined NO, and the process proceeds to step S15.

  In step S <b> 12, the control unit 12 determines the position and orientation of the nozzle 18. Here, in the present embodiment, the position of the nozzle 18 for effectively removing the machining waste existing in the first area 108a, the second area 108b, the third area 108c, and the fourth area 108d and The posture (that is, the tool coordinate system) is predetermined by the user.

  As an example, the tool coordinate system of the nozzle 18 is set so that the machining waste existing in the region 108 can be blown away radially outward from the center of the jig 104.

For example, as shown in FIG. 9, the processing refuse A ₁ present in the first zone 108a to blow away the fluid ejected from the nozzle 18, the tool coordinate system of the nozzle 18, the orthogonal coordinate system in FIG. 9 Is set.

If the nozzle 18 is arranged on the tool coordinate system shown in FIG. 9, the fluid injected from the nozzle 18, the processing debris A _1, the direction D ₁ toward the outside radially from the center O of the jig 104 _(in FIG. 9 In the positive z-axis direction).

  The storage unit 34 stores in advance the tool coordinate system shown in FIG. 9 set for the first area 108a. In step S12, the control unit 12 reads the tool coordinate system set for the first area 108a from the storage unit 34, and determines the position and posture where the nozzle 18 is to be disposed.

Thus, in the present embodiment, the control unit 12, processing when towards the scrap A ₁ blown fluid functions as a placement determining unit 48 for determining the position and orientation of the nozzle 18 (FIG. 2) .

  In step S13, the control unit 12 operates the robot 14 to place the nozzle 18 at the position and posture determined in step S12. Specifically, the control unit 12 operates the robot 14 to place the nozzle 18 in the tool coordinate system shown in FIG.

  Thus, in the present embodiment, the control unit 12 has a function as the manipulator control unit 50 that controls the robot 14 (manipulator) so as to arrange the nozzles 18 at the position and posture determined in step S12. .

  In step S <b> 14, the control unit 12 ejects fluid from the nozzle 18. Specifically, the control unit 12 sends a command to the fluid supply unit 20 to supply the fluid into the through hole 38 through the second opening 42 of the nozzle 18.

Thereby, the fluid is ejected from the first opening 40 of the nozzle 18. Fluid ejected from the first opening 40 is sprayed onto the processing refuse _{A 1} in the first region 108a, as a result, the processing refuse _{A 1} is blown off in the direction _{D 1.}

  In step S15, the control unit 12 increments “1” to the area number “n”. Specifically, when step S15 of the first round is being executed, the zone number “n” is incremented from “1” to “2” in step S15.

  In step S16, it is determined whether or not the area number “n” incremented in step S15 is a number greater than 4 (ie, n> 4). If the control unit 12 determines that the area number “n” is greater than 4 (ie, YES), the control unit 12 proceeds to step S17.

  On the other hand, when the control unit 12 determines that the area number “n” is a number of 4 or less (that is, NO), the control unit 12 returns to step S11. Thus, the control part 12 loops step S11-S16 until it is judged as YES in step S16.

  Next, the case where the control unit 12 executes steps S1 to S16 in the second round will be described. In step S11 of the second round, the control unit 12 detects whether or not machining waste exists in the second zone 108b (that is, zone number n = 2) in step S11.

Specifically, the control unit 12 compares the image captured in step S1 (FIG. 4) with the image captured in step S3 (FIG. 8), and exists in the second area 108b. detecting the swarf _{a 1.}

  In the example shown in FIG. 8, there is no processing waste in the second area 108b. Therefore, the control unit 12 determines NO in step S11, and proceeds to step S15. And the control part 12 increments "1" to area number "n" in step S15. As a result, the area number “n” is incremented from “2” to “3”.

  In step S16, the control unit 12 determines NO because the area number “n” (= 2) is a number equal to or less than 4, and returns to step S11.

  Next, the case where the control unit 12 executes steps S11 to S16 in the third round will be described. In step S11 of the third round, the control unit 12 detects whether or not machining waste exists in the third zone 108c (that is, zone number n = 3).

Specifically, the control unit 12 compares the image captured in step S1 (FIG. 4) with the image captured in step S3 (FIG. 8), and exists in the third area 108c. detecting the swarf _{a 3.}

In the example shown in FIG. 8, in the third section 108c, since the processing refuse _{A 3} is present, the control unit 12 detects the processing refuse _{A 3} at step S11, it is determined that YES. Then, the control unit 12 proceeds to step S12.

In step S <b> 12, the control unit 12 determines the position and orientation of the nozzle 18. As an example, as shown in FIG. 10, for blowing off the swarf A ₃ present in the third section 108c, the tool coordinate system of the nozzle 18 is set as the orthogonal coordinate system in FIG.

If the nozzle 18 is arranged on the tool coordinate system shown in FIG. 10, the fluid injected from the nozzle 18, the processing debris A _3, the direction D ₃ directed outward radially from the center O of the jig 104 _(FIG. 10 in In the positive z-axis direction).

  In step S12, the control unit 12 reads the tool coordinate system set for the third section 108c from the storage unit 34, and determines the position and posture where the nozzle 18 is to be disposed.

In step S13, the control unit 12 operates the robot 14 to place the nozzle 18 at the position and posture determined in step S12. In step S <b> 14, the control unit 12 sends a command to the fluid supply unit 20 to eject the fluid from the first opening 40 of the nozzle 18. Fluid ejected from the first opening 40 is sprayed onto the processing refuse _{A 3} in the third zone 108c, as a result, the processing refuse _{A 3} is blown off in the direction _{D 3.}

  In step S15, the control unit 12 increments “1” to the area number “n”. As a result, the area number “n” is incremented from “3” to “4”. Then, in step S16, the control unit 12 determines NO because the area number “n” (= 3) is a number of 4 or less, and returns to step S11.

  Next, the case where the control unit 12 executes steps S11 to S16 in the fourth round will be described. In step S11 of the fourth round, it is detected whether or not processing waste exists in the fourth area 108d (that is, area number n = 4).

Specifically, the control unit 12 compares the image captured in step S1 (FIG. 4) with the image captured in step S3 (FIG. 8), and exists in the fourth area 108d. detecting the swarf _{a 4.}

In the example shown in FIG. 8, in the fourth section 108d, since swarf _{A 4} is present, the control unit 12 detects the processing refuse _{A 4} at step S11, it is determined that YES. Then, the control unit 12 proceeds to step S12.

In step S <b> 12, the control unit 12 determines the position and orientation of the nozzle 18. As an example, as shown in FIG. 11, for blowing off the swarf A ₄ present in the fourth section 108d, the tool coordinate system of the nozzle 18 is set as the orthogonal coordinate system in FIG.

If the nozzle 18 is arranged on the tool coordinate system shown in FIG. 11, the fluid injected from the nozzle 18, the processing debris A _4, the direction D ₄ directed outward radially from the center O of the jig 104 _(FIG. 11 in In the positive z-axis direction).

  In step S12, the control unit 12 reads the tool coordinate system set for the fourth area 108d from the storage unit 34, and determines the position and posture where the nozzle 18 is to be disposed.

In step S13, the control unit 12 operates the robot 14 to place the nozzle 18 at the position and posture determined in step S12. In step S <b> 14, the control unit 12 sends a command to the fluid supply unit 20 to eject the fluid from the first opening 40 of the nozzle 18. Fluid ejected from the first opening 40 is sprayed onto the processing refuse _{A 4} in the fourth section 108d, As a result, the processing refuse _{A 4} is blown off in the direction _{D 4.}

  In step S15, the control unit 12 increments “1” to the area number “n”. As a result, the area number “n” is incremented from “4” to “5”. In step S16, the control unit 12 determines that the area number “n” (= 5) is larger than 4 (that is, n> 4), so the process proceeds to step S17.

  In step S17, the control unit 12 determines whether or not machining waste has been detected in all the sections 108a, 108b, 108c, and 108d. The control unit 12 determines YES when all of the first area 108a, the second area 108b, the third area 108c, and the fourth area 108d are not detected, and FIG. The flow shown in FIG.

  On the other hand, the control unit 12 determines NO when processing waste is detected in any of the first area 108a, the second area 108b, the third area 108c, and the fourth area 108d, Proceed to step S5.

In the example shown in FIG. 8, since the processing scraps A ₁ , A ₃ , and A ₄ are detected in the first area 108a, the third area 108c, and the fourth area 108d, the control unit 12 In step S17, NO is determined, and the process proceeds to step S5.

  Referring to FIG. 5 again, in step S5, control unit 12 determines whether or not the number of times the fluid is ejected from nozzle 18 exceeds a predetermined threshold value. As an example, the controller 12 accumulates the number of fluid ejections every time the fluid is ejected from the nozzle 18 and determines whether or not the fluid ejection number exceeds a predetermined number (for example, 100 times).

  As another example, the control unit 12 integrates the number of fluid ejections that the nozzle 18 ejects fluid to the nth zone (n = 1, 2, 3, or 4), and the fluid ejection number is It is determined whether or not a predetermined number of times (for example, 10 times) has been exceeded.

  When it is determined that the number of times that the fluid has been ejected from the nozzle 18 has exceeded the threshold (that is, YES), the control unit 12 proceeds to step S6. On the other hand, when the control unit 12 determines that the number of times the fluid is ejected from the nozzle 18 does not exceed the threshold (that is, NO), the control unit 12 returns to step S3.

  When it is determined NO in step S5, control unit 12 executes steps S3 and S4 again. Thereby, the control part 12 detects the process waste which remains in the area 108a, 108b, 108c, 108d after step S4 performed immediately before (step S11), and removes the detected process waste (step S12-). S14).

  On the other hand, if YES is determined in step S5, the control unit 12 executes the operation scheme 2 in step S6. Step S6 will be described with reference to FIG. In FIG. 7, processes similar to those shown in FIGS. 5 and 6 are denoted by the same step numbers, and detailed description thereof is omitted.

  After step S6 is started, the control unit 12 executes step S3 described above. Specifically, the control unit 12 sends a command to the robot 14, places the imaging unit 16 at the position and posture where the workpiece W is imaged in step S <b> 3, and images the region 108 on the jig 104 by the imaging unit 16. To do.

  Subsequently, the control part 12 performs above-mentioned step S11. Specifically, the control unit 12 detects whether or not machining waste exists in the nth zone (n = 1, 2, 3, or 4). As described later, after starting step S6, control unit 12 loops through steps S11, S15, and S16 until YES is determined in step S16.

For example, if the control unit 12 is executing the step S11 of the third round, the control unit 12 detects whether or not the processing refuse A ₃ to the third zone 108c are present.

  When the control unit 12 determines that the processing waste exists in the nth zone (that is, YES), the control unit 12 proceeds to step S7 in FIG. On the other hand, when the control unit 12 determines that there is no work waste in the nth zone (that is, NO), the control unit 12 proceeds to step S15 in FIG.

  When it is determined NO in step S11, the control unit 12 executes the above-described step S15 and increments the area number “n” by “1”.

  Subsequently, the control part 12 performs above-mentioned step S16. Specifically, the control unit 12 determines whether or not the area number “n” incremented in step S15 is greater than 4. If the control unit 12 determines that the area number “n” is greater than 4 (ie, YES), the control unit 12 ends the flow illustrated in FIG.

  On the other hand, when the control unit 12 determines that the area number “n” is a number of 4 or less (that is, NO), the control unit 12 returns to step S11. Thus, the control part 12 loops step S11, S15, and S16 until it is judged as YES in step S16.

  Referring to FIG. 5 again, in step S7, control unit 12 notifies the user of a warning. Specifically, the control unit 12 includes an audio warning signal indicating that the processing waste has been detected in the areas 108a, 108b, 108c, and 108d even though the nozzle 18 has performed the fluid ejection exceeding the threshold value. An image warning signal is generated.

  And the control part 12 transmits an audio | voice warning signal and an image warning signal to the speaker 52 and the display part 54, respectively. The speaker 52 and the display unit 54 output sound waves and images according to the warning signal received from the control unit 12, thereby notifying the user of the warning. Thus, in this embodiment, the control part 12 has a function as the warning production | generation part 56 (FIG. 2) which produces | generates the warning with respect to a user.

  As described above, in the present embodiment, the control unit 12 detects the processing waste existing in the region 108 based on the image captured by the imaging unit 16, and sprays the fluid toward the detected processing waste. The position and posture (tool coordinate system) of the nozzle 18 suitable for the above are determined.

  According to this configuration, it is possible to reliably and automatically remove the machining waste existing in the region 108. As a result, it is possible to prevent the machining accuracy of the machine tool 100 from being lowered due to the machining waste.

In the present embodiment, the control unit 12, sections 108a predetermined by the user, 108b, 108c, for each of 108d, the processing refuse _A 1 based on the image captured by the imaging unit 16, _{A 3} , and it detects the _{a 4.}

Further, the control unit 12 sets the position and posture (tool coordinate system) of the nozzle 18 suitable for removing the existing machining wastes A ₁ , A ₃ , and A ₄ for each of the areas 108a, 108b, 108c, and 108d. Has been decided.

According to this configuration, even if the jig 104 has a complicated structure, the processing scraps A ₁ , A ₃ , A ₄ existing in the areas 108a, 108b, 108c, 108d set by the user. Can be reliably removed.

  Further, according to the present embodiment, the user can specify in advance the areas 108 a, 108 b, 108 c, and 108 d as the important areas that need to be cleaned among the areas 108 on the jig 104.

The cleaning system 10 can reliably remove the processing wastes A ₁ , A ₃ , and A ₄ in the areas 108 a, 108 b, 108 c, and 108 d, while omitting the cleaning work for the areas other than the priority areas. can do. According to this configuration, since the number of cleaning operations can be reduced, the cycle time of the machining operation of the machine tool 100 can be reduced.

  Further, in the present embodiment, after performing the cleaning operation of the areas 108a, 108b, 108c, and 108d in Step S4, Steps S3 and S4 are repeatedly executed unless YES is determined in Step S5.

  According to this configuration, steps S3 and S4 are repeatedly performed until no machining waste in the areas 108a, 108b, 108c, and 108d is detected, so that the machining waste in the areas 108a, 108b, 108c, and 108d It can be removed reliably.

  Further, according to the present embodiment, since the imaging unit 16 and the nozzle 18 are attached to the robot 14, the imaging unit 16 and the nozzle 18 can be simply selected by selecting a corresponding operation program for the robot 14 for each of various jigs. Can be placed in an optimal position and posture. Thereby, more efficient cleaning work can be executed.

  In the present embodiment, the control unit 12 determines whether or not the number of fluid ejections exceeds a threshold value in step S5. And the control part 12 judges YES in step S5, and when processing waste is detected in any of the area 108a, 108b, 108c, 108d in S6, it will notify the user in step S7. Warning.

  According to this configuration, since the number of times that the cleaning operation by the cleaning system 10 is performed can be limited to a predetermined number, it is possible to prevent the cleaning system 10 from repeating the cleaning operation indefinitely due to some abnormal situation. can do.

  The “something abnormal” is a situation in which a scar occurs in any of the areas 108a, 108b, 108c, and 108d, and the control unit 12 mistakenly detects the scar as a processing waste in step S11. included.

  In addition, the “some abnormal situation” includes a situation in which processing waste or foreign matter that cannot be removed simply by spraying the fluid with the nozzle 18 has adhered to any of the areas 108a, 108b, 108c, and 108d.

  Note that the above-described cleaning system 10 is described as including the storage unit 34, the speaker 52, the display unit 54, and the warning generation unit 56. However, these elements are not essential in the present invention.

  Hereinafter, a cleaning system 60 according to another embodiment of the present invention will be described with reference to FIGS. 12 and 13. In the present embodiment, the same reference numerals are given to the same elements as those in the above-described embodiment, and detailed description thereof is omitted.

  The cleaning system 60 includes a control unit 62, a robot 14, an imaging unit 16, a nozzle 18, and a fluid supply unit 20. The controller 62 controls each component of the cleaning system 60 directly or indirectly. Similar to the above-described embodiment, the imaging unit 16 and the nozzle 18 are attached to the robot 14 and are moved by the robot 14 under the command of the control unit 62.

Next, the operation of the cleaning system 60 will be described. Cleaning system 60, for example, it detects the processing refuse _{A 10} present in the area 112 on the jig 110 shown in FIG. 13. A region 112 on the jig 110 is a region where a workpiece as a workpiece is placed.

  The control unit 62 operates the robot 14 to place the imaging unit 16 in a predetermined position and posture, sends a command to the imaging unit 16, and images the area 112 (corresponding to step S1 described above).

Next, the control unit 62 functions as the processing waste detection unit 64 and detects the processing waste A ₁₀ present in the region 112 based on the image captured by the imaging unit 16 (corresponding to the above-described step S11).

Next, the control unit 62 functions as the arrangement determining unit 66 to determine the position and posture of the nozzle 18 when the fluid is sprayed toward the detected processing waste A ₁₀ (corresponding to step S12 described above).

For example, the control unit 62 sets the tool coordinate system of the nozzle 18 as shown in FIG. The tool coordinate system of the nozzle 18 may be set in advance by the user, or the control unit 62 is suitable for blowing the machining waste A ₁₀ from the position of the machining waste A _{10 in} the captured image. The position may be determined as appropriate.

  Next, the control unit 62 functions as the manipulator control unit 68 to control the robot 14 so as to place the nozzle 18 at the determined position and posture (corresponding to step S13 described above). As a result, the nozzle 18 is arranged as shown in FIG.

Then, the control unit 62 sends a command to the fluid supply unit 20, blows the fluid toward the nozzle 18 to _{A 10} (corresponding to step S14). As a result, it is possible to blow swarf A ₁₀ present in the region 112 in a predetermined direction.

  In the above-described embodiment, the case where the control units 12 and 62 are provided separately from the machine tool control unit 106 as elements (that is, robot controllers) for controlling the robot 14 has been described.

  However, the control units 12 and 62 may be provided as elements different from the robot controller for controlling the robot 14. In this case, the control units 12 and 62 may be incorporated in the machine tool control unit 106.

  Further, in the embodiment shown in FIG. 2, the case where the processing waste detection unit 46, the arrangement determination unit 48, the manipulator control unit 50, the warning generation unit 56, and the storage unit 34 are incorporated in the control unit 12 has been described. .

  However, at least one of the processing waste detection unit 46, the arrangement determination unit 48, the manipulator control unit 50, the warning generation unit 56, and the storage unit 34 may be provided as an element different from the control unit 12.

  Similarly, in the embodiment shown in FIG. 712, at least one of the machining waste detection unit 64, the arrangement determination unit 66, and the manipulator control unit 68 may be provided as an element different from the control unit 12.

  In the above-described embodiment, the case where the vertical articulated robot 14 is applied as the manipulator that moves the imaging unit 16 and the nozzle 18 has been described. However, any structure of the manipulator may be applied as long as the imaging unit 16 and the nozzle 18 can be moved.

  Further, when the fluid is ejected from the nozzle 18 in step S14 in FIG. 6, the control unit 12 may send a command to the robot 14 to move the nozzle 18. As an example, during the execution of step S14, the control unit 12 sends a command to the robot 14 to cause the nozzle 18 to oscillate in order to make it easier to remove the machining waste by the fluid.

  In the above-described embodiment, the case where the imaging unit 16 is attached to the robot 14 has been described. However, the imaging unit 16 may be fixed at a predetermined fixed point. This fixed point is set at a position where the entire jig 104 can be imaged.

  Note that in step S11 in FIGS. 6 and 7, the control unit 12 may detect whether or not there is more machining waste than the predetermined number in the nth zone. Specifically, the storage unit 34 stores “a predetermined number”.

  In step S11, the control unit 12 determines YES when the number of the processing scraps detected in the nth area is larger than the predetermined number, while detecting it in the nth area. When the number of processing scraps is equal to or less than a predetermined number, it is determined as NO.

  As mentioned above, although this invention was demonstrated through embodiment of invention, the above-mentioned embodiment does not limit the invention based on a claim. In addition, a combination of the features described in the embodiments of the present invention can also be included in the technical scope of the present invention, but all of these combinations of features are essential to the solution of the invention. Not exclusively. Furthermore, it will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiments.

  Further, the execution order of each process such as operation, procedure, step, process, and stage in the apparatus, system, program, and method shown in the claims, the specification, and the drawings is particularly “before”. It should be noted that it may be implemented in any order unless it is explicitly stated as “prior to” or the like, and the output of the previous process is not used in the subsequent process. Even if the operation flow in the claims, the description, and the drawings is described using “first,” “next,” “next,” etc. for the sake of convenience, it is essential to implement them in this order. It doesn't mean that.

10, 60 Cleaning system 12, 62 Control unit 14 Robot 16 Imaging unit 18 Nozzle

Claims (5)

A machine tool cleaning system,
A nozzle capable of jetting fluid;
A manipulator that moves the nozzle;
Predetermined for each of a plurality of focus areas set in an area workpiece is placed, the position and orientation of the nozzle when spraying the fluid in that pressure Kokuzu be present polymerization point zone A storage unit for storing;
An imaging unit for imaging the region;
Based on the image captured by the imaging unit, whether or not the processing refuse into the emphasis region of each present, swarf detector for detecting the front of the fluid jetting operation of the nozzle with respect to the focus area of each When,
Reads the position and orientation corresponding to the priority areas the processing refuse detector detects the presence of a pre-Symbol processing refuse from the storage unit, blowing the fluid towards the swarf present in said heavy point zone An arrangement determining unit that determines the position and orientation of the nozzle when
A manipulator control unit that controls the manipulator so as to arrange the nozzle at the position and the posture determined by the arrangement determination unit;
A cleaning system comprising: a fluid supply unit that performs the fluid ejection operation of supplying the fluid to the nozzle and ejecting the fluid through the nozzle when the nozzle is disposed at the position and the posture.   2. The cleaning system according to claim 1, wherein the position and orientation stored in the storage unit are determined so that the machining waste can be blown off in a predetermined direction by the fluid ejected from the nozzle. The imaging unit is moved by the manipulator,
The manipulator control unit operates the manipulator to arrange the imaging unit at a plurality of positions where an enlarged image of each of the priority areas can be captured,
The cleaning system according to claim 1, wherein the imaging unit images the area at each of the plurality of positions. The imaging unit captures the region again after the fluid is ejected,
The processing waste detection unit is configured to determine whether the processing waste remains in each of the priority areas after the fluid ejection based on an image captured by the imaging unit after the fluid ejection . Detecting prior to a second fluid ejection operation of the nozzle relative to the critical area ;
The manipulator controller operates the pre Symbol manipulator, said nozzle, said determined by arrangement determining portion, the swarf the processing refuse detector is present in the focus area having detected the remaining of the processing refuse Repositioning in the position and posture when spraying the fluid toward
The cleaning according to any one of claims 1 to 3, wherein the fluid supply unit performs the second fluid ejection operation in which the fluid is again supplied to the nozzle and the fluid is ejected again through the nozzle. system.   The cleaning system according to claim 4, further comprising a warning generation unit that generates a warning when the number of times that the fluid supply unit performs the operation of ejecting the fluid from the nozzle exceeds a predetermined number of times.

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