JP7455122B2 - Removal system and control device - Google Patents

Description

The present invention relates to a removal system and control device.

Machine tools such as lathes and machining centers may not operate normally if chips are attached to the gripping surface that grips the workpiece, or if chips are entangled in chucks or tools.

For this reason, techniques for preventing chips from entering a predetermined space (for example, see Patent Document 1) and techniques for removing attached chips (for example, see Patent Document 2) have been proposed.

Japanese Patent Application Publication No. 2001-277012

Japanese Patent Application Publication No. 8-150537

By the way, even in machine tool jigs such as chucks, NC rotary tables, vises, stationary chucks, pallet jigs, etc., if foreign matter such as chips adheres to the contact surfaces between the components that make up these, In some cases, the workpiece may be gripped incorrectly, and the machining accuracy of the workpiece is reduced. Similarly, if foreign matter such as chips is attached to the surface that comes into close contact with the workpiece when the workpiece is gripped, there is a possibility that the workpiece will be gripped incorrectly and the machining accuracy of the workpiece will be reduced. Further, adhesion of foreign matter may cause damage to the workpiece and the jig itself.

Therefore, it is important to remove foreign matter from the contact surface of the jig as well.

However, the technique described in Patent Document 1 cannot completely prevent chips from entering a predetermined space. Therefore, when this technology is used, there is a possibility that foreign matter will adhere to the contact surface where the parts that make up the jig are attached or replaced or when gripping the workpiece. be.

Furthermore, in the technique described in Patent Document 2, chips are grasped and removed by a chip removal hand, so it is difficult to remove small foreign objects.

Furthermore, in the technology described in Patent Document 2, chips are detected by physically pushing the sensor with the chips, so it is difficult to detect small foreign objects. If serrations are formed in the groove, it is almost impossible to detect foreign objects in the valley.

In view of the above circumstances, the present invention provides a removal system and a control device that can remove foreign matter adhering to the contact surface of a jig.

According to one aspect of the present invention, there is provided a removal system for removing foreign matter attached to a machine tool, which includes a surface sensor, a foreign matter removal device, and a control device, and the surface sensor is attached to a jig of the machine tool. is configured to be able to detect the surface state of a contact surface among the surfaces of the contact surface, wherein the contact surface includes at least a surface between members constituting the jig and a surface in contact with a workpiece held by the jig. On the other hand, the foreign matter removal device is configured to be able to remove foreign matter from the contact surface, and the control device includes a surface state storage section, a foreign matter detection section, and an operation instruction section, and the control device includes a surface state storage section, a foreign matter detection section, and an operation instruction section. stores the surface state of the contact surface in a state where no foreign matter is attached, and the foreign matter detection section stores the surface state of the contact surface detected by the surface sensor and the surface state storage section. The operation instruction section is configured to be able to detect foreign matter adhering to the contact surface based on a comparison with the surface state, and the operation instruction section is configured to control the foreign matter removal device when the foreign matter detection section detects a foreign matter. A removal system is provided that is configured to transmit operational instructions.

According to one aspect of the present invention, foreign matter adhering to the contact surface is detected based on a comparison between the surface state of the contact surface detected by the surface sensor and the surface state stored in the surface state storage unit. . This makes it possible to detect relatively small foreign objects such as chips, and even when there are markings or scratches on the contact surface, it is possible to detect foreign objects.

1 is a block diagram showing the functional configuration of a removal system 1. FIG. FIG. 3 is a perspective view showing the appearance of the chuck. 7 is a perspective view showing the external appearance of a master jaw 72. FIG. 7 is a perspective view showing the appearance of the top jaw 73. FIG. FIG. 7 is a diagram illustrating an example of an image of the surface state of the contact surface in a state where no foreign matter is attached. FIG. 7 is a diagram showing an example of an image of the surface state of a contact surface when detecting a foreign object. 7 is a diagram showing an example of an image showing a difference between the image shown in FIG. 5 and the image shown in FIG. 6. FIG. 3 is an activity diagram showing the flow of operation of the removal system 1. FIG.

Embodiments of the present invention will be described below with reference to the drawings. Various features shown in the embodiments described below can be combined with each other.

By the way, the program for realizing the software appearing in this embodiment may be provided as a computer-readable non-temporary recording medium, or may be provided in a downloadable manner from an external server. The program may be provided in such a way that the program is activated on an external computer and its functions are realized on a client terminal (so-called cloud computing).

Furthermore, in this embodiment, the term "unit" may include, for example, a combination of hardware resources implemented by circuits in a broad sense and software information processing that can be concretely implemented by these hardware resources. . In addition, various types of information are handled in this embodiment, and these information include, for example, the physical value of a signal value representing voltage and current, and the signal value as a binary bit collection consisting of 0 or 1. It is expressed by high and low levels or quantum superposition (so-called quantum bits), and communication and calculations can be performed on circuits in a broad sense.

Further, a circuit in a broad sense is a circuit realized by at least appropriately combining a circuit, a circuit, a processor, a memory, and the like. That is, Application Specific Integrated Circuit (ASIC), programmable logic device (for example, Simple Programmable Logic Device (SPLD)), Complex Programmable Logic Device (Complex Pr) ogrammable Logic Device: CPLD), and field This includes a field programmable gate array (FPGA) and the like.

1. Configuration Example First, the configuration of the removal system will be explained. FIG. 1 is a block diagram showing the functional configuration of the removal system 1. As shown in FIG.

As shown in the figure, the removal system 1 is configured to include a control device 2, a robot arm 3, a surface sensor 4, and a foreign object removal device 5, and is a system for removing foreign objects attached to a machine tool 6.

The control device 2 controls the robot arm 3, the surface sensor 4, and the foreign object removal device 5, and includes a surface state storage section 21, a foreign object detection section 22, and an operation instruction section 23.

The robot arm 3 is a robot that can perform various tasks on the machine tool 6, and has an end effector that can be detached from its tip and a surface sensor 4 or foreign matter on the outer periphery near the tip. This allows the removal device 5 to be attached. Further, the removal system 1 may include a plurality of robot arms 3, and may use both the robot arm 3 equipped with the surface sensor 4 and the robot arm 3 equipped with the foreign object removal device 5. Note that the surface sensor 4 and the foreign matter removal device 5 may be made detachable from the robot arm 3 as an end effector.

The surface sensor 4 is configured to be able to detect the surface condition of the contact surface of the member constituting the jig of the machine tool 6. Specifically, the surface sensor 4 is realized by a camera, a displacement meter, or the like. As long as the displacement meter is a non-contact type, various types such as optical type, eddy current type, ultrasonic type, laser type, etc. can be used, but for example, two-dimensional laser displacement meter or three-dimensional type A laser displacement meter can be used. Further, the surface sensor 4 may be disposed at the tip or outer periphery of the robot arm 3 as long as it can detect the surface condition of the contact surface of the member constituting the jig of the machine tool 6. It may be arranged within the area. When the surface sensor 4 is disposed within this processing area, a plurality of surface sensors 4 may be used. Note that the jig and its contact surface will be described later.

The foreign matter removal device 5 removes foreign matter from the contact surfaces of members constituting the jig of the machine tool 6, and includes a rotating brush, a brush, a gripper, an air blower, a liquid ejector, a suction device, and the like. These may be used alone or in appropriate combinations. Furthermore, it is also possible to use an integrated combination such as an air blower with a built-in gripper.

Further, the removal system 1 may include a plurality of foreign object removal devices 5, and may appropriately use one for removing relatively large foreign objects and one for removing relatively small foreign objects.

The surface state storage unit 21 stores the surface state of the contact surface of the member constituting the jig of the machine tool 6 in a state where no foreign matter is attached. Specifically, when the jig is newly used or immediately after an inspection, the result of detecting the surface condition of the contact surface using the surface sensor 4 is stored. When the surface sensor 4 is a camera, the surface state storage unit 21 stores an image in which no foreign matter is attached.

Further, when the surface sensor 4 is a two-dimensional laser displacement meter, the surface state storage unit 21 stores the foreign matter measured by operating the robot arm 3 so that the two-dimensional laser displacement meter can measure the entire contact surface. A contour image of the surface state of the adhesion surface without any adhesion is stored. Note that instead of the contoured image, numerical data measured by a two-dimensional laser displacement meter may be stored.

When the surface sensor 4 is a three-dimensional laser scanner, the surface state storage unit 21 stores a two-dimensional contour diagram as an image or stores numerical data.

The foreign object detection section 22 detects the close contact based on a comparison between the surface condition of the contact surface of the member constituting the jig of the machine tool 6 detected by the surface sensor 4 and the surface condition stored in the surface condition storage section 21. Detects foreign objects attached to surfaces. Specifically, the foreign object detection section 22 uses the surface state image stored in the surface state storage section 21 as a background image, the surface state image detected by the surface sensor 4 as a foreground image, and detects foreign objects by background difference. To detect.

When the surface sensor 4 is a camera, the foreign object detection section 22 detects foreign objects attached to the contact surface based on the difference between the image captured by the camera and the image stored in the surface state storage section 21. do. Further, when the surface sensor 4 is a two-dimensional laser displacement meter, the foreign object detection unit 22 receives the measurement results by operating the robot arm 3 so that the two-dimensional laser displacement meter can measure the entire contact surface. Foreign matter adhering to the contact surface is detected based on the difference between the contoured image and the image stored in the surface condition storage section 21.

The operation instruction section 23 sends an operation instruction to the robot arm 3 and the foreign object removal device 5 when the foreign object detection section 22 detects a foreign object. The operation instruction sent by the operation instruction section 23 to the robot arm 3 includes position information indicating the position of the foreign object detected by the foreign object detection section 22, and the robot arm 3 causes the foreign object removal device 5 to remove the foreign object based on the position information. This is a movement instruction for moving to a nearby location. The operation instruction sent by the operation instruction unit 23 to the foreign object removal device 5 is a drive instruction for driving the foreign object removal device 5. For example, if the foreign object removal device 5 is composed of a rotating brush, the rotation of the foreign object removal device 5 is This is for driving the brush.

Note that the operation instruction unit 23 may communicate with the machine tool 6 and operate in conjunction with the machine tool 6, but at least the machine tool 6 is in an operating state performing cutting or the like or is stopped. It is desirable to be able to check the status.

Note that the operation instruction to the foreign object removing device 5 may be notified from the operation instruction section 23 to the foreign object removing device 5 via the robot arm 3 to which the foreign object removing device 5 is attached.

Furthermore, when using a plurality of foreign object removal devices 5, the operation instruction section 23 selects one of the plurality of foreign object removal devices 5 based on at least one of the position and size of the foreign object detected by the foreign object detection section 22. , sends a mounting instruction to the robot arm 3 instructing the mounting of the selected foreign object removal device. Selection based on the position of foreign matter is performed, for example, when serrations are formed on the contact surface and a material suitable for removing foreign matter from the serrations is used.

Further, when the surface sensor 4 is attached to the robot arm 3, the operation instruction unit 23 sends an operation instruction to the robot arm 3 to detect the surface condition of the contact surface.

2. Close Contact Surface Next, the close contact surface from which the removal system 1 removes foreign matter will be described. The contact surfaces are both the surface where the members constituting the jig come into contact with each other, and the surface where the members and the workpiece come into contact with each other. Examples of jigs include chucks, NC rotary tables, vises, stationary chucks, pallet jigs, etc. Here, the contact surface will be explained using a chuck as an example. Note that, although explanations of parts other than the chuck will be omitted, jigs other than the chuck are also objects from which the removal system 1 removes foreign substances.

FIG. 2 is a perspective view showing the appearance of the chuck. As shown in the figure, the chuck 7 includes a body 71, a master jaw 72, and a top jaw 73. The body 71, master jaw 72, and top jaw 73 all correspond to members constituting a jig.

Next, the contact surface will be explained. FIG. 3 is a perspective view showing the external appearance of the master jaw 72. Further, FIG. 4 is a perspective view showing the appearance of the top jaw 73. As shown in FIG. 3, the master jaw 72 has serrations 721 and grooves 722. Further, as shown in FIG. 4, the top jaw 73 has serrations 731.

The serrations 721 and 731 are both contact surfaces, and when the top jaw 73 is attached to the master jaw 72, the top jaw 73 is attached so that the peak portions of the serrations 721 and the valley portions of the serrations 731 engage with each other.

Further, the groove 722 is also a contact surface. The groove 722 is an inverted T-shaped groove into which a T-nut, which is a member not shown, can be inserted.

Furthermore, when grasping a workpiece with the top jaw 73, a locator (not shown) is attached to position the workpiece. The surface where the locator and the workpiece come into contact is also a contact surface, and the surface where the top jaw 73 and the workpiece come into contact is also a contact surface.

3. Image Next, an image of the surface state detected by the surface sensor 4 will be described. FIG. 5 is a diagram showing an example of an image of the surface state of the contact surface with no foreign matter attached. Further, FIG. 6 is a diagram showing an example of an image of the surface state of the contact surface when detecting a foreign object.

Both the image shown in FIG. 5 and the image shown in FIG. 6 correspond to images taken from the front of the serrations 721 when the surface sensor 4 is a camera. Further, when the surface sensor 4 is a two-dimensional laser displacement meter, this corresponds to a contour diagram when the serrations 731 are measured from the front.

The contour diagram is created, for example, by the foreign object detection unit 22, which generates pixels showing a gradation according to the measured distance for each resolution measured by the two-dimensional laser displacement meter, and creates a set of pixels. This is an image.

The foreign object detection unit 22 extracts a background difference using the image shown in FIG. 5 as a background image and the image shown in FIG. 6 as a foreground image. At this time, appropriate image processing and the like are performed on each image, but detailed explanations thereof will be omitted.

FIG. 7 is a diagram showing an example of an image showing the difference between the image shown in FIG. 5 and the image shown in FIG. 6. The image shown in the figure is obtained by binarizing the difference between the image shown in FIG. 5 and the image shown in FIG. 6 based on a predetermined threshold value, and indicates foreign matter such as chips. It is preferable that this threshold value is adjusted as appropriate according to the dynamic range of the surface sensor 4 used. Further, the threshold value may be adjusted so that water droplets of cutting water are not detected but chips are detected. Note that, if necessary, the algorithm may be devised to use information on the color and shape of the foreign object.

4. Operation Next, the operation of the removal system 1 will be explained. FIG. 8 is an activity diagram showing the flow of operations of the removal system 1. Note that here, it is assumed that the surface sensor 4 is attached to the outer peripheral surface of the robot arm 3 near its tip.

In the removal system 1, when it becomes necessary to replace a member constituting a jig, the robot arm 3 first removes the target member (A101).

Subsequently, the robot arm 3 moves the surface sensor 4 near the contact surface of the member removed in A101, and the surface sensor 4 detects the surface condition of the contact surface (A102).

Then, the foreign object detection unit 22 extracts a background difference based on the image stored in the surface state storage unit 21 and the image detected by the surface sensor 4 (A103).

As a result, if no foreign matter is detected, the robot arm 3 attaches the member to be replaced (A104).

On the other hand, if a foreign object is detected, the robot arm 3 attaches the foreign object removing device 5 to its tip (A105).

Subsequently, the robot arm 3 attempts to remove the foreign object by moving the foreign object removing device 5 near the contact surface of the member removed at A101 (A106).

Next, the robot arm 3 moves the surface sensor 4 near the contact surface of the member removed in A101, and the surface sensor 4 detects the surface condition of the contact surface (A107).

Then, the foreign object detection unit 22 extracts a background difference based on the image stored in the surface state storage unit 21 and the image detected by the surface sensor 4 (A108).

As a result, if no foreign matter is detected, the robot arm 3 removes the foreign matter removing device 5 (A109) and attaches the member to be replaced (A104).

In addition, if a foreign object is detected as a result of background difference extraction in A108, and if the number of foreign object removal attempts is less than a predetermined number of times, the foreign object removal device 5 is moved again to the vicinity of the contact surface of the member removed in A101. to try to remove the foreign matter (A106).

The removal of the foreign object in A106 is performed a predetermined number of times, and if the foreign object cannot be removed during that time, the removal system 1 stops its operation and issues a warning or the like.

Note that when a plurality of foreign object removal devices 5 are used and the foreign object removal trial of A108 is repeated multiple times, a different foreign object removal device 5 may be used for each foreign object removal attempt.

5. Others Finally, although embodiments according to the present invention have been described, these are presented as examples and are not intended to limit the scope of the invention. The new embodiment can be implemented in various other forms, and various omissions, substitutions, and changes can be made without departing from the gist of the invention. The embodiment and its modifications are included within the scope and gist of the invention, and are included within the scope of the invention described in the claims and its equivalents.

The present invention may be provided in each of the following aspects.
In the removal system, the surface sensor is a camera, the surface state storage section stores an image of the adhesion surface in a state where no foreign matter is attached, and the foreign matter detection section stores an image of the adhesion surface in a state where no foreign matter is attached, and the foreign matter detection section stores an image of the adhesion surface in a state where no foreign matter is attached. The removal system detects foreign matter adhering to the contact surface based on the difference between the image and the image stored in the surface state storage unit.
In the removal system, the surface sensor is a displacement meter, and the surface condition storage unit stores an image of a contoured surface condition of the adhesion surface in a state where no foreign matter is attached, as measured by the displacement meter. The foreign object detection section detects a foreign object adhering to the contact surface based on a difference between an image obtained by converting the measurement result by the displacement meter into a contour diagram and an image stored in the surface condition storage section. removal system.
In the removal system, the foreign object removing device is attached to a robot arm that performs a predetermined operation on the machine tool, and the operation instruction section is configured to indicate the position of the foreign object detected by the foreign object detection section with respect to the robot arm. A removal system configured to be able to send movement instructions based on location information indicating.
In the removal system, the surface sensor is mounted on the robot arm.
The removal system includes a plurality of foreign object removal devices, and the operation instruction section selects one of the foreign object removal devices based on at least one of the position and size of the foreign object detected by the foreign object detection section; A removal system that sends a mounting instruction to the robot arm to instruct mounting of a selected foreign object removal device.
A control device for a foreign matter removal device that removes foreign matter attached to a machine tool, the control device comprising a surface state storage section, a foreign matter detection section, and an operation instruction section, the surface state storage section being a control device for a foreign matter removal device that removes foreign matter attached to a machine tool. The surface condition of the contact surface, which is detected by a surface sensor in a state where no foreign matter is attached to the contact surface that is in contact with at least one of a member constituting the jig and a workpiece gripped by the jig, among the surfaces of , and the foreign matter detection unit is configured to detect particles that have adhered to the close contact surface based on a comparison between the surface state of the close contact surface detected by the surface sensor and the surface state stored in the surface state storage unit. The control device is configured to be able to detect a foreign object present in the foreign object, and the operation instruction section is configured to be able to send an operation instruction to the foreign object removal device when the foreign object detection section detects a foreign object.
In the control device, the foreign object removing device is attached to a robot arm that performs a predetermined work on the machine tool, and the operation instruction section is configured to indicate the position of the foreign object detected by the foreign object detection section with respect to the robot arm. A control device configured to be able to send movement instructions based on location information indicating.
In the control device, the surface sensor is mounted on the robot arm.
Of course, this is not the case.

1: Removal system 2: Control device 21: Surface condition storage section 22: Foreign object detection section 23: Operation instruction section 3: Robot arm 4: Surface sensor 5: Foreign object removal device 6: Machine tool

Claims (7)

A removal system for removing foreign matter attached to machine tools,
Equipped with a robot arm, a surface sensor, a foreign object removal device, and a control device,
The robot arm is configured to be capable of attaching or detaching one member to or from a plurality of members constituting a jig of the machine tool,
The surface sensor is attached to the robot arm and is configured to be able to detect the surface condition of a contact surface among the surfaces of the jig, where the contact surface is a contact surface between members to be attached or removed by the robot arm. is the aspect of
The foreign matter removing device is configured to be removably attached to the robot arm, and configured to be able to remove foreign matter from the contact surface when attached to the robot arm,
The control device includes a surface state storage section, a foreign object detection section, and an operation instruction section,
The surface state storage unit stores a surface state of the adhesion surface in a state where no foreign matter is attached,
The foreign matter detection section detects foreign matter adhering to the close contact surface based on a comparison between the surface state of the close contact surface detected by the surface sensor and the surface state stored in the surface state storage section. configured to allow
The operation instruction section is configured to be able to send an operation instruction to the foreign object removal device when the foreign object detection section detects a foreign object. The removal system according to claim 1,
the surface sensor is a camera;
The surface state storage unit stores an image of the contact surface in a state where no foreign matter is attached,
The foreign matter detection unit detects foreign matter adhering to the contact surface based on a difference between an image captured by the camera and an image stored in the surface state storage unit. The removal system according to claim 1,
The surface sensor is a displacement meter,
The surface state storage unit stores an image of a contoured surface state of the adhesion surface measured by the displacement meter in a state where no foreign matter is attached;
The foreign object detection section detects foreign objects adhering to the contact surface based on the difference between an image obtained by converting measurement results by the displacement meter into a contour diagram and an image stored in the surface state storage section. Removal system . (delete) (delete) The removal system according to any one of claims 1 to 3,
comprising a plurality of the foreign matter removal devices,
The operation instruction section selects one of the foreign object removal devices based on at least one of the position and size of the foreign object detected by the foreign object detection section, and issues an installation instruction to instruct the installation of the selected foreign object removal device. a removal system that delivers to the robot arm; A control device for a foreign object removal device that removes foreign objects attached to a machine tool,
Comprising a surface condition storage section, a foreign object detection section, and an operation instruction section,
The surface state storage section stores a surface state of the contact surface detected by the surface sensor in a state where no foreign matter is attached to the contact surface of the surface of the jig of the machine tool, and here, the contact surface is , a surface between members to be attached or detached by the robot arm, and the surface sensor is attached to the robot arm,
The foreign matter detection section detects foreign matter adhering to the close contact surface based on a comparison between the surface state of the close contact surface detected by the surface sensor and the surface state stored in the surface state storage section. configured to allow
The operation instruction section is configured to be able to send an operation instruction to the foreign object removal device when the foreign object detection section detects a foreign object, and the foreign object detection section is mounted on the robot arm. Control device.