JPH05261647A - Automatic machining unit - Google Patents

Abstract

PURPOSE:To shorten a span of programming time for work machining by recognizing a work form from a work image, calculating a Z-axis offset on the basis of the recognized result, and installing a means which sets the machining position of a work on the basis of the value. CONSTITUTION:At the time of work holding operation by a conveyor robot 12, a camera means photographs a work. If so, at a control unit 200, a form recognizing means extracts a work form from a work image into recognition, and a calculating means calculates an offset value in a Z-axis coordinate or a spindle axial direction on the basis of the recognized result. Then a machining control means performs a job for machining by a compound metalcutting machine tool on the basis of the Z-axis offset.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic machining apparatus equipped with a composite machining machine tool, a work storage device, and a conveyor device for conveying a workpiece from the work storage device to the composite machining machine tool.

[0002]

2. Description of the Related Art Conventionally, N is one of the multi-tasking machine tools.
C compound lathe is known. This NC compound lathe is provided with two sets of headstock and tool rest facing each other, and the work can be continuously processed by passing the work from one spindle to the other. Also, in recent years, a system that enables automatic machining for a long time by combining an NC compound lathe with an automatic work transfer device called a gantry robot (so-called FM
S) is considered (for example, JP-A-2-71948).
Publication). In this type of automatic processing system, after transferring the work from the gantry robot to the spindle chuck of the NC composite lathe, the distance from the machine origin in the axial direction (Z axis) of the spindle to the workpiece end surface is measured as the Z axis offset, After inputting (teaching) the value of the Z-axis offset to the NC composite lathe, machining such as cutting is started. Conventionally, the Z-axis offset is automatically measured by a measuring device equipped with a contact sensor or the like, or the workpiece end face is cut in advance and the Z-axis coordinate value of the cutting surface is set as the Z-axis offset.

[0003]

However, in the above device,
There is a problem that it takes time and labor to start the work processing in order to operate the measuring device or perform the cutting work in advance, which becomes an obstacle in accelerating the work transfer / continuous processing. In addition, since the transfer position of the work is different when the size of the work is different, the hand of the gantry robot holding the work is
In order to enter the C compound lathe without interference, the operator had to adjust the position of the gantry robot in the direction of the main shaft axis, which was troublesome. Therefore, an object of the present invention is to provide an automatic machining apparatus that can shorten the setup time by recognizing the work shape and calculating the Z-axis offset or the hand intrusion position based on the recognition result.

[0004]

SUMMARY OF THE INVENTION The gist of the present invention is to provide a combined machining machine tool, and a workpiece storage device on which workpieces machined by the combined machining machine tool are placed and stored.
A guide rail erected between the combined machining machine tool and the work storage device; a conveyor device that travels on the guide rail to convey a work from the workpiece storage device to the combined machining machine tool; In an automatic processing apparatus equipped with a composite processing machine tool, a work storage device, and a control device for controlling the transfer device, the transfer device includes a robot main body that is self-propelled on the guide rail, and a vertical direction attached to the robot main body. A transfer robot having a retractable arm, a hand attached to the tip of the arm for gripping a work, and an image pickup means for picking up an image of the work in the work storage device, and the control device is configured by the image pickup means. Shape recognition means for extracting and recognizing the shape of the work from the picked-up image of the work, and the multi-task machine tool according to the recognition result of the shape recognition means. Calculation means for calculating the Z-axis offset value from the machine origin to the workpiece end surface in the Z-axis coordinate, which is the axial direction, and the machining of the workpiece by the combined machining machine tool based on the calculated Z-axis offset. An automatic processing apparatus is provided with processing control means for performing.

Further, a composite machining machine tool, a work storage device for storing and storing a work to be processed by the composite machining machine tool, and a guide rail installed between the composite machining machine tool and the work storage device. A transporting device for self-propelled on the guide rail to transport a work from the work storage device to the combined machining machine tool; and a control device for controlling the combined machining machine tool, the work storage device, and the conveyor device. In the automatic processing apparatus provided with, the transfer device includes a robot main body which is self-propelled on the guide rail, an arm which is attached to the robot main body and extends and contracts in a vertical direction, and a hand which is attached to a tip of the arm and holds a work. And a image pickup means for picking up an image of the work of the work storage device. Recognizing the shape recognition means extracts a shape of the workpiece from the image, and approach point determining means for setting the approach point to the workpiece edge surface vicinity attached to the composite machine tool based on the recognition result of the shape recognition means,
The multi-task machine tool has a workpiece contact means such as a tool blade edge and a touch sensor which are movably controlled in a spindle axis direction and a direction orthogonal thereto, and a speed at which the workpiece contact means moves to the approach point in the vicinity. Is provided with a moving speed switching means for setting the movement speed higher than the movement from the approach point to the work side.

Further, the combined machining machine tool, a work storage device for storing and storing a work processed by the combined machining machine tool, and a guide rail installed between the combined machining machine tool and the workpiece storage device. A transporting device for self-propelled on the guide rail to transport a work from the work storage device to the combined machining machine tool; and a control device for controlling the combined machining machine tool, the work storage device, and the conveyor device. In the automatic processing apparatus provided with, the transfer device includes a robot main body which is self-propelled on the guide rail, an arm which is attached to the robot main body and extends and contracts in a vertical direction, and a hand which is attached to a tip of the arm and holds a work. And a image pickup means for picking up an image of the work in the work storage device, and the control device is arranged so that the controller picks up the image picked up by the image pickup means. The shape recognition means for extracting and recognizing the shape of the work from the image, and the main shaft axis direction of the multi-task machine tool for delivering the work from the transfer robot based on the recognition result of the shape recognition means. Hand penetration position calculation means for calculating the penetration position of the hand on the Z-axis coordinate, and the transfer robot and the composite machining machine tool are controlled based on the calculated hand penetration position to control the conveyance robot and the composite machining. An automatic machining apparatus comprising: a delivery control unit that controls delivery of the work to and from a machine tool.

[0007]

According to the present invention configured as described above, in the transfer device, the transfer robot holds the work and transfers it from the work storage device to the multi-task machine tool while being controlled by the control device. For example, the arm is extended in the vertical direction, the work placed on the work placement surface of the work storage device is gripped by the hand, and then the arm is contracted to pull up the work. When the transfer robot grips the work, the imaging unit images the work. Then, in the control device, the shape recognition means extracts and recognizes the work shape from the work image, and the calculation means calculates the offset value at the Z-axis coordinate which is the main axis direction based on the recognition result of the shape recognition means. Then, the machining control means performs machining by the combined machining machine tool based on the Z-axis offset. Further, in the control device, the shape recognition means extracts and recognizes the work shape from the work image, and the work receiving position calculation means transfers the work from the transfer robot based on the recognition result. Calculate the position on the coordinates. Then, the delivery control means controls the transfer robot and the composite machining machine tool based on the work receiving position to control the transfer of the workpiece between the transfer robot and the composite machining machine tool.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. First, FIG. 1 is a perspective view showing the overall configuration of an automatic processing apparatus to which the present invention is applied, and FIG. 2 is a partially cutaway front view.

As shown in the figure, the automatic machining apparatus 1 is largely viewed as a combined machining lathe 2 and a combined work lathe 2 and a work 3
A gantry robot 12 for loading 0 and unloading a processed work, a column 13 and a traveling rail 15 forming a bridge on which the gantry robot 12 travels, and a work storage device 90 for supplying a large number of works 30 to the gantry robot 12. Centered around and, it is configured as an automatic transfer processing system.

The composite machining lathe 2 is mainly composed of a machine body 3 and a work machining section 5. In the work processing part 5, two headstocks 6 and 7 are arranged so as to face each other and are independently movable in the horizontal direction. The headstocks 6 and 7 are respectively provided with spindles 9 and 10. , Same axis C
It is arranged on T1 and CT2. On the spindles 9 and 10,
The chuck 9 is provided with through holes 9b and 10b in the horizontal direction.
a and 10a are attached. In addition to this, the headstock 6,
A tool rest and a turret (not shown) are also provided in the vicinity of 7. The main body of this machine is Japanese Patent Publication No. 2-4260 of the same applicant.
This is specifically shown in Japanese Patent No. 2 publication.

A robot passage portion 11 is installed above the combined machining lathe 2 in such a manner that the machine body 3 and the work processing portion 5 are connected to each other, and openings 11a and 11b are formed in the left side surface portion 3 of the machine body 3.
a and the upper end portion 3b. A column 13 is erected at a position beyond the work storage device 90 when viewed from the machine body 3 of the combined machining lathe 2, and a traveling rail 15 is bridged between the column 13 and the machine body 3. The traveling rail 15 is provided with a robot body 16 that freely reciprocates on the traveling rail 15. The traveling rail 15 is a servo axis AB parallel to the moving directions of the headstocks 6 and 7 of the combined machining lathe 2.
It is arranged along (indicated by a double-headed arrow in the width direction in FIG. 2).

A control board for the combined machining lathe 2 (not shown)
A main control unit, a robot controller, and an image processing unit are provided inside, and these units will be described later. Next, the gantry robot will be described. 3 is an explanatory view of the gantry robot, FIG. 4 is an explanatory view showing a movement drive device of the gantry robot, FIG. 5 is an explanatory view of an arm lifting device and a hand holding device, and FIG. 6 is a perspective view showing various hands.

As shown, the gantry robot 12
Is mainly composed of a robot 16 main body, a casing 17, a hand holding device 27, and an arm 39 that moves along an axis EF (shown by double-headed arrows in FIGS. 4 and 5), When the storage device 90 and the combined machining lathe 2 are moved along the traveling rail 15 and stopped at a predetermined position (the position of the gantry robot 12 shown by solid lines and virtual lines in FIG. 2), the arm 39 moves up and down. Specifically, it is shown in Japanese Patent Application No. 2-216695 of the same applicant.

In the robot body 16, a movement drive device 19 is housed in a casing 17. In the movement drive device 19, a timing pulley 21a is attached to the shaft 20a of the drive motor 20, and the timing pulley 21a →
The rotation of the drive motor 20 is transmitted to the timing pulley 21d via the mechanism of the timing belt 22a → the timing pulley 21b → the rotary shaft 25. Support plates 26a and 26b are provided at both ends of the traveling rail 15, and the timing belt 22b is provided from one support plate 26a to the passing support plate 26b in a form wound around the timing pulley 21d and the two holding rollers 23a and 23b. Has been stretched.

Therefore, the robot body 16 reciprocates on the traveling rail 15 as the drive motor 20 rotates forward and backward (direction indicated by a double-headed arrow AB in FIGS. 3 and 4).
Further, as shown in the column (A) of FIG. 5, the arm lifter 36 is also housed in the casing 17, and the hand holding device 27 is provided at the lower end of the arm lifter 36. In the arm lifting device 36, the rotation of the lifting motor 36a is changed from the gear 36b fitted to the drive shaft to the gear 36b.
Guide rail 37a in the order of c → ball screw 36d
Be transmitted to. The guide rail 37a can be extended in the vertical direction, and when a driving force is transmitted from the lifting motor 36a side through a nut 37b screwed to the ball screw 36d, the arm 39 moves up and down.

As shown in the column (B) of FIG. 5, the hand holding device 27 is detachably attached to the tip of the arm 39,
Casing 27a and drive motor 2 housed therein
9, gear mechanism 31 and the like. The gear mechanism 31 is
It comprises a support shaft 31b arranged on the upper part thereof, a bevel gear 31d mounted on the support shaft 31b, a Geneva gear 32A arranged around the rotation holder 42, and the like.

As the drive motor 29 rotates, the rotary holder 42 is indexed into four by the gear mechanism 31 about the axial center CT3. A hand 53 for chuck work is attached to the rotation holder 42. Specifically, it is described in detail in Japanese Patent Application No. 2-230321 of the same applicant. As shown in the column (A) of FIG. 6, the hand 53 is made for chuck work, and includes the casing 55 and the casing 55.
Sets of work grips 53A with their backs facing each other
And 53B. In addition, column (B) of FIG.
As shown in columns (C) and (D), instead of the hand 53, another chuck hand 70 {(B) column}, shaft work hand 72 {(C) column}, for bar work. Hands 72 (column (D)) can be attached, but the details of these hands 70, 72, 74 are described in JP-A-2-719.
Since it is described in Japanese Patent Publication No. 48, the description thereof will be omitted. Further, the hand 53 is provided with a drive unit for opening and closing the chuck claws in the casing 55, but the details thereof are also described in this publication, so that the description thereof will be omitted.

The work holding parts 53A and 53B are three-disk chucks having a thick disk shape, and three claws 58 are arranged on the operating surface, and an image pickup device 60 is fitted in the center thereof. Has been. The image pickup device 60 is not limited to being attached to the center of the chuck, but may be provided on another surface of the hand 53 where the chuck is not present, which is easier to attach (for example, FIG. 6E).

The image pickup device 60 comprises an optical system such as a lens and a solid-state image pickup device (both not shown). For example, a known device called a solid-state camera using a CCD image sensor is adopted. The angle of view of the image pickup device 60 is wide enough so that when the arm 39 descends to the work placement surface of the storage device 90, the entire pallet 99 (described later) is placed within the image pickup range at the upper passing point. At the same time, at least one work can be accommodated within the imageable range at the passing point below (details will be described later).

Next, the work storage device will be described. FIG. 7 is a perspective view showing the appearance of the work storage device, and FIG. 8 is an explanatory view showing the structure of the work storage device.

As shown in the figure, the work storage device 90 is provided with a frame 91, and timing pulleys 92a and 92b are rotatably provided at both left and right ends thereof. Between the two timing pulleys 92a and 92b, a belt 93 is stretched in the direction of an arrow IJ which is a direction perpendicular to the main body rail 15, and a plurality of rollers 95 for supporting an upper portion WP of the belt 93 are provided. , One of the timing pulleys 9 is rotatably provided at predetermined intervals.
A drive motor 96 has a known belt transmission mechanism 97 at 2b.
Connected through. Also, on the belt 93,
A pallet 99 is mounted, and the pallet 99 includes a chuck work pallet 99A, a shaft work pallet 99B, and a bar work pallet 99C. The chuck work pallet 99A has a chuck work 30a.
Support holes 99e for inserting and supporting the lower end of the work 30 for mounting in a standing manner are formed at a predetermined interval L6.

Further, the shaft work pallet 99B
Is provided with a plurality of V-shaped attachments 99f for supporting the shaft work at predetermined intervals.
Further, the bar work pallet 99C is provided with a plurality of attachments 99g for supporting the bar work at predetermined intervals.

In the work storage device 90, the operator operates the drive motor 96 to operate a plurality of pallets 99A, 99.
B and 99C are moved in the direction of arrow S to position desired pallets 99A to 99C at predetermined positions WP.

Next, the main controller, robot controller and image processing apparatus will be described. FIG. 9 is a block diagram showing a schematic configuration of a main control device, a robot controller, and an image processing device.

As shown in the figure, the main controller 200 includes a main controller 200a having an information processing function and a main memory 200.
b, a program storage section 200c in which a system control program is stored, and a servo control section 200d for controlling a servo motor (not shown) of the combined machining lathe 2,
An interface unit 200e for data transmission to and from the robot controller 202 is configured as a main unit, and a main storage unit 200b stores processing programs corresponding to various works and parameters such as chuck width and claw depth. The recorded data table and the like are stored in advance. The main controller 200 is the robot controller 20.
2 and the image processing device 204 as a lower-level information processing device while controlling the entire system, and controlling the machining process of the combined machining lathe 2 based on a machining program and detection data from various detectors (not shown). To do.

The robot controller 202 mainly includes a main control unit 202a having an information processing function, and a main storage unit 202.
b and the image data processing unit 202 for image data processing
c, the drive motor 20 for moving the traveling rail, the drive motor 29 for rotating the hand, and the rotation and forward / reverse rotation of the arm elevating motor 36a are controlled to move the gantry robot 12, move up / down the arm 39, and move the hand 53. It comprises a mobile command unit 202d for controlling rotation, an interface unit 202e for data transmission with the main control device 202, an interface unit 202f for data transmission with the image processing device 204, and the like.

The image processing apparatus 204 has a main control section 204a having an information processing function as a center, and a receiving section 204b for receiving an analog video signal from the image pickup apparatus 60 and converting it into digital image data, and a receiving section 204b. An image data storage unit 204c, which is a buffer memory for storing image data from the robot, and an external interface unit 204d for transmitting the image data stored in the image data storage unit 204c to the robot controller 202 are mainly configured. There is. The image processing device 204 takes in an analog video signal from the imaging device 60 in synchronization with the imaging timing signal from the robot controller 202 and transmits the image data to the robot controller 202.

In the automatic processing apparatus 1 configured as described above, the gantry robot 12 carries, carries in, and carries out the work 30 based on a command from the main controller 200. FIG. 1 is an explanatory diagram of the rotation operation of the hand 53 with respect to an example of the operation process of the gantry robot 12,
A description will be given with reference to 0. Details of the operation steps are omitted because they are described in Japanese Patent Application Laid-Open No. 2-71948, and here, 1-step continuous machining including delivery of a work between the head 1 and the head 2 and the head 1 and the head 2 are performed. Of the operation processes such as independent work machining, only the latter will be outlined.

= First step = The gantry robot 12 stops on the work storage device 90 → the hand 53 rotates 90 degrees counterclockwise CCW (the work gripping portion 53A faces downward) (1) → the arm 39 descends → Grip the work 30 on the pallet 99 → Arm 39
Rises

→ The hand 53 rotates clockwise by 180 degrees (workholding portion 53A faces upward, workholding portion 53
(B downward) (2) → arm 39 descends → grips second workpiece 30 → arm 39 rises → hand 53 rotates 90 degrees in CW direction (3).

= Second Step = The gantry robot 12 moves / stops to a predetermined position of the combined machining lathe 2 along the traveling rail 15 → the arm 39 descends → the work 3 of each of the work grippers 53A and 53B.
0 is transferred to the chucks 9a and 9b of the multi-tasking lathe 2 → rise (standby) ~ (machining process of the multi-tasking lathe 2) → → the arm 39 descends → the work gripping portions 53A and 53B process the work 30 respectively. Receive → Arm 39 rises.

= Third step = The gantry robot 12 moves / stops above the work storage device 90 along the traveling rail 15 → the hand 53 moves to 90
Rotate counterclockwise CCW (4) → Arm 39 descends → Place processed workpiece on pallet 99 → Arm 39
Rises

→ Hand 53 rotates 180 degrees counterclockwise CCW (work gripping portion 53A faces downward, work gripping portion 53B faces upward) (5) → arm 39 descends →
Place the second work 30 → Arm 39 rises → Arm 39 lowers → Holds work 30 → Arm 39 rises →
The hand 53 rotates 180 degrees in the CW direction (the work grip 5
(3A faces up and the work holder 53B faces down) (6)
→ Arm 39 descends → Holds second workpiece 30 → Arm 39 rises → Hand 53 rotates 90 degrees in CW direction (7)

After the third step, the second step to the third step are repeated. The numbers (1) to (7) shown in the above steps are
The rotation operation sequence of the hand 53 of FIG. 10 is shown.

Next, the image pickup process executed by the robot controller 202 will be described with reference to the flowcharts of FIGS. 11 and 12. This processing is executed in the above-mentioned first step. In the above-mentioned flowchart, the number S is added to indicate that it is a step number.

When this process is started, first in S100,
The gantry robot 12 is moved to a position directly above the target work 30, and in the subsequent S110, the hand 53 is rotated 90 degrees counterclockwise CCW to orient the work grip 53A downward (toward the pallet 99). From this, the claws 58 of the work gripping portions 53A and 53B are opened. It is assumed that the workpiece gripping portions 53A and 53B face the horizontal direction and the claw 58 is closed at the time of starting.

Subsequently, in S120, an image pickup / shape recognition process is executed. In this process, as illustrated in FIG. 13, the image pickup timing signal is output and the pallet 9 is moved from the reference high position (height x0 from the mounting surface of the pallet 99 of the hand 53).
Image data obtained by photographing the work 30 on the workpiece 9 is received from the image processing device 204, and the planar projection shape and size of the work 30 are recognized based on the image data to recognize the shape parameter of the work 30 (for example, circular work diameter y0). To calculate.

The shape recognition process is performed by a procedure of preprocessing (binarization process of grayscale image, contour extraction process, etc.) → feature extraction (figure identification process, area / diameter calculation process, etc.). Details thereof are well known as a basic technique of image processing for extracting a lumped object as a surface figure, and therefore will be omitted. Further, the plane projection shape is a projection image by the central projection method with the image pickup device 60 as the viewpoint.

In subsequent S130, as illustrated in FIG. 13, the arm 39 descends from the reference height x0 by a predetermined distance and stops (for example, stops at a height x1 from the mounting surface of the pallet 99). Then, subsequently, in S140, the same imaging / shape recognition processing as in S120 is executed again for the work 30 to calculate the shape parameter (for example, the work diameter y1) of the work 30, and the process proceeds to S150.

In S150, the work height a from the mounting surface of the pallet 99 is obtained from the processing results of S120 and S140 and the following equation. a = (y0x0-y1x1) / (y0-y1) That is, as shown in FIG. 13, if x0 and x1 are known and y0 and y1 are obtained by the above processing, the work height a is calculated.

Subsequently, in S160, S120 and S14.
Based on the processing result of 0, it is determined whether or not there is an unworked work at the work placement position on the pallet 99. When a positive determination is made that there is an unprocessed work, S
Proceed to 170. On the other hand, if it is determined that there is no unprocessed work, the work is ended, the process proceeds to S300, a process for ending a predetermined work is executed, and the process goes out of this process.

In step S170, it is determined whether the recognized shape or the registered basic work shape is applicable, based on the processing results of steps S120 and S140. When an affirmative decision is made that either of the above cases is true, the operation proceeds to S180. Further, when a negative determination is made in S170, S31
The process proceeds to 0, executes a predetermined error process, and goes out of this process.

When the process proceeds from S170 to S180, S150
The arm 39 (and the hand 53) is lowered in the direction of the arrow F to the position of the work height a calculated in step (x1).
-A). In subsequent S190, the work shape recognized in S120 and S140 and the data of the work height a calculated in S150 are transmitted to main controller 200, and the process proceeds to S200.

At S200, the claw 58 is closed and the work 30 is closed.
After gripping the arm 39, the arm 39 is raised, and S210 is continued.
Then, the gantry robot 12 is moved to a position directly above the next target work 30, and in the subsequent S220, the hand 53 is rotated 180 degrees in the clockwise direction CW. Therefore, the gripping surface of the work gripping portion 53A faces upward, and the empty work gripping portion 53
The gripping surface of B (unloading) faces downward.

Subsequently, in S230, S120 to S200.
The height a of the second work 30 is calculated by performing the processing of 1. again, and the work gripping portion 53B also receives the work 30.
Grasp, rise again and end the process once.

Next, the setting process executed by the robot controller 202 and the chucking process executed by the main controller 200 will be described with reference to FIGS. 14 and 15.
The flow chart will be explained. These two main processes are executed while mutually corresponding in the second step. In the above-mentioned flowchart, the number S is added to indicate that it is a step number.

In the robot controller 202, when the setting process is started, first, in S400, the gantry robot 12 is moved along the traveling rail 15 in the direction of the arrow B to a predetermined position in the work processing part 5 of the combined machining lathe 2. Let Subsequently, in S410, the arm 39 is lowered by a predetermined distance, and the work gripping portion 53 is moved to a predetermined reference position.
Positioning the work 30 gripped by A and 53B respectively {work gripping portions 53A and 53B (work 30)
And the centers of the chucks 9a and 9b are coaxially aligned}. Then, a signal SR1 notifying that the setting preparation is completed is output to the main controller 200,
It waits until a chucking completion signal (to be described later) SM1 is input from.

On the other hand, in the main controller 200, the robot
When the signal SR1 is input from the controller 202, the chucking process is started. First, in S700, a setting offset S is calculated in order to accurately set each of the workpieces 30 on the chucks 9a and 9b of the combined machining lathe 2. As shown in the column (A) of FIG. 16, from the setting offset S, the distance (f parameter) between the predetermined hand transfer position and the end surface of the chuck 9a, the chuck width (axial thickness) d, the claw It is obtained by subtracting the depth c and the work height a calculated by the above-described work imaging processing. That is, the setting offset S is expressed by the following equation. S = f-d-c-a Note that only one hand, work, chuck, and headstock is shown in the columns (A) and (B) of FIG. 16, and the chuck end face is the XY coordinate plane, The axial direction of the headstock is the Z axis.

When the setting offset S is sufficient if the clearance held by the work held by the hand 53 does not interfere with the chuck 9a, the clearance value should be set in advance as the setting offset S. , The transfer position of the robot hand 53 (the intrusion position of the hand 53 in the direction of arrow B on the traveling rail 15) can be calculated.

F = S + d + c + a Then, the work held by the hand 53 is received by the chuck 9a without causing interference even if the gantry robot 16 is not purposely taught by making the hand enter the position calculated in this way. Can be passed. At this time, the traveling rail 1 of the gantry robot 12
The movement of 5 can be optimized.

Subsequently, in S710, the chucks 9a and 9b are
Open the headstock 6 in the direction of arrow B by the value of the setting offset S calculated in step 700.
In the direction of arrow A, respectively. Then, in S720, the chucks 9a and 9b are closed and the work 3
After holding 0 and transmitting a signal SM1 notifying the completion of chucking to the robot controller 202,
It waits for the departure completion signal SR2 from the controller 202 to be input.

On the other hand, in the robot controller 202, when the chucking completion signal SM1 is input from the main controller 200, the work release process of step S420 is executed. That is, the claws 58 of the work gripping portions 53A and 53B are opened, the work 30 is released, the signal SR2 notifying the completion of the work release is transmitted to the main control device 200, and the retraction completion signal SM2 is input from the main control device 200. wait. When the retreat completion signal SM2 is input, the process proceeds to S430, the arm 39 is raised and retracted, and when the retraction is completed, the retraction completion signal SR3 is output and the processing completion signal SM3 is waited for.

On the other hand, in the main controller 200, when the departure completion signal SR2 is input, the process proceeds to S730. In S730, the headstock 6 is retreated to the reference position in the arrow A direction and the headstock 7 is retracted to the reference position in the arrow B direction, the retraction completion signal SM2 is output to the robot controller 202, and then the retraction completion signal SR3 is output from the robot controller 202. Wait for is input. When the evacuation completion signal SR3 is input, the process proceeds to S740, in which the Z-axis offset Z is calculated in order to set each work 30 at the machining start position. As shown in the column (B) of FIG. 16, the Z-axis offset Z is calculated based on the distance (e parameter) between the predetermined machine origin and the end surface of the chuck 9a, the chuck width (axial thickness) d, and the claw It is obtained by subtracting the depth c and the work height a calculated in the above-described work imaging processing. That is, Z-axis offset Z
Is expressed by the following equation.

Z = e-dc-a Subsequently, in S750, the headstock 6 is moved in the direction of arrow B and the headstock 7 is moved in the direction of arrow A by the reference position by the Z-axis offset value calculated in step 740. To move forward. In subsequent S760, a predetermined NC machining program corresponding to the work height a is selected from the program storage unit 200d, and the work machining process is executed based on the machining program.

In turning the workpiece, the tool of the tool post is controlled in accordance with the NC machining program. At that time, the tool is moved in consideration of the calculated Z-axis offset corresponding to the distance from the machine origin to the program origin. ..

Incidentally, the calculated Z-axis offset value is added with a clearance α required for the touch sensor to contact the end face of the work and measure its Z-axis coordinate, and a value Z + α is set as an approach point, The tool edge as a touch sensor or a contact sensor may be moved and driven at a relatively high speed up to the approach point, and switched to a low speed at the approach point to calculate an accurate Z offset value due to the contact of the touch sensor. .. Therefore, at this time,
The approach point is obtained from the imaged work shape.

Next, when the turning processing of the workpiece is completed, the process proceeds to S770, the headstock 6 is retracted in the direction of arrow A, the headstock 7 is retracted in the direction of arrow B, respectively, to the reference positions, and the machining completion signal SM3 is sent to the robot. -Output to the controller 202.

On the other hand, in the robot controller 202, when the processing completion signal SM3 step is input, S44
After moving to 0 and lowering the arm 39 by a predetermined distance,
The descending completion signal SR4 is output to the main controller 200, and the main controller 200 waits for the forward completion signal SM4 to be input.

On the other hand, in the main controller 200, when the descending completion signal SR4 is input, the process proceeds to S780, in which the headstock 6 is set in the direction of arrow B and the headstock 7 is set in the direction of arrow A respectively from the reference position. Move forward by the value of S,
Outputs the forward movement completion signal SM4. On the other hand, in the robot controller 202, when the advance completion signal SM4 is input, the process proceeds to S450, and the work gripping portions 53A and 53B.
The claw 58 is closed to hold each processed work, the work gripping completion signal SR5 is output to the main control device 200, and the input of the work release completion signal SM5 from the main control device 200 is waited.

Finally, in the main controller 200, when the workpiece gripping completion signal SR5 is input, the process proceeds to S790, the claws 58 of the chucks 9a and 9b are opened to release the machined workpiece, and the headstock 6 is moved in the arrow direction. In the direction A, the headstock 7 is retracted in the direction of arrow B to the reference position, and the work release completion signal SM5 is output to the robot controller 202.
The process ends. In the robot controller 202,
When the work release completion signal SM5 is input, S460
Then, the arm 39 is raised by and the process is completed.

As described above, in this embodiment, the work 30 is imaged to calculate the work height a, and the setting offset S is calculated from the calculated work height a to determine the delivery / reception position of the work 30. Since the decision is made, the gantry robot 12 is handed over quickly to the receiving position.
Can be accurately positioned. Therefore, the setup time for work machining can be significantly reduced. In the conventional apparatus, since the operator performs positioning while operating the gantry robot, it takes time and labor, but such a problem is overcome in this embodiment.

Further, the Z-axis offset Z can be obtained from the work height a to position the work 30 at the machining start position quickly and accurately. Therefore, the setup time for machining the work can be shortened, and the labor for measuring and inputting the Z-axis offset can be saved. In addition, since a machining program corresponding to the work height a is selected and executed from a plurality of machining programs prepared in advance, it is possible to save the trouble of teaching the machining program to be selected.

Further, in the present embodiment, the headstocks 6 and 7 are moved in the direction of arrow AB by the value of the setting offset S or the value of the Z-axis offset Z, but in addition to this, the side of the gantry robot 12 is moved. Even with this configuration, the same effect as that of the above-described embodiment can be obtained. Further, when exchanging the chuck claws when exchanging the work, the height of the abutting surface of the chuck claws (that is, the depth c parameter of the chuck claws) with which the workpiece end surface contacts changes,
The c-parameter may be measured in advance and stored in the memory, and the c-parameter may be corrected by reading from the memory every time the chuck claw is replaced. Further, the approach point is used as an approaching point where the touch sensor moves in order to accurately obtain the work length, but it may also be used as an approaching point for machining. In other words, the machining approach point is conventionally input with a relatively large value due to variations in the work length, but the approach point is set to the optimum value by measuring the work length.
The idle cutting (useless time) can be shortened. In addition, CCD6
0 is not limited to the case of attaching to the hand 53, but the column 1
3 may be attached to the gantry robot so that the hand of the gantry robot has an angle of view. At this time, if the gantry hand 53 gripping the work picks up images at two positions along the traveling rail 15, the work shape can be recognized in the same manner.

As described in detail above, according to the present invention, the work shape is recognized from the work image, the Z-axis offset is calculated based on the recognition result, and the machining position of the work is set based on the value. Therefore, the setup time for machining the work can be shortened, and the labor for measuring and inputting the Z-axis offset can be saved.

[Brief description of drawings]

FIG. 1 is a perspective view showing an overall configuration of an automatic processing apparatus according to an embodiment.

FIG. 2 is a partially cutaway front view of the automatic processing apparatus.

FIG. 3 is an explanatory diagram of a gantry robot.

FIG. 4 is an explanatory diagram showing a movement drive device of a gantry robot.

FIG. 5 is an explanatory diagram of an arm lifting device and a hand holding device.

FIG. 6 is a perspective view showing various hands.

FIG. 7 is a perspective view showing an appearance of a work storage device.

FIG. 8 is an explanatory diagram showing a structure of a work storage device.

FIG. 9 is a block diagram showing a schematic configuration of a main control device, a robot controller, and an image processing device.

FIG. 10 is an explanatory diagram of a rotating operation of the hand.

FIG. 11 is a flowchart of imaging processing executed by the robot controller.

FIG. 12 is a flowchart illustrating a continuation of the above-described image capturing process.

FIG. 13 is an explanatory diagram of an image pickup operation.

FIG. 14 is a flowchart of a setting process executed by a robot controller and a chucking process executed by a main controller.

FIG. 15 is a flowchart illustrating a continuation of the setting process and the chucking process.

FIG. 16 is an explanatory diagram of setting offset and Z-axis offset.

[Explanation of symbols]

1 ... Automatic processing device 2 ... Composite processing lathe 12 ... Gantry robot 13 ... Column 15 ... Traveling rail 27 ... Hand holding device 39 ... Arm 40 ... Hand holding unit 53 ... Hand 60 ... Imaging device 90 ... Storage device 200 ... Main control device 202 ... Robot controller 204 ... Image processing device 30 ... Work

Claims (3)

[Claims] 1. A composite machining machine tool, a work storage device that stores and stores a workpiece to be machined by the composite machining machine tool, and a guide rail that is installed between the composite machining machine tool and the work storage device. A transporting device for self-propelled on the guide rail to transport a work from the work storage device to the combined machining machine tool; and a control device for controlling the combined machining machine tool, the work storage device, and the conveyor device. In the provided automatic processing device, the transfer device includes a robot main body that is self-propelled on the guide rail, an arm that is attached to the robot main body and extends and contracts in a vertical direction, and a hand that is attached to the tip of the arm and holds a workpiece. A transfer robot having: and an image pickup means for picking up an image of the work in the work storage device, and the control device is configured to pick up the work picked up by the image pickup means. Shape recognition means for extracting and recognizing the shape of the work from the image, and Z from the machine origin to the work end surface in the Z-axis coordinate which is the direction of the spindle axis of the combined machining machine tool based on the recognition result of the shape recognition means. An automatic machining apparatus comprising: a calculation unit that calculates an axis offset value; and a machining control unit that performs machining of the workpiece by the combined machining machine tool based on the calculated Z-axis offset. 2. A composite machining machine tool, a workpiece storage device that stores and stores a workpiece to be processed by the composite machining machine tool, and a guide rail installed between the composite machining machine tool and the workpiece storage device. A transporting device for self-propelled on the guide rail to transport a work from the work storage device to the combined machining machine tool; and a control device for controlling the combined machining machine tool, the work storage device, and the conveyor device. In the provided automatic processing device, the transfer device includes a robot main body that is self-propelled on the guide rail, an arm that is attached to the robot main body and extends and contracts in a vertical direction, and a hand that is attached to the tip of the arm and holds a workpiece. A transfer robot having: and an image pickup means for picking up an image of the work in the work storage device, and the control device is configured to pick up the work picked up by the image pickup means. Shape recognition means for extracting and recognizing the shape of the work from the image, and approach point deciding means for setting an approach point in the vicinity of the end face of the work mounted on the multi-task machine tool based on the recognition result of the shape recognition means, The multi-task machine tool has a work contact means such as a tool blade edge and a touch sensor that are movably controlled in a main axis direction and a direction orthogonal to the main axis direction, and the speed at which the work contact means moves to the approach point is An automatic machining apparatus, comprising: a moving speed switching unit that is set higher than the movement from the approach point to the work side. 3. A composite machining machine tool, a work storage device that stores and stores a workpiece to be machined by the composite machining machine tool, and a guide rail installed between the composite machining machine tool and the work storage device. A transporting device for self-propelled on the guide rail to transport a work from the work storage device to the combined machining machine tool; and a control device for controlling the combined machining machine tool, the work storage device, and the conveyor device. In the provided automatic processing device, the transfer device includes a robot main body that is self-propelled on the guide rail, an arm that is attached to the robot main body and extends and contracts in a vertical direction, and a hand that is attached to the tip of the arm and holds a workpiece. A transfer robot having: and an image pickup means for picking up an image of the work in the work storage device, and the control device is configured to pick up the work picked up by the image pickup means. A shape recognition means for extracting and recognizing a shape of a work from an image, and a Z direction which is a main shaft axis direction of the combined machining machine tool for transferring the work from the transfer robot based on a recognition result of the shape recognition means. Hand intrusion position calculation means for calculating the intrusion position of the hand on the axial coordinates, and the transfer robot and the combined machining tool by controlling the transfer robot and the combined machining machine tool based on the calculated intrusion position of the hand. An automatic processing apparatus comprising: a delivery control unit that controls delivery of the work to and from a machine.