JPWO2013118438A1 - Machining system, work machining method and control method - Google Patents

Abstract

The processing system of the present invention includes a holding device that holds a workpiece that is a plate material in a horizontal posture, a processing unit that performs processing on a processing target portion of the work held by the holding device, and the holding unit that holds the processing unit. And a moving device that is movable to a processing target portion of the workpiece held by the apparatus, wherein the holding device is provided for each of the holding units and the holding unit. A moving mechanism for moving between a holding position for holding the workpiece and a retracted position separated from the holding position, and the machining system further scans the workpiece held by the holding device, A detection device that detects a shape and a position of a processing target portion of the workpiece; and a control device that controls the movement device and the movement mechanism based on a detection result of the detection device. That.

Description

  The present invention relates to a machining system for machining a workpiece and a control method therefor.

  Various systems have been proposed as machining systems for automating machining of workpieces (Patent Documents 1 to 10), and Patent Documents 1 to 10 include them. For example, Patent Documents 1 to 10 include a document that discloses a processing system that performs chamfering processing of an edge of a steel material.

Japanese Patent Laid-Open No. 5-208346 JP-A-8-57707 Japanese Patent Laid-Open No. 11-114715 JP 2011-200958 A JP-A-5-96434 JP 2000-84766 A JP 2000-271902 A JP 2001-219329 A JP-A-5-269621 JP 2001-96330 A

  Generally, a machining system includes a machining unit that performs machining on a workpiece, and a holding device that holds the workpiece during machining. Here, there is a case where the holding device needs to be configured corresponding to the processing target portion of the workpiece. For example, in a processing system that performs chamfering processing on the edge of a steel material, it is necessary to configure the holding device while avoiding the processing target portion so that the cutter does not cut the holding device. For this reason, if a workpiece | work is changed, it is necessary to replace | exchange a holding | maintenance apparatus, and cannot respond quickly to various workpieces.

  An object of the present invention is to be able to quickly cope with various kinds of workpieces.

  According to the present invention, a holding device that holds a workpiece that is a plate material in a horizontal posture, a processing unit that performs processing on a processing target portion of the work held by the holding device, and the processing unit that includes the holding device. A moving system that can move to a processing target portion of the workpiece held by the holding device, wherein the holding device is provided for each of the holding units, and the holding unit, A moving mechanism for moving between a holding position for holding the workpiece and a retracted position separated from the holding position, and the machining system further scans the workpiece held by the holding device, A detecting device for detecting the shape and position of a workpiece processing part of the workpiece, and a control device for controlling the moving device and the moving mechanism based on a detection result of the detecting device. System is provided.

  Further, according to the present invention, there is provided a workpiece machining method for machining a machining target portion of a workpiece, which is a plate material, by a machining unit, the holding step for holding the workpiece in a horizontal posture, and the holding workpiece on the workpiece Is detected by the detection device over the entire surface to detect the shape and position of the processing target portion of the workpiece, and information indicating the shape and position of the processing target portion based on the detection result in the detection step An information generation step to be generated, and a three-dimensional movement of the processing unit according to the information generated in the information generation step, and with the workpiece being held in a horizontal posture, There is provided a workpiece processing method including a processing step of processing a processing target portion on a lower surface side.

  Further, according to the present invention, the holding device that holds the workpiece, which is a plate material, in a horizontal posture, the processing unit that processes the processing target portion of the workpiece held by the holding device, and the processing unit, And a moving device that can move to a processing target part of the workpiece held by the holding device, wherein the holding device is provided for each of the holding units and a plurality of holding units, A moving mechanism for moving the holding unit between a holding position for holding the workpiece and a retracted position spaced apart from the holding position, and the control method includes photographing the workpiece held by the holding device. Based on the imaging process for detecting the shape and position of the workpiece target part of the workpiece and the detection result in the imaging process, the processing unit is brought close to the part to be processed. And a position changing step of switching the position of the holding unit located at the processing target site from the holding position to the retracted position, and a detection result in the imaging step, with respect to the processing target site. There is provided a control method including a processing step of performing processing by the processing unit.

  According to the present invention, it is possible to quickly cope with various workpieces.

The top view of the processing system concerning one embodiment of the present invention. The side view of the processing system of FIG. The perspective view of a holding | maintenance apparatus, a process unit, and a moving apparatus. The block diagram of a control apparatus. Operation | movement explanatory drawing of the processing system of FIG. Operation | movement explanatory drawing of the processing system of FIG. Operation | movement explanatory drawing of the processing system of FIG. Operation | movement explanatory drawing of the processing system of FIG. Operation | movement explanatory drawing of the processing system of FIG. Operation | movement explanatory drawing of the processing system of FIG. Explanatory drawing of the tool of another example. Explanatory drawing of the tool of another example. Explanatory drawing of the tool of another example. Explanatory drawing of the press mechanism of a tool. The figure which shows another example of the holding | maintenance apparatus for conveyance.

<First Embodiment>
FIG. 1 is a plan view of a processing system 1 according to an embodiment of the present invention, and FIG. 2 is a side view thereof. In the drawing, arrows X and Y indicate two directions that are horizontal and orthogonal to each other, and an arrow Z indicates a vertical direction. The processing system 1 is a system that performs chamfering (deburring) processing of the cutting edge (corner portion) of the plate-like workpiece 2. The workpiece 2 is, for example, a steel plate. The processing system 1 is virtually divided into a processing area 3, a carry-out area 4, and a carry-in area 5. These areas 3 to 5 are arranged in the Y direction.

  The processing system 1 includes a holding device 10, a processing unit 20, a moving device 30, a detection device 40, mounting tables 50 and 60, and a transport device 70. The mounting table 60 is disposed in the carry-in area 5 on which the unprocessed work 2 is loaded. The mounting table 50 is disposed in the carry-out area 4 on which the processed workpiece 2 is mounted.

<Holding device 10>
The holding device 10 will be described with reference to FIG. 3 in addition to FIGS. 1 and 2. FIG. 3 is a perspective view of the holding device 10, the processing unit 20, and the moving device 20. The holding device 10 holds the workpiece 2 in a horizontal posture during processing. The holding device 10 includes a plurality of holding units 11a to 11j and a moving mechanism 12 provided for each of the holding units 11a to 11j. Hereinafter, when the holding units 11a to 11j are generically referred to, or when a specific holding unit is not meant, they are simply referred to as holding units 11.

  In the case of this embodiment, the plurality of holding units 11 are arranged in a sleeper shape in the Y direction. The holding unit 11 includes a unit main body 111 extending in the X direction, at least one support member 112, and at least one adsorbent 113. In the present embodiment, the unit main body 111 is a rod-shaped member having a square cross section. The support member 112 and the adsorbent 113 are provided on the upper surface of the unit main body 111.

  The support member 112 protrudes upward from the upper surface of the unit main body 111. In the present embodiment, the tip is rounded and has a convex surface. The workpiece 2 is placed and supported on the convex surface portion of the support member 112. It is possible to reduce damage to the workpiece 2 by rounding the tip. The adsorbent 113 adsorbs the work 2. In the present embodiment, the adsorbent 113 is an electromagnet, but may be another type of adsorbent such as a vacuum chuck. In the present embodiment, the adsorption and desorption of each adsorbent 113 is controlled for each holding unit 11.

  The front end of the support member 112 and the upper surface of the adsorbent body 113 are located on substantially the same horizontal plane (substantially the same height), and the work piece 2 placed on the support member 112 is adsorbed by the adsorbent body 113. The workpiece 2 can be fixed in a horizontal posture.

  In the case of this embodiment, the number and arrangement of the support members 112 and the adsorbents 113 are different depending on the holding unit 11. For example, the holding unit 11a has three support members 112 and four adsorption bodies 113, but the holding unit 11b has five support members 112 and two adsorption bodies 113. Thus, by changing the number and arrangement of the support members 112 and the suction bodies 113 of the holding unit 11 according to the parts of the work 2, the support position and the suction position differ depending on the parts of the work 2. Can be supported and adsorbed without bias. Of course, the number and arrangement of the support members 112 and the adsorbents 113 may be the same for all the holding units 11.

  The holding units 11a, 11d, 11g, and 11j have the same number and arrangement of the support members 112 and the adsorbing bodies 113. Further, the holding units 11b, 11e, and 11h have the same number and arrangement of the support members 112 and the adsorbing bodies 113. Furthermore, the holding units 11c, 11f, and 11i have the same number and arrangement of the supporting members 112 and the adsorbing bodies 113. By disposing the holding units 11 having the same number and arrangement of the supporting members 112 and the adsorbing bodies 113 in a dispersed manner, the number of the holding units 11 having different numbers and arrangements of the supporting members 112 and the adsorbing bodies 113 can be reduced. Can be supported and adsorbed without bias.

  The moving mechanism 12 moves the holding unit 11 in the Z direction between the holding position and the retracted position. The moving mechanism 12 is an electric cylinder or an air cylinder, for example, and is individually controlled. The holding position is a position for holding the workpiece 2. FIG. 2 shows a case where all the holding units 11 are located at the holding position. In this case, the tips of all the support members 112 and the upper surfaces of all the adsorbents 113 are located on substantially the same horizontal plane. For this reason, the workpiece | work 2 can be fixed in a horizontal attitude | position by adsorb | sucking the workpiece | work 2 mounted on the supporting member 112 with the adsorption body 113. FIG. The retreat position is a position that is spaced downward from the holding position, and is a position that avoids interference with the tool 21 of the machining unit 20 during machining. The holding unit 11 is normally located at the holding position, and is individually moved to the retracted position only when necessary at the time of processing.

  In this embodiment, all the holding units 11 are provided with the moving mechanism 12 and can move up and down. However, it is not always necessary to move all the holding units, and there is a fixed holding unit. Also good. For example, the holding unit located at the end, such as the holding unit 11a or the holding unit 11j, may be fixed at the holding position.

<Processing unit 20>
With reference to FIGS. 1 to 3, the processing unit 20 is a unit that performs processing on a processing target portion of the workpiece 2 held by the holding device 10, and includes a tool 21. In the case of this embodiment, the tool 21 is a cutter (end mill) for cutting the edge of the workpiece 2, and the machining unit 20 drives the tool 21 to rotate. The processing system 1 includes a tool rack 6 on which a replacement tool 21 is arranged, and the tool 21 can be automatically replaced by movement of the processing unit 20 by a moving device 30 described later.

  In the present embodiment, as described above, the system performs the chamfering of the cutting edge of the workpiece 2, but the present invention can also be applied to chamfering of a corner other than the cutting edge and other processing. For example, the present invention can be applied to various types of machining other than cutting such as drilling and cutting. It can also be applied to laser processing and the like. The processing unit 20 and the tool 21 are appropriately selected according to the processing content.

<Moving device 30>
With reference to FIGS. 1 to 3, the moving device 30 moves the processing unit 20 to the processing target portion of the workpiece 2 held by the holding device 10. In the case of the present embodiment, the moving device 30 moves the machining unit 20 on the workpiece 2 three-dimensionally.

  The moving device 30 includes a pair of guide members 31 and 31 extended in the Y direction, and a moving body 32. The pair of guide members 31, 31 are arranged apart from each other in the X direction so as to be located on both sides of the holding device 10. In the case of the present embodiment, the holding device 10, the mounting table 50, and the mounting table 60 are arranged side by side in the Y direction, and the pair of guide members 31, 31 extend in the Y direction across these.

  The moving body 32 is installed on a pair of guide members 31, 31 and is guided by the guide member 31 and is movable in the Y direction. The moving body 32 includes a pair of sliders 321 and 321, a pair of column members 322 and 322, and a beam member 323 provided between the pair of column members 322 and 322. The slider 321 engages with the guide member 31 and can move along the guide member 31. The column member 322 is erected on the slider 321. The beam member 323 extends in the X direction.

  The moving body 32 is moved by a drive mechanism (not shown). As the drive mechanism, various drive mechanisms such as a rack-pinion mechanism, a belt transmission mechanism, and a ball-screw mechanism can be employed. When the rack-pinion mechanism is employed, for example, a motor with a pinion may be fixed to one of the pair of sliders 321 and 321, and a rack may be provided along the guide member 31.

  The moving device 30 includes a moving body 33 supported by the moving body 32. The moving body 33 engages with the beam member 323 and is movable along the beam member 323 in the X direction. The moving body 33 is moved by a driving mechanism (not shown). As the drive mechanism, various drive mechanisms such as a rack-pinion mechanism, a belt transmission mechanism, and a ball-screw mechanism can be employed.

  The moving device 30 includes a moving body 34 supported by the moving body 33. The moving body 34 is engaged with the moving body 33 and is movable along the moving body 33 in the Z direction. The moving body 34 is moved by a drive mechanism (not shown). As the drive mechanism, various drive mechanisms such as a rack-pinion mechanism, a belt transmission mechanism, and a ball-screw mechanism can be employed.

  The processing unit 20 is supported by the moving body 34. Then, the machining unit 20 can be moved in the Z direction by the movement of the moving body 34, in the X direction by the movement of the moving body 33, and in the Y direction by the movement of the moving body 32.

<Detection device 40>
The detection device 40 detects the shape of the processing target portion of the workpiece 2 held by the holding device 10. In the case of this embodiment, the detection device 40 is a photographing device that photographs the shape of the workpiece 2. The detection device 40 includes a support member 41, a camera 42 supported by the support member 41, and an illumination device 43 supported by the support member 41.

  The support member 41 is fixed to the beam member 323. That is, in addition to the processing unit 20, the detection device 40 is also mounted on the moving body 32. Therefore, the detection device 40 can be moved in the Y direction by the moving device 30. Further, the moving device 30 can be used as a moving mechanism of the detecting device 40 in addition to the processing unit 20, and the system can be simplified.

  The illumination device 43 extends in the X direction and illuminates the lower part thereof. The illumination device 43 is composed of, for example, an LED or a laser device. The camera 42 photographs the lower part. The camera 42 includes an image sensor such as a CCD sensor and an optical system. In the present embodiment, the camera 42 is used to photograph the shape of the work 2, but other methods may be used as long as the shape of the work 2 can be detected.

<Conveyor 70>
With reference to FIGS. 1 and 2, the transfer device 70 transfers the workpiece 2 between the holding device 10 and the mounting tables 50 and 60. The transport device 70 includes a moving body 71, a lifting device 72, and a transport holding device 73. In the case of this embodiment, the conveyance device 70 shares a pair of guide members 31 and 31 with the moving device 30. This can simplify the system.

  The moving body 71 is installed on the pair of guide members 31, 31 and is guided by the guide member 31 and can move in the Y direction. The moving body 71 includes a pair of sliders 711 and 711, a pair of column members 712 and 712, and a beam member 713 constructed between the pair of column members 712 and 712. The slider 711 is movable along the guide member 31 by engaging with the guide member 31. The column member 712 is erected on the slider 711. The beam member 713 extends in the X direction.

  The moving body 71 is moved by a driving mechanism (not shown). As the drive mechanism, various drive mechanisms such as a rack-pinion mechanism, a belt transmission mechanism, and a ball-screw mechanism can be employed. When the rack-pinion mechanism is employed, for example, a motor with a pinion may be fixed to one of the pair of sliders 711 and 711 and a rack may be provided along the guide member 31. When a rack-pinion mechanism is employed as a driving mechanism for the moving body 321 of the moving device 30, a rack provided along the guide member 31 may be shared.

  The lifting device 72 is supported by the moving body 71. In the case of the present embodiment, the lifting device 72 is fixed to the central portion of the beam member 713, but may be movable in the X direction along the beam member 713. The elevating device 72 is an actuator that elevates the moving body 72a in the Z direction, and is, for example, an electric cylinder or an air cylinder.

  The holding device 73 is fixed to the lower end of the moving body 72a. The holding device 73 includes a plurality of adsorbers 731. The holding device 73 holds the workpiece 2 by the adsorption body 731 adsorbing to the surface of the workpiece 2. In the case of this embodiment, the adsorbent 731 is an electromagnet, but other types of adsorbers such as a vacuum chuck may be used. The holding device 73 may be a clamp type holding device that holds the workpiece 2.

<Control device>
FIG. 4 is a block diagram of a control device 80 that controls the machining system 1. The control device 80 includes a processing unit 81, a storage unit 82, and an interface unit 83, which are connected to each other via a bus (not shown). The processing unit 81 executes the program stored in the storage unit 82. The processing unit 81 is, for example, a CPU. The storage unit 82 is, for example, a RAM, a ROM, a hard disk, or the like. The interface unit 83 is provided between the processing unit 81 and external devices (host computer 86, sensor 84, actuator 85), and is, for example, a communication interface or an I / O interface.

  Examples of the sensor 84 include a sensor that detects the position of the processing unit 20 (for example, a sensor that detects the position of each of the moving bodies 32, 33, and 34), a sensor that detects the position of the holding device 73, and the image sensor of the camera 42. Etc. are included. The actuator 85 includes an adsorbing body 113, a driving source of the moving mechanism 12, each driving source included in the moving apparatus 30, a driving source of the processing unit 20, a driving source of the transport apparatus 70, an adsorbing body 731, and the like.

  The control device 80 controls the machining system 1 according to instructions from the host computer 86. Hereinafter, a control example will be described.

<Work transfer>
An example of conveying the workpiece 2 will be described with reference to FIGS. 5 and 6. In brief, first, a plurality of unprocessed workpieces 2 are carried onto the mounting table 60 by a not-illustrated transfer device. The workpieces 2 on the mounting table 60 are conveyed one by one onto the holding device 10 by the conveying device 70. When the processing of the workpiece 2 is completed on the holding device 10, the processed workpiece 2 is transferred to the mounting table 50 by the transfer device 70. The processed workpiece 2 is loaded on the mounting table 50. When the processed workpieces 2 on the mounting table 50 reach a predetermined number, the processed workpieces 2 are unloaded from the mounting table 50 to the outside by a transfer device (not shown).

  A state ST <b> 1 in FIG. 5 shows a state in which the work 2 on the mounting table 60 is held by the holding device 73 of the transport device 70. The holding device 73 is lowered by the elevating device 72 on the surface of the uppermost workpiece 2 among the loaded workpieces 2. Then, the adsorbent 731 is operated to hold the workpiece 2. Subsequently, the lifting device 72 raises the holding device 73 to lift the workpiece 2.

  Next, as shown in the state ST <b> 2 in FIG. 5, the moving body 71 is moved to the holding device 10. As a result, the workpiece 2 is positioned on the holding device 10. The holding device 73 is lowered by the lifting device 72 and the work 2 is placed on the holding device 10. Then, the adsorption by the adsorbing body 731 is stopped, the holding of the work 2 is released, and the holding device 73 is raised by the lifting device 72.

  Next, as shown in state ST3 of FIG. 5, the moving body 71 is moved to the mounting table 60 side. Thus, the conveyance of one workpiece 2 from the mounting table 60 to the holding device 10 is completed. The conveyed workpiece 2 is held on the holding device 10 and processed.

  When the processing is completed, the holding of the workpiece 2 by the holding device 10 is released, and the workpiece 2 on the holding device 10 is transferred to the mounting table 50 by the transfer device 70. First, the moving body 71 is moved to the holding device 10 and the holding device 73 is positioned on the holding device 10. As a result, the holding device 73 is positioned on the work 2. The holding device 73 is lowered by the elevating device 72 and the adsorbent 731 is operated to hold the workpiece 2. Subsequently, the lifting device 72 raises the holding device 73 to lift the workpiece 2.

  Next, the moving body 71 is moved to the mounting table 50 as shown in a state ST4 in FIG. As a result, the workpiece 2 is positioned on the mounting table 50. The holding device 73 is lowered by the lifting device 72 and the work 2 is placed on the placement table 50 (or on the work 2 loaded on the placement table 50). And the adsorption | suction by the adsorption body 731 is stopped and the holding | maintenance of the workpiece | work 2 is cancelled | released.

  Thereafter, as shown in the state ST5 of FIG. 6, the moving body 71 is moved onto the mounting table 60, and the next workpiece 2 is conveyed to the holding device 10.

<Workpiece processing>
Next, a processing example of the workpiece 2 conveyed on the holding device 10 will be described. In brief, the shape of the workpiece 2, particularly the shape and position of the part to be processed is first detected. Based on the detection result, the moving mechanism 12, the moving device 30, and the processing unit 20 are controlled to process the workpiece 2.

  In the present embodiment, these processes are performed by a single reciprocation of the moving body 32. Specifically, the shape detection of the workpiece 2 is performed while the moving body 32 is moving in the forward path, and the workpiece 2 is processed while the moving body 32 is moving in the backward path.

<Shape detection>
An example of detecting the shape of the workpiece 2 will be described with reference to FIGS. 7 and 8 show the state (ST11 to ST13) of the processing area 3 when viewed in plan (FIG. 7) and when viewed from the side (FIG. 8).

  State ST11 shows a case where the moving body 32 is in the initial position. The camera 42 is at a position shifted in the Y direction from the work 2 held by the holding device 10. Detection of the shape of the workpiece 2 is started from this position. First, irradiation of the work 2 by the illumination device 43 is started, and photographing of the work 2 by the camera 42 is started.

  Next, as shown in state ST12, the moving body 32 is moved, and the workpiece 2 is scanned. The shape of the workpiece 2 is sequentially photographed by the camera 42, and the image data and position information are stored in the storage unit 82. As shown in state ST13, when the moving body 32 reaches a position (folding position) shifted from the work 2 in the Y direction, the photographing is finished. In this way, the entire surface of the work 2 is scanned.

  In the present embodiment, the detection device 40 is fixed to the beam member 323. However, the detection device 40 may be attached to the beam member 323 via an elevating device so as to be movable up and down. Then, a sensor that detects the distance between the detection device 40 and the workpiece 2 may be provided, and the lifting device may be controlled so that the distance becomes constant during the scanning of the workpiece 2. By such control, the state in which the camera 42 is focused on the workpiece 2 can be reliably maintained during the scanning of the workpiece 2.

  As a result of this photographing, for example, the shape data 2 'of the workpiece 2 shown in FIG. 8 is obtained. The shape data 2 'indicates the outer shape of the work 2 and its position information (coordinate data). In the example of the figure, it is also shown that a plurality of processing target parts P1 to P8 exist on the workpiece 2. The shape data 2 'also includes the outlines and position information of these processing target portions P1 to P8.

  In addition, although the example of the figure illustrated the case where a plurality of processing target parts exist in one work, one processing target part may be included in one work. Further, it may be automatically determined where the processing target part is, or the operator may specify.

  In the case of automatic determination, it is possible to automatically determine a processing target portion by preparing workpiece design data in which a processing target portion is specified and comparing the design data with the shape data 2 ′. it can. Further, when the processing target part is the entire outer periphery of the workpiece 2, it is only necessary to recognize the outer periphery, so that it is possible to automatically determine without preparing design data.

  When the operator designates, for example, the shape data 2 'can be transmitted to the host computer 86 to display the image, and the operator of the host computer 86 can designate the processing target portion from the input device.

  Note that the coordinates of the acquired shape data 2 ′ are recognized, for example, by collating the plane data indicating the layout of the holding device 10 acquired in advance with the output signal of the encoder of the motor that drives the moving body 32. be able to.

<Processing>
A machining example based on the detection result of the shape of the workpiece 2 will be described with reference to FIGS. 9 and 10. FIGS. 9 and 10 show the processing area 3 in two upper and lower stages for each state of the processing area 3 (for each of ST21 to ST24) when viewed in plan and viewed from the side. Moreover, the workpiece | work 2 on the holding | maintenance apparatus 10 is shown as a permeation | transmission figure.

  The state ST21 in FIG. 9 shows a case where the moving body 32 is in the folding position. As described above, in the present embodiment, imaging by the camera 42 is performed while the moving body 32 is moving in the forward path, and the workpiece 2 is processed by the processing unit 20 during the backward path movement. State ST21 shows the time of starting the backward movement.

  In the present embodiment, it is assumed that the processing target parts are processed in the order of P1, P2,. First, the processing unit 20 is moved closer to the processing target site P1 by the moving device 30 (moving step). In parallel, based on the shape data 2 ', the holding unit 11 located at the processing target site P1 is specified. A holding unit 11h is located at the processing target site P1. Therefore, the adsorption by the adsorbent 113 of the holding unit 11h is stopped and the holding is released. Then, the moving mechanism 12 that moves the holding unit 11h is driven to switch the position of the holding unit 11h from the holding position to the retracted position (position changing step). Note that the movement of the processing unit 20 and the switching of the position of the holding unit 11 may be performed in advance in addition to being performed in parallel, and in this case, whichever may be first.

  As shown in state ST22 of FIG. 9, when the processing unit 20 reaches above the processing target part P1, the processing unit 20 is lowered and the processing unit 20 is driven to start processing the processing target part P1 with the tool 21. . By chamfering the processing unit 20 in the direction of the arrow along the shape of the processing target part P1, the edge of the processing target part P1 is chamfered. The processing unit 20 can be moved by the moving device 30 based on the shape data 2 '.

  At this time, the holding unit 11h is in the retracted position and does not interfere with the tool 21. In other words, by moving the holding unit 11h to the retracted position, the portion of the holding unit 11h in the holding device 10 does not serve as a table on which the workpiece 2 is placed and supported, but the work area (the work area P1 of the workpiece 2 in the workpiece 2). Work space). Therefore, the holding unit 11h does not interfere with processing and is not damaged by the tool 21. Further, the holding units 11 other than the holding unit 11h are in the holding position and hold the workpiece 2. Therefore, the position of the workpiece 2 is not shifted during machining.

  When the processing of the processing target part P1 is completed, the process moves to the processing target part P2. A state ST23 in FIG. 10 shows a state in which the shift to the processing of the processing target portion P2 is started. First, the machining unit 20 is raised, and the machining unit 20 is moved closer to the machining target site P2 by the moving device 30. In parallel, based on the shape data 2 ', the holding unit 11 located at the processing target site P2 is specified. The holding unit 11g is located in the processing target part P2. Therefore, the adsorption by the adsorbent 113 of the holding unit 11g is stopped and the holding is released. Then, the moving mechanism 12 that moves the holding unit 11g is driven to switch the position of the holding unit 11g from the holding position to the retracted position (position changing step). Further, the holding unit 11h positioned at the processing target site P1 that has been processed is switched from the retracted position to the holding position. Then, the workpiece 2 is held by driving the adsorbent 113 of the holding unit 11h.

  As shown in state ST24 of FIG. 10, when the processing unit 20 reaches above the processing target portion P2, the processing unit 20 is lowered and the processing unit 20 is driven to start processing the processing target portion P2 by the tool 21. . By chamfering the processing unit 20 in the direction of the arrow along the shape of the processing target part P2, the edge of the processing target part P2 is chamfered. The processing unit 20 can be moved by the moving device 30 based on the shape data 2 '.

  At this time, the holding unit 11g is in the retracted position and does not interfere with the tool 21. Therefore, the holding unit 11g does not obstruct the processing and is not damaged by the tool 21. The other holding units 11 other than the holding unit 11g are in the holding position and hold the workpiece 2. Therefore, the position of the workpiece 2 is not shifted during machining.

  When the processing of the processing target part P2 is completed, the process moves to the processing target part P3. The processing target part P2 and the processing target part P3 share the holding unit 11 located in them (holding unit 11g). Therefore, the processing target portion P3 is processed while the holding unit 11g is kept at the retracted position. Thereafter, the machining operation proceeds according to the same procedure.

  As described above, in the present embodiment, the holding unit 11 positioned at the processing target site is moved to the retracted position, and the workpiece 2 is held by the remaining holding unit 11, so that the tool 2 is securely held and the tool 2 is held. Interference between 21 and the holding unit 11 can be avoided. By making the holding unit 11 movable between the retracted position and the holding position, it is possible to deal with different parts to be processed. Therefore, a single holding device 10 can quickly cope with various workpieces having different shapes and processing target parts.

  When the processing of all the processing target parts is completed, the moving body 32 returns to the initial position. Thus, the shape detection of the workpiece 2 and the processing of the workpiece 2 can be performed during one reciprocation of the moving body 32. Thereafter, the processed workpiece 2 is transferred from the holding device 10 by the transfer device 70, and a new unprocessed workpiece 2 is transferred to the holding device 10. Then, the shape detection of the workpiece 2 and the machining of the workpiece 2 are performed on the new unmachined workpiece 2 in the same procedure.

  In this embodiment, the case where the shape is detected and processed for each workpiece 2 has been described. However, when the same type of workpiece 2 is continuously processed, the shape may be detected only once. Good. In this case, a positioning device that performs positioning on the holding device 10 may be provided so that the second and subsequent workpieces 2 are held at the same position as the first workpiece 2. It is also possible to process the workpiece 2 while detecting the shape of the workpiece 2. For example, while the moving body 32 moves from the initial position to the folding position, the workpiece 2 can be processed based on the detection result while detecting the shape of the workpiece 2.

Second Embodiment
In the first embodiment, it has been explained that a plurality of types of tools 21 can be exchanged for the machining unit 20, but a configuration example of a tool suitable for chamfering will be described. Here, a case where the type of the tool 21 that performs chamfering on the upper surface side and the lower surface side of the workpiece 2 is exchanged will be described.

  FIG. 11 is an explanatory diagram of an upper machining tool 21A that is a one-side machining tool for machining the upper surface side of the workpiece 2. State ST31 indicates the time of machining standby when the upper machining tool 21A is positioned above the workpiece 2, and state ST32 indicates the time of machining.

  The upper machining tool 21A includes a rotation shaft 211, a blade portion 212, an auxiliary member 213, and bearings 214 and 214. The rotating shaft 211 is rotationally driven by the processing unit 20. The blade portion 212 is fixed to the rotating shaft 211 and cuts the workpiece 2. The auxiliary member 213 has a concentric cylindrical shape with the rotating shaft 211. The auxiliary member 213 is fixed to the rotating shaft 211 through bearings 214 and 214 so as to be rotatable.

  As shown in state ST32, at the time of processing, the blade 212 is pressed against the upper corner CR of the processing target portion P to perform chamfering. The blade portion 212 is sequentially moved in the XY direction so as to continuously process the corner portion CR along the contour of the processing target portion P. During the movement, the auxiliary member 213 is brought into contact so that the lower end surface thereof follows the upper surface of the workpiece 2. Thereby, the blade part 212 can be moved more stably.

  Next, FIG. 12 is an explanatory diagram of a lower machining tool 21B that is a one-side machining tool for machining the lower surface side of the workpiece 2. State ST41 is a processing standby state when the lower working tool 21B is positioned above the workpiece 2, state ST42 is a processing preparation when the blade 212 of the lower processing tool 21B is positioned below the workpiece 2, and state ST43 indicates a processing time. .

  The lower working tool 21B includes a rotating shaft 211, a blade 212, an auxiliary member 213 ′, and bearings 214 and 214, and is similar in basic structure to the upper working tool 21A, but the auxiliary member 213 ′. Are different in shape and position.

  The rotating shaft 211 is rotationally driven by the processing unit 20. The blade portion 212 is fixed to the rotating shaft 211 and cuts the workpiece 2. The auxiliary member 213 ′ has a cylindrical shape concentric with the rotation shaft 211. The auxiliary member 213 ′ is rotatably fixed to the rotation shaft 211 via the bearings 214 and 214 below the blade portion 212.

  As shown in state ST42, it is necessary to move the blade portion 212 below the workpiece 2 before starting the machining. In the case of this embodiment, the auxiliary member 213 ′ has a maximum outer diameter smaller than that of the auxiliary member 213 so that the processing target site P can be passed from top to bottom.

  As shown in state ST43, at the time of processing, the blade 212 is pressed against the lower corner CR of the processing target portion P from below, and the chamfering is performed. The blade portion 212 is sequentially moved in the XY direction so as to continuously process the corner portion CR along the contour of the processing target portion P. During the movement, the auxiliary member 213 ′ is brought into contact so that the upper end surface thereof follows the lower surface of the work 2. Thereby, the blade part 212 can be moved more stably.

<Third Embodiment>
In the said 2nd Embodiment, although the tool 21 in the case of performing a chamfering process separately by the upper surface side and lower surface side of the workpiece | work 2 was demonstrated, it is also possible to perform simultaneously.

  FIG. 13 is an explanatory view of a double-side machining tool 21 </ b> C that simultaneously processes the upper surface side and the lower surface side of the workpiece 2. State ST51 shows a state of machining standby when the both-side machining tool 21C is positioned on the side of the workpiece 2, and state ST52 shows a state of machining by the both-side machining tool 21C.

  The both-side machining tool 21C includes a rotation shaft 211, an upper blade portion 212U, a lower blade portion 212L, and an elastic member 215.

  The rotating shaft 211 is rotationally driven by the processing unit 20. The upper blade portion 212U and the lower blade portion 212L are fixed to the rotating shaft 211 and cut the workpiece 2. However, the upper blade portion 212U and the lower blade portion 212L are fixed to the rotating shaft 211 by, for example, spline engagement, and are movable in the axial direction. The upper blade portion 212U is positioned above the lower blade portion 212L, and cuts the upper surface side of the workpiece 2, and the lower blade portion 212L cuts the lower surface side of the workpiece 2.

  As the elastic member 215, for example, a pulling spring that constantly urges the upper blade portion 212 </ b> U and the lower blade portion 212 </ b> L in the direction in which both approach each other is applicable. In the present embodiment, the elastic member 215 is a coil spring, one end of which is fixed to the upper blade portion 212U and the other end is fixed to the lower blade portion 212L.

  As shown in state ST52, at the time of machining, the tool 21C is pressed against the workpiece 2 from the side, the upper blade 212U is the upper corner CR1, the lower 212L is the lower corner CR2, Cut each one. Thus, the corner portions CR1 and CR2 can be processed simultaneously.

  The upper blade portion 212U and the lower blade portion 212L are displaceable in directions away from each other while being urged by the elastic member 215 in the approaching direction. Then, when the workpiece 2 enters between the upper blade portion 212U and the lower blade portion 212L, the upper blade portion 212U and the lower blade portion 212L are pushed and spread, and the upper blade is applied to the corner portions CR1 and CR2 of the workpiece 2. The portion 212U and the lower blade portion 212L are pressed against each other. For this reason, the contact condition of the upper blade portion 212U and the lower blade portion 212L with respect to the corner portions CR1 and CR2 can be improved.

<Fourth embodiment>
In chamfering or the like, it is preferable to perform cutting while the tool 21 is pressed against the portion to be processed with an appropriate force. Therefore, a pressing mechanism that can adjust the pressing force of the tool 21 against the workpiece 2 may be provided. FIG. 14 shows an example. FIG. 14 shows an example in which a pressing mechanism 90 is provided between the moving body 34 and the processing unit 20.

  The pressing mechanism 90 includes a base portion 91, a rail portion 92, an actuator 93, and a connecting member 94. The base portion 91 is a block-like member fixed to the moving body 34. The rail portion 92 is provided in front of the base portion 91 and extends in the Z direction. The processing unit 20 is provided with a slider 22 that can engage with the rail portion 92 and slide in the Z direction. Thereby, the processing unit 20 is freely displaceable in the Z direction with respect to the base portion 91.

  An actuator 93 that adjusts the pressing force is provided on the side of the base portion 91. The actuator 93 is, for example, an electric cylinder or an air cylinder. The actuator 93 can displace the connecting member 94 in the Z direction. The connecting member 94 connects the output portion of the actuator 93 and the processing unit 20, and transmits the pressing force generated by the actuator 93 to the processing unit 20.

  Here, the pressing force of the tool 21 against the workpiece 2 is F1, the weight of the machining unit 20 with the tool 21 mounted is W, and the output of the actuator 93 (the connecting member 94 is required to achieve the pressing force F1). Let F be the upward force).

  In the machining using the upper machining tool 21 </ b> A and the like shown in FIG. 11, the machining is performed while pressing the tool 21 against the workpiece 2 from above. Therefore, the output F is F = W−F1. For example, if the weight W is 100 kgf and the pressing force F1 = 20 kgf, the output F is 80 kgf.

  On the other hand, in the machining using the lower machining tool 21 </ b> B and the like shown in FIG. 12, the machining is performed while pressing the tool 21 against the workpiece 2 from below. Therefore, the output F is F = W−F1. For example, if the weight W is 100 kgf and the pressing force F1 = −20 kgf, the output F is 120 kgf.

  Thus, by switching the magnitude of the output of the actuator 93, the pressing force of the tool 21 on the workpiece 2 can be switched between the upward direction and the downward direction.

  In the present embodiment, the common actuator 93 is used to switch the pressing force of the tool 21 on the workpiece 2 between the upward direction and the downward direction. However, an upward actuator and a downward actuator are provided respectively. Also good. The actuator need not be a cylinder, and may be a member such as a spring, or may be a combination of different types of actuators (for example, a cylinder and a spring).

<Fifth Embodiment>
If dust is present on the workpiece 2, it may be a factor that degrades workability. In some cases, it is desired to remove shavings or the like generated by machining from the workpiece 2. Therefore, a cleaning mechanism for the surface of the workpiece 2 may be provided. Here, a configuration example will be described in which dust or the like on the workpiece 2 is blown off by air ejection.

  FIG. 15 is a view showing another example of the holding device 73 for conveyance in the present embodiment. In the example shown in the figure, the holding device 73 is provided with an air ejection unit 732. The surface of the workpiece 2 can be cleaned by ejecting air from the ejection unit 732 as indicated by an arrow. During cleaning, the work 2 can be cleaned over a wider range by blowing air while moving the holding device 73 relative to the work 2.

  The timing of cleaning is before holding the unprocessed workpiece 2 on the mounting table 60, after transporting the unprocessed workpiece 2 onto the holding device 10, and before holding the processed workpiece 2 on the holding device 10, After transporting the processed workpiece to the mounting table 50, and the like.

  The arrangement site of the cleaning mechanism is not limited to the holding device 73. However, by providing the holding device 73 with a cleaning mechanism, the configuration for moving the cleaning mechanism can be shared with other configurations.

  The present invention is not limited to the above-described embodiment, and various changes and modifications can be made without departing from the spirit and scope of the present invention. Therefore, in order to make the scope of the present invention public, the following claims are attached.

[0001]
Technical field [0001]
The present invention relates to a machining system for machining a workpiece and a control method therefor.
Background art [0002]
Various systems have been proposed as machining systems for automating machining of workpieces (Patent Documents 1 to 10), and Patent Documents 1 to 10 include them. For example, Patent Documents 1 to 10 include a document that discloses a processing system that performs chamfering processing of an edge of a steel material.
Prior Art Literature Patent Literature [0003]
Patent Document 1: JP-A-5-208346 Patent Document 2: JP-A-8-57707 Patent Document 3: JP-A-11-114715 Patent Document 4: JP-2011-1100958 Patent Document 5: JP-A-5 Patent Document 6: Japanese Patent Application Laid-Open No. 5-96434 Patent Document 6: Japanese Patent Application Laid-Open No. 2000-84766 Patent Document 7: Japanese Patent Application Laid-Open No. 2000-271902 Patent Document 8: Japanese Patent Application Laid-Open No. 2001-219329 Patent Document 9: Japanese Patent Application Laid-Open No. 5-269621 Reference 10: Summary of the Invention of Japanese Patent Application Laid-Open No. 2001-96330 [0004]
Generally, a machining system includes a machining unit that performs machining on a workpiece, and a holding device that holds the workpiece during machining. Here, there is a case where the holding device needs to be configured corresponding to the processing target portion of the workpiece. Example

[0002]
For example, in a processing system that performs chamfering of the edge of a steel material, it is necessary to configure the holding device so as to avoid the portion to be processed so that the cutter does not cut the holding device. For this reason, if a workpiece | work is changed, it is necessary to replace | exchange a holding | maintenance apparatus, and cannot respond quickly to various workpieces.
[0005]
An object of the present invention is to be able to quickly cope with various kinds of workpieces.
Means for Solving the Problems [0006]
According to the present invention, a holding device that holds a workpiece, which is a steel plate, in a horizontal posture, a processing unit that performs processing on a processing target portion of the workpiece held by the holding device, and the processing unit that includes the holding device. And a moving device that is movable to a processing target portion of the workpiece held on the first mounting table on which the unprocessed workpiece is mounted, and on the first mounting table. A transport device that transports the workpiece to the holding device, a detection device that scans the workpiece held by the holding device and detects the shape and position of a processing target portion of the workpiece, and detection by the detection device And a control device that controls the moving device and the processing unit based on a result. The moving device is capable of moving the detection device and the processing unit, and the moving device moves the detecting device. There is provided a machining system in which the entire surface of the workpiece is scanned by the detection device and the workpiece is machined by driving the moving device and the machining unit based on a detection result of the scanning. The
[0007]
[0008]
Further, according to the present invention, the holding device that holds the workpiece, which is a steel plate, in a horizontal posture, the processing unit that performs processing on the processing target portion of the work held by the holding device, and the processing unit, A control method of a processing system comprising a moving device that can move to a processing target portion of a work held by a holding device, wherein the unprocessed work is placed on the control method

[0003]
A work transporting step of transporting and placing a work on the holding device from a first mounting table by the transport device, a holding step of holding the work placed on the holding device as it is, and the holding device The workpiece held in step S is scanned over the entire surface by the detection device moved by the moving device to detect the shape and position of the workpiece target portion of the workpiece, and the processing that is the detection result in the detection step The automatic determination step of automatically determining the processing target portion by comparing the shape and position of the target portion with the design data of the workpiece in which the processing target portion prepared in advance is specified, and the determination in the automatic determination step Based on the result, the moving device and the machining unit are controlled to move the machining unit closer to the machining target site, and the machining unit performs machining on the machining target site. Control method comprising cormorants and processing step, is provided.
Effects of the Invention [0009]
According to the present invention, it is possible to quickly cope with various workpieces.
BRIEF DESCRIPTION OF THE DRAWINGS [0010]
FIG. 1 is a plan view of a processing system according to an embodiment of the present invention.
FIG. 2 is a side view of the processing system of FIG.
FIG. 3 is a perspective view of a holding device, a processing unit, and a moving device.
FIG. 4 is a block diagram of a control device.
FIG. 5 is an operation explanatory view of the machining system of FIG.
[FIG. 6] An operation explanatory diagram of the processing system of FIG.
FIG. 7 is an operation explanatory diagram of the processing system of FIG.
FIG. 8 is an operation explanatory diagram of the processing system of FIG.
FIG. 9 is an operation explanatory diagram of the processing system of FIG.
FIG. 10 is an operation explanatory diagram of the processing system of FIG.
FIG. 11 is an explanatory diagram of another example tool.
FIG. 12 is an explanatory diagram of another example of the tool.
FIG. 13 is an explanatory diagram of another example tool.
FIG. 14 is an explanatory diagram of a tool pressing mechanism.

According to the present invention, a holding device that holds a workpiece, which is a steel plate, in a horizontal posture, a processing unit that performs processing on a processing target portion of the workpiece held by the holding device, and the processing unit that includes the holding device. And a moving device that is movable to a processing target portion of the workpiece held on the first mounting table on which the unprocessed workpiece is mounted, and on the first mounting table. A transport device that transports the workpiece to the holding device, a detection device that scans the workpiece held by the holding device and detects the shape and position of a processing target portion of the workpiece, and detection by the detection device results and a control device for controlling the movement device and the processing unit on the basis, wherein the moving device is capable of moving the detecting device and the processing unit, the detection device 及 by the mobile device It said processing unit, during the forward movement Before moving relative to the holding device in a first direction, performs scanning over the workpiece entire surface by the detection device, the detection device and the processing unit by the moving device The moving device and the processing unit are driven and controlled based on a detection result of scanning over the entire surface of the workpiece during a backward movement in which the holding device is moved in a second direction opposite to the first direction. And the processing system which processes the said workpiece | work by making the said process unit approach the said process object site | part is provided.

Further, according to the present invention, the holding device that holds the workpiece, which is a steel plate, in a horizontal posture, the processing unit that performs processing on the processing target portion of the work held by the holding device, and the processing unit, And a moving device that can move to a processing target portion of the workpiece held by the holding device, wherein the control method is a first loading on which the unmachined workpiece is placed. The workpiece is transferred from the mounting table to the holding device by the transfer device, and the workpiece transfer step of holding the workpiece, the holding step of holding the workpiece placed on the holding device as it is, and the holding device holding the workpiece. A detection process in which a workpiece is scanned over the entire surface by a detection device that is moved by the moving device to detect the shape and position of a processing target portion of the workpiece, and a processing target portion that is a detection result in the detection process The shape and position of a comparison between the design data of the processing target portion position which had been prepared in advance, based on the processing target site and automated determination step automatically determining, on the determination result of the automatic determination step, the moving device and controls the processing unit, a moving step of approaching the processing unit to the processing target site, seen including a processing step, the performing machining in the machining unit relative to the working target portion, the holding device, A plurality of holding units; and a moving mechanism that is provided for each holding unit and moves the holding unit between a holding position for holding a workpiece and a retracted position separated from the holding position, and the control method includes: In parallel with the moving step, the method further includes a position changing step of switching the position of the holding unit located at the processing target site from the holding position to the retracted position, During the forward movement in which the processing unit and the detection device are moved in the first direction with respect to the holding device by the moving device, the detection step and the automatic determination step are performed, and the processing unit is used by the moving device. A control method is provided in which the moving step, the position changing step, and the processing step are performed during a return path movement of moving the detection device and the detection device in a second direction opposite to the first direction. .

Claims (13)

A holding device for holding a workpiece as a plate in a horizontal posture;
A processing unit that performs processing on a processing target portion of the workpiece held by the holding device;
A processing system comprising: a moving device capable of moving the processing unit to a processing target portion of a workpiece held by the holding device;
The holding device is
A plurality of holding units;
A moving mechanism that is provided for each holding unit and moves the holding unit between a holding position for holding a workpiece and a retracted position separated from the holding position;
The processing system further comprises:
A detection device that scans the workpiece held by the holding device and detects the shape and position of a processing target portion of the workpiece;
A control device that controls the moving device and the moving mechanism based on a detection result of the detecting device;
Processing system. The machining unit can select a plurality of types of tools,
The plurality of types of tools are:
A finishing tool for machining the upper surface of the workpiece;
A lower working tool for machining the lower surface side of the workpiece,
The processing system according to claim 1. A pressing mechanism capable of switching the pressing force of the tool against the workpiece between an upward direction and a downward direction;
The processing system according to claim 2, wherein: The controller is
When moving the machining unit to one machining target site among a plurality of machining target sites on the workpiece, the holding unit located at the one machining target site is positioned at the retracted position, The processing system according to claim 1, wherein the holding unit is positioned at the holding position. The moving device includes a moving body that moves in a predetermined direction,
The processing system according to claim 1, wherein the processing unit and the detection device are mounted on the movable body. A workpiece machining method for machining a workpiece, which is a plate material, by a machining unit.
A holding step of holding the workpiece in a horizontal posture;
A detection step of scanning the entire surface of the held workpiece by the detection device and detecting the shape and position of the workpiece target portion of the workpiece,
Based on the detection result in the detection step, an information generation step for generating information indicating the shape and position of the processing target site;
The machining unit is moved three-dimensionally according to the information generated in the information generation step, and the workpiece is held in a horizontal posture, and the workpiece target portion on the upper surface side and the workpiece target portion on the lower surface side of the workpiece are moved. A processing step for processing,
Workpiece processing method with In the machining step, a double-side machining tool capable of simultaneously machining a machining target site on the upper surface side and a machining target site on the lower surface side of the workpiece is used, and the both machining tools are pressed against the workpiece from the side to perform machining simultaneously. Do,
The workpiece machining method according to claim 6, wherein: In the machining step, each of the workpieces is machined using a single-side machining tool capable of individually machining the workpiece target portion on the upper surface side and the workpiece target portion on the lower surface side.
The workpiece machining method according to claim 6, wherein: In the processing step,
When performing processing on the processing target portion on the upper surface side of the workpiece, while using an upper processing tool as the one-side processing tool, while performing the processing while pressing the upper processing tool against the workpiece from above,
When processing the processing target part on the lower surface side of the workpiece, while using a lower processing tool as the one-side processing tool, processing while pressing the lower processing tool against the workpiece from below,
The workpiece machining method according to claim 8, wherein: The workpiece is a steel plate, and the processing is corner processing.
The workpiece machining method according to claim 6, wherein: A holding device for holding a workpiece as a plate in a horizontal posture;
A processing unit that performs processing on a processing target portion of the workpiece held by the holding device;
A processing device control method comprising: a moving device that is capable of moving the processing unit to a processing target portion of a workpiece held by the holding device;
The holding device is
A plurality of holding units;
A moving mechanism that is provided for each holding unit and moves the holding unit between a holding position for holding a workpiece and a retracted position separated from the holding position;
The control method is:
An imaging step of imaging the workpiece held by the holding device with an imaging device and detecting the shape and position of a workpiece target portion of the workpiece;
Based on the detection result in the imaging step, the moving step to bring the processing unit closer to the processing target site,
A position changing step of switching the position of the holding unit located at the processing target site from the holding position to the retracted position;
Based on the detection result in the imaging step, a processing step of processing the processing target portion in the processing unit,
Control method. In the processing step, processing is performed on the processing target portion on the upper surface side and the processing target portion on the lower surface side of the workpiece while the workpiece is held in a horizontal posture.
The control method according to claim 11. In the processing step, the processing target part on the upper surface side and the processing target part on the lower surface side of the workpiece are individually processed.
The control method according to claim 12.