JPWO2020250798A5 - - Google Patents
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- JPWO2020250798A5 JPWO2020250798A5 JP2021526051A JP2021526051A JPWO2020250798A5 JP WO2020250798 A5 JPWO2020250798 A5 JP WO2020250798A5 JP 2021526051 A JP2021526051 A JP 2021526051A JP 2021526051 A JP2021526051 A JP 2021526051A JP WO2020250798 A5 JPWO2020250798 A5 JP WO2020250798A5
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- Prior art keywords
- foreign matter
- contact surface
- robot arm
- surface state
- storage unit
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- 238000001514 detection method Methods 0.000 claims 6
- 238000006073 displacement reaction Methods 0.000 claims 3
- 238000005259 measurement Methods 0.000 claims 1
Claims (7)
ロボットアームと、表面センサと、異物除去装置と、制御装置とを備え、
前記ロボットアームは、前記工作機械の治具を構成する複数の部材のうち、一方の部材に対して他方の部材を取り付け又は取り外し可能に構成され、
前記表面センサは、前記ロボットアームに装着され、前記治具の表面のうち密着面の表面状態を検出可能に構成され、ここで、前記密着面は、前記ロボットアームにより取り付け又は取り外しされる部材間の面であり、
前記異物除去装置は、前記ロボットアームに着脱可能に構成され、該ロボットアームに装着された際に、前記密着面から異物を除去可能に構成され、
前記制御装置は、表面状態記憶部と、異物検出部と、動作指示部とを備え、
前記表面状態記憶部は、異物が付着していない状態の前記密着面の表面状態を記憶し、
前記異物検出部は、前記表面センサが検出した前記密着面の表面状態と、前記表面状態記憶部に記憶されている表面状態との比較に基づいて、前記密着面に付着している異物を検出可能に構成され、
前記動作指示部は、前記異物検出部が異物を検出した場合に、前記異物除去装置に対して動作指示を送出可能に構成される
除去システム。A removal system that removes foreign matter adhering to machine tools.
It is equipped with a robot arm, a surface sensor, a foreign matter removing device, and a control device.
The robot arm is configured so that one of the plurality of members constituting the jig of the machine tool can be attached to or detached from the other member.
The surface sensor is mounted on the robot arm and is configured to be able to detect the surface state of the contact surface of the surface of the jig, wherein the contact surface is between members attached or detached by the robot arm. In terms of
The foreign matter removing device is configured to be detachably attached to the robot arm, and is configured to be able to remove foreign matter from the close contact surface when attached to the robot arm.
The control device includes a surface state storage unit, a foreign matter detection unit, and an operation instruction unit.
The surface state storage unit stores the surface state of the contact surface in a state where no foreign matter is attached.
The foreign matter detection unit detects foreign matter adhering to the contact surface based on a comparison between the surface state of the contact surface detected by the surface sensor and the surface state stored in the surface state storage unit. Possible to be configured,
The operation instruction unit is a removal system configured to be able to send an operation instruction to the foreign matter removing device when the foreign matter detecting unit detects a foreign matter.
前記表面センサは、カメラであり、
前記表面状態記憶部は、異物が付着していない状態の前記密着面の画像を記憶し、
前記異物検出部は、前記カメラが撮像した画像と前記表面状態記憶部に記憶されている画像との差分に基づいて前記密着面に付着している異物を検出する
除去システム。In the removal system according to claim 1,
The surface sensor is a camera.
The surface state storage unit stores an image of the close contact surface in a state where no foreign matter is attached.
The foreign matter detecting unit is a removal system that detects foreign matter adhering to the contact surface based on the difference between the image captured by the camera and the image stored in the surface state storage unit.
前記表面センサは、変位計であり、
前記表面状態記憶部は、前記変位計により計測した異物が付着していない状態の前記密着面の表面状態をコンター図化した画像を記憶し、
前記異物検出部は、前記変位計による計測結果をコンター図化した画像と前記表面状態記憶部に記憶されている画像との差分に基づいて前記密着面に付着している異物を検出する
除去システム。In the removal system according to claim 1,
The surface sensor is a displacement meter.
The surface state storage unit stores an image in which the surface state of the contact surface in a state where no foreign matter is attached, which is measured by the displacement meter, is contoured.
The foreign matter detecting unit is a removal system that detects foreign matter adhering to the contact surface based on the difference between the image obtained by contouring the measurement result by the displacement meter and the image stored in the surface state storage unit. ..
前記異物除去装置を複数備え、
前記動作指示部は、前記異物検出部が検出した異物の位置と大きさとの少なくとも一方に基づいて前記異物除去装置のいずれかを選択し、該選択した異物除去装置の装着を指示する装着指示を前記ロボットアームに送出する
除去システム。In the removal system according to any one of claims 1 to 3.
Equipped with a plurality of the foreign matter removing devices,
The operation instruction unit selects one of the foreign matter removing devices based on at least one of the position and the size of the foreign matter detected by the foreign matter detecting unit, and gives a mounting instruction to instruct the mounting of the selected foreign matter removing device. A removal system delivered to the robot arm.
表面状態記憶部と、異物検出部と、動作指示部とを備え、
前記表面状態記憶部は、前記工作機械の治具の表面のうち密着面に異物が付着していない状態で表面センサにより検出した前記密着面の表面状態を記憶し、ここで、前記密着面は、前記ロボットアームにより取り付け又は取り外しされる部材間の面であり、前記表面センサは、前記ロボットアームに装着され、
前記異物検出部は、前記表面センサが検出した前記密着面の表面状態と、前記表面状態記憶部に記憶されている表面状態との比較に基づいて、前記密着面に付着している異物を検出可能に構成され、
前記動作指示部は、前記異物検出部が異物を検出した場合に、前記異物除去装置に対して動作指示を送出可能に構成され、ここで、前記異物検出部は、前記ロボットアームに装着される
制御装置。It is a control device of a foreign matter removing device that removes foreign matter adhering to a machine tool.
It is equipped with a surface state storage unit, a foreign matter detection unit, and an operation instruction unit.
The surface state storage unit stores the surface state of the contact surface detected by the surface sensor in a state where no foreign matter adheres to the contact surface of the surface of the jig of the machine tool, and the contact surface is here. , A surface between members attached or detached by the robot arm, wherein the surface sensor is attached to the robot arm.
The foreign matter detection unit detects foreign matter adhering to the contact surface based on a comparison between the surface state of the contact surface detected by the surface sensor and the surface state stored in the surface state storage unit. Possible to be configured,
The operation instruction unit is configured to be able to send an operation instruction to the foreign matter removing device when the foreign matter detection unit detects a foreign matter, and here, the foreign matter detection unit is attached to the robot arm. Control device.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019108212 | 2019-06-10 | ||
| JP2019108212 | 2019-06-10 | ||
| PCT/JP2020/022116 WO2020250798A1 (en) | 2019-06-10 | 2020-06-04 | Removal system and control device |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JPWO2020250798A1 JPWO2020250798A1 (en) | 2020-12-17 |
| JPWO2020250798A5 true JPWO2020250798A5 (en) | 2022-05-19 |
| JP7455122B2 JP7455122B2 (en) | 2024-03-25 |
Family
ID=73781118
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2021526051A Active JP7455122B2 (en) | 2019-06-10 | 2020-06-04 | Removal system and control device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP7455122B2 (en) |
| TW (1) | TWI839528B (en) |
| WO (1) | WO2020250798A1 (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02106255A (en) * | 1988-10-11 | 1990-04-18 | Matsuura Tekkosho:Kk | Device for detecting workpiece combinedly used for air blow of machine tool |
| JPH06297292A (en) * | 1993-04-07 | 1994-10-25 | Mitsubishi Heavy Ind Ltd | Automatic chip removing apparatus |
| CN103713451B (en) | 2012-09-28 | 2016-06-22 | 扬明光学股份有限公司 | Multiplicity of projection system and use the display system of this system |
| JP2014193514A (en) * | 2013-03-29 | 2014-10-09 | Nishijima Corp | Light guide plate processing apparatus |
| JP5893719B1 (en) | 2014-12-25 | 2016-03-23 | ファナック株式会社 | Processing device with workpiece attachment / detachment means equipped with a visual sensor for confirming the presence or absence of foreign matter |
| JP6356655B2 (en) * | 2015-12-10 | 2018-07-11 | ファナック株式会社 | Machining system with function to remove machining waste |
| JP6400817B2 (en) * | 2017-11-14 | 2018-10-03 | ファナック株式会社 | Machine tool cleaning system |
-
2020
- 2020-06-04 WO PCT/JP2020/022116 patent/WO2020250798A1/en active Application Filing
- 2020-06-04 JP JP2021526051A patent/JP7455122B2/en active Active
- 2020-06-05 TW TW109118876A patent/TWI839528B/en active
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