KR20220038984A - Control method of Lathe for robot automation - Google Patents

Abstract

The present invention relates to a control method of a lathe for robot automation. According to the present invention, the control method of the lathe for robot automation includes: a step (S10) of determining a beginning of processing; a step (S20) of opening a rear door assembly when satisfying step S10; a step (S30) of gripping an object to be processed by a robot arm when satisfying step S10; and a step (S40) of controlling a robot so that the object to be processed of the robot arm enters a processing space (A) by passing through a work path after step S20 and step S30. According to the present invention, a front door assembly arranged in front of a workroom approaches the processing space (A) by a worker, and the robot approaches the processing space (A) through the work path selectively open. Therefore, a workspace of the robot and the worker can be separated. The rear door assembly of the lathe operates only when the robot arm enters the work path. So, the control method of the lathe for robot automation has an advantage of opening the work path only when the robot arm enters the work path.

Description

Control method of lathe for robot automation

The present invention relates to a lathe control method of a machine tool.

The lathe is a face lathe, which is a lathe used for cutting short-length and large-diameter workpieces, and a regular lathe, which is the same as a regular lathe, but has a precise form, and is a lathe with a taper cutting device and a relieving device attached. Lathe, a lathe that is small enough to be installed on a workbench, and a tabletop lathe that mainly processes small parts such as watch parts and sewing machine parts, and a chuck on the ground for convenient processing of large or irregular workpieces. A vertical lathe, which is a lathe that is installed vertically to make mounting or dismounting of workpieces convenient, and a tracer installed on the model or template using an automatic imitation device. There are imitation lathes, which are lathes that automatically process shaped parts, and turret lathes, which are lathes that mass-produce simple parts by installing various tools according to the process using a rotating tool rest called a turret.

The conventional turret lathe is used by attaching a turning holder or a milling holder to the turret tool rest for turning, drilling, and milling, and the number of holders that can be attached to the turret tool rest is limited according to the division angle of the tool rest disk. do.

In the conventional turret lathe, since the door is disposed on the front where the operator is located, when the robot is disposed to improve productivity, the operator's workspace and the robot's workspace overlap, so there is a problem that the safety accident risk of the operator is high.

Republic of Korea Patent Publication No. 10-2015-0025447

An object of the present invention is to provide a method for controlling a lathe for robot automation.

An object of the present invention is to provide a lathe control method capable of automatically loading/unloading a workpiece into the lathe through a robot.

The present invention is a work room in which the operator workspace (S1) formed in the front is formed, the robot workspace (S2) is formed in the rear, and the processing of the object to be processed is made therein; In the control method of a lathe comprising; an operation panel disposed in front of the working room and receiving an input of an operator's operation, the working room comprising: an upper housing having a processing space formed therein; a front door assembly disposed in front of the upper housing to open and close the processing space (A); a rear door assembly disposed at the rear of the upper housing to open and close the processing space (A); a processing device disposed in the processing space (A) to process the processing object; a spindle spindle disposed in the processing space (A) to which the processing object is fixed; A work path disposed in the upper housing and communicating the robot work space (S2) and the machining space (A); including, and determining the start of machining (S10); When the step S10 is satisfied, the step of opening the rear door assembly (S20); If the step S10 is satisfied, the step of holding the object to be processed through the robot arm (S30); After the steps S20 and S30, the step (S40) of controlling the robot so that the object to be processed of the robot arm penetrates the work path and enters the processing space (A) (S40).

After the step S40, the step of loading the workpiece onto the spindle spindle (S50); After the step S50, the robot arm exits the work path and returns to the robot work space (S2) (S60); The method may further include a step of closing the rear door assembly (S70) after the step S60.

The shelf further includes a shelf communication module, and the robot further includes a robot communication module. Before step S10, after confirming a connection state between the shelf communication module and the robot communication module through communication, go to step S10 can enter

The step S10 may be started through an input of the operation panel.

processing the workpiece loaded after the step S70 through the processing device (S80); determining the processing completion of the object to be processed (S90); when the step S90 is satisfied, the step of opening the rear door assembly (S100); After the step S90, the step of entering the robot arm into the processing space (A) through the work path (S110); may further include.

unloading the workpiece disposed on the spindle spindle after step S110, and the robot arm entering the processing space (A) holding the workpiece disposed on the spindle spindle (S120); The method may further include a step (S130) of the robot arm holding the workpiece exiting the work path and returning to the robot work space (S2).

First, according to the present invention, the operator can access the front door assembly disposed in front of the work room to the machining space (A), and the robot can access the machining space (A) through the selectively opened work path. , it has the advantage of separating the working space of the worker and the robot, and preventing safety accidents of the worker.

Second, the present invention has the advantage of opening the work path by operating the rear door assembly of the lathe only when the robot arm enters the work path.

Third, the present invention has the advantage of blocking the leakage of chips and lubricants scattered during processing to the outside through the work path because the work path is closed by the rear door assembly when processing the object to be processed in the processing space.

1 is a perspective view of a shelf according to an embodiment of the present invention.
FIG. 2 is an internal perspective view of the shelf from which the front door is removed in FIG. 1 .
3 is a partially exploded perspective view of the working room shown in FIG. 1 .
FIG. 4 is a perspective view of the front door assembly shown in FIG. 3 ;
5 is a perspective view of a robot according to an embodiment of the present invention.
FIG. 6 is an operation state diagram in which the work path is closed by the rear door assembly shown in FIG. 1 .
7 is an operation state diagram in which the work path is opened by the rear door assembly of FIG. 6 .
FIG. 8 is a perspective view in which the rear door assembly is separated from the rear wall in FIG. 6 .
9 is a perspective view of the rear door assembly in which the moving panel of FIG. 6 is moved downward.
10 is a perspective view of the rear door assembly in which the moving panel of FIG. 7 is moved upward.
11 is an operation state diagram illustrating a process of replacing a processing object according to an embodiment of the present invention.
12 is a block diagram of a shelf and a robot according to an embodiment of the present invention.
13 is a flowchart illustrating a method for controlling a shelf and a robot according to an embodiment of the present invention.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the art to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

1 is a perspective view of a shelf according to an embodiment of the present invention, and FIG. 2 is an internal perspective view of the shelf from which the front door is removed in FIG. 1 .

The lathe according to this embodiment includes a working room 100 in which the processing object 101 is processed, and a coolant disposed at one side of the working room 100 and providing cooling water to the inside of the working room 100 . The device 200, the chip recovery device 300 disposed on one side of the working room 100 and recovering the chips generated in the working room 100, and the other side of the working room 100, , an electric box 400 for providing power required to drive the work room 100, and an operation panel 500 that is disposed in front of the work room 100 and receives an operator's operation.

In this embodiment, the coolant device 200 and the chip recovery device 300 are disposed on the right side of the working room 100 , and the electric box 400 is disposed on the left side of the working room 100 .

The electric box 400 , the working room 100 , the coolant device 200 , and the chip recovery device 300 are arranged in a line in the left and right direction.

The worker's work space S1 is located in front of the work room 100 to perform work.

A work space S2 of the robot 600 is disposed at the rear of the work room 100 .

The working room 100 includes a lower housing 10, an upper housing 20 disposed on the upper side of the lower housing 10 and having a processing space therein, and the upper housing 20 It is disposed in front of The front door assembly 30 for opening and closing the processing space (A), the rear door assembly 40 disposed behind the upper housing 20 to open and close the processing space (A), the processing space (A) ) and a first processing device 50 and a second processing device 60 for processing the processing object 101, and a spindle spindle ( 70).

The lower housing 10 may be supported on the ground, and the processing space A may be formed on the upper side. The main shaft spindle 70 is disposed on the lower housing 10 .

The object 101 is fixed to the main spindle 70 and can be rotated. The axis of the main shaft spindle 70 is disposed in a vertical direction.

The upper housing 20 is disposed above the lower housing 10 . The processing space (A) is formed inside the upper housing (20). The first processing device 50 and the second processing device 60 are disposed inside the upper housing 20 .

The first processing device 50 and the second processing device 60 may be fixedly supported by the upper housing 20 or the lower housing 10 .

The upper housing 20 and the lower housing 10 may support various structures required for work.

The spindle spindle 70 is disposed between the first processing device 50 and the second processing device 60 . In this embodiment, the first processing device 50 is disposed on the left side, the second processing device 60 is disposed on the right side, and the spindle spindle 70 is disposed in the middle.

The first processing apparatus 50 includes a first turret 51 on which a plurality of tools are disposed, a first horizontal transfer unit 52 for transferring the first turret 51 in the X-axis direction, and the first and a first vertical transfer unit 53 for transferring the turret 51 in the Z-axis direction.

The first turret 51 is disposed above the main shaft spindle 70 . The first turret 51 may be disposed on the upper left side of the main shaft spindle 70 .

The first turret 51 is installed detachably a plurality of tools for processing. The first turret 51 has a vertical axis of rotation, and a plurality of tools may be rotated in a horizontal direction.

The first horizontal transfer unit 52 may move the first turret 51 in the left and right directions. In response to a control signal, the first horizontal transfer unit 52 may move the first turret 51 toward the main shaft spindle 70 .

The first vertical transfer unit 53 may move the first turret 51 in the vertical direction. In response to a control signal, the first vertical transfer unit 53 may move the first turret 51 toward the main shaft spindle 70 .

Although not described separately, various structures for installing and supporting the first horizontal transfer unit 52 or the first vertical transfer unit 53 are disposed.

The second processing device 60 includes a second turret 61 on which a plurality of tools are disposed, a second horizontal transfer unit 62 for transferring the second turret 61 in the X-axis direction, and the second and a second vertical transfer unit 63 for transferring the turret 61 in the Z-axis direction.

The second turret 61 is disposed above the main shaft spindle 70 . The second turret 61 may be disposed on the upper right side of the main shaft spindle 70 .

The second turret 61 is detachably installed with a plurality of tools for processing. The second turret 61 has a vertical axis of rotation, and the plurality of tools may be rotated in a horizontal direction.

The second horizontal transfer unit 62 may move the second turret 61 in the left and right directions. According to a control signal, the second horizontal transfer unit 62 may move the second turret 61 toward the main shaft spindle 70 .

The second vertical transfer unit 63 may move the second turret 61 in the vertical direction. According to a control signal, the second vertical transfer unit 63 may move the second turret 61 toward the main shaft spindle 70 .

Although not described separately, various structures for installing and supporting the second horizontal transfer unit 62 or the second vertical transfer unit 63 are disposed.

The upper housing 20 has a first sidewall 21 disposed on the left side, a second sidewall 22 disposed on the right side, and a rear wall disposed at the rear and on which the rear door assembly 40 is installed. (23).

The first processing device 50 and the second processing device 60 may be assembled and supported on the rear wall 23 .

The processing space (A) may be formed surrounded by the front door assembly 30 , the first side wall 21 , the second side wall 22 , and the rear wall 23 . In this embodiment, the upper side of the upper housing 20 is opened. As the upper side of the upper housing 20 is opened, the operating radius of the first vertical transfer unit 53 and the second vertical transfer unit 63 can be secured.

3 is a partially exploded perspective view of the working room shown in FIG. 1 , and FIG. 4 is a perspective view of the front door assembly shown in FIG. 3 .

3 or 4 , the front door assembly 30 is assembled to the upper housing 20 and can open and close the processing space A.

The front door assembly 30 is disposed on one side (left side in this embodiment) of the upper housing 20 and includes a first front door 31 that opens and closes a part of the processing space A, and the upper It is disposed on the other side (right side in this embodiment) of the housing 20, and includes a second front door 32 for opening and closing the remainder of the processing space (A).

In this embodiment, the first front door 31 and the second front door 32 open and close the processing space (A) in a sliding manner. Unlike this embodiment, the processing space (A) may be opened and closed through a rotation method.

In order to slide the first front door 31, a first front actuator 33 and first linear guides 33a and 33b may be further included.

The first front door 31 may be moved in the left and right directions by the driving force of the first front actuator 33 . In this embodiment, an air cylinder is used for the first front actuator 33 .

The first linear guides 33a and 33b guide the movement of the first front door 31 . In the present embodiment, the first linear guides 33a and 33b are respectively disposed above and below the first front door 31 .

In order to slide the second front door 32, a second front actuator 34 and linear guides 34a and 34b may be further included.

The second front door 32 may be moved in the left and right directions by the driving force of the second front actuator 34 . In this embodiment, an air cylinder is used for the second front actuator 34 .

The second linear guides 34a and 34b guide the movement of the second front door 32 . In this embodiment, the second linear guides 34a and 34b are respectively disposed above and below the second front door 32 .

In addition, the working room 10 according to the present embodiment includes a first window 35 disposed on the first front door 31 to check the processing space A, and the second front door 32 . It is disposed in the processing space (A) further comprises a second window (36) can be confirmed visually.

The first window 35 and the second window 36 may be made of a transparent material.

A first handle 37 may be further disposed around the first window 35 , and the first front door 31 may be manually opened through the first handle 37 . A second handle 38 may be further disposed around the second window 36 , and the second front door 32 may be manually opened through the second handle 38 .

When the first front door 31 is opened, the first turret 51 may be exposed. When the second front door 32 is opened, the second turret 61 may be exposed.

The object 101 may be machined through either the first turret 51 or the second turret 61 .

An openable and openable side panel 39 may be further disposed on the second sidewall 22 . The side panel 39 may be opened to perform maintenance of the work room 10 .

Referring to FIG. 5 , the robot 600 may be an articulated robot including a robot arm 610 . The robot arm 610 may grab the processing object 101 disposed on a pallet (not shown) and move it into the processing space (A).

The robot 600 may be disposed in the robot working space S2, disposed behind the rear wall 23, and disposed separately from the working movement of the operator.

The robot arm 610 may penetrate the rear wall 23 to enter the processing space A, and may position the processing object 101 on the main spindle 70 .

A rear door assembly 40 is disposed on the rear wall 23 to allow the object 101 to enter the inside of the work room 100 .

5 is a perspective view of a robot according to an embodiment of the present invention, FIG. 6 is an operation state diagram in which the work path is closed by the rear door assembly shown in FIG. 1, and FIG. 7 is a work path by the rear door assembly of FIG. is an open operation state diagram, FIG. 8 is a perspective view of the rear door assembly separated from the rear wall in FIG. 6 , FIG. 9 is a perspective view of the rear door assembly in which the moving panel of FIG. 6 is moved downward, and FIG. 10 is the movement of FIG. It is a perspective view of the rear door assembly in which the panel has been moved upward, and FIG. 11 is an operation state diagram illustrating a process of replacing a processing object according to an embodiment of the present invention.

A work path 25 passing through the rear wall 23 in the front-rear direction is formed. The work path 25 communicates the robot work space (S2) and the processing space (A) disposed at the rear of the rear wall (23).

When viewed from the front, the work path 25 has a rectangular shape, the front and the rear are open, respectively, and the other surface is closed.

The work path 25 is disposed between the first processing device 50 and the second processing device 60 .

The work path 25 is disposed between the first turret 51 and the second turret 61 . The work path 25 is disposed behind the main shaft spindle 70 .

The work path 25 is disposed between the first vertical transfer unit 53 and the second vertical transfer unit (63).

When viewed from the front, the work path 25 is disposed on the boundary line between the first front door 31 and the second front door 32 .

The robot arm 610 may enter the processing space A through the rear surface of the work path 25 .

The rear door assembly 40 is disposed on the rear wall 23 , and may open and close the work path 25 . The rear door assembly 40 opens the work path 25 only when the workpiece 101 enters. During machining, the work path 25 may be closed by the rear door assembly 40 .

The rear door assembly 40 includes a fixed panel 41 fixed to the working room 100 and a movable panel 42 coupled to the fixed panel 41 to be movable relative to the fixed panel. ), and a guide rail 43 for guiding the moving panel 42 , and an actuator 45 for moving the moving panel 42 .

In the present embodiment, the rear door assembly 40 is disposed inside the work room 100 . The rear door assembly 40 opens and closes the front side opening of the work path 25 . Unlike the present embodiment, the rear door assembly 40 may be disposed outside the work room 100 to open and close the rear opening of the work path 25 .

When the rear door assembly 40 is disposed inside the work room 100, it is easy to connect a power cable for operation, etc., and since the components necessary for operation are disposed inside, damage due to external impact can be prevented. .

In this embodiment, the moving panel 42 opens and closes the work path 25 .

In this embodiment, the actuator 45 moves the moving panel 42 in the vertical direction. Unlike the present embodiment, the moving panel 42 may be moved in the left and right directions. In addition, unlike the present embodiment, the work path 25 may be opened and closed in a manner in which the movable panel 42 is rotated up and down or left and right.

The fixing panel 41 is fixed to the working room 100, and in this embodiment is fixed to the working room upper structure 102. (See FIG. 1)

In this embodiment, the fixing panel 41 is formed in a "L" shape. The moving panel 42 is disposed at the rear of the fixed panel 41 , and may be moved in the vertical direction with respect to the fixed panel 41 .

Referring to FIG. 9 , when the moving panel 42 is positioned at the lower side, the moving panel 42 may completely close the work path 25 .

Referring to FIG. 10 , when the moving panel 42 is moved upward, it is positioned at the rear of the fixed panel 41 , and the work path 25 may be completely opened.

When the moving panel 42 is moved upward, it is located behind the fixed panel 41 and is not exposed to the work path 25 .

The moving panel 42 moved upward is disposed between the fixed panel 41 and the rear wall 23 . The moving panel 42 moved to the lower side is positioned in front of the rear wall 23 on which the work path 25 is formed.

A stopper 44 may be further disposed on the fixed panel 41 to limit the lower movement of the movable panel 42 . The stopper 44 is disposed at the lower end of the fixing panel 41 .

In this embodiment, the stopper 44 is formed by bending the fixing panel 41 to the rear side. When the moving panel 42 is moved downward, the upper end 42a of the moving panel 42 may be caught by the stopper 44 to limit movement.

On the other hand, it is necessary to limit the upper movement of the moving panel (42). When the moving panel 42 is excessively moved upward, it may collide with the other structure and cause damage.

In this embodiment, the rod 46 is disposed on the moving panel 42 . The rod 46 is preferably disposed to protrude upward from the upper end 42a of the moving panel 42 .

The rod 46 is formed to extend long in the vertical direction.

By sensing the upper end of the rod 46, the upper height of the movable panel 42 can be limited. In this embodiment, a sensor 47 is used to detect the upper end of the rod 46 . The sensor 47 may be a switch that detects direct contact. The sensor 47 may be a photosensor, and may be operated in such a way that a signal of the photosensor is blocked by the upper end.

The movement of the moving panel 42 is associated with the operation of the robot 600 .

The guide rail 43 is disposed behind the moving panel 42 . The guide rail 43 may be fixed to the rear wall 23 . The moving panel 42 may be moved in a vertical direction along the guide rail 43 .

In this embodiment, a linear guide is used for the guide rail 43 .

The guide rail 43 may include a first guide rail 43a and a second guide rail 43b. The first guide rail 43a and the second guide rail 43b may be disposed in left and right directions.

The work path 25 is disposed between the first guide rail 43a and the second guide rail 43b.

In this embodiment, an air cylinder is used for the actuator 45, and the moving panel 42 is vertically moved through the operation of the air cylinder. By using the air cylinder, it is possible to shorten the opening/closing time of the work path 25 .

In this embodiment, the actuator 45 is fixed to the rear wall 23 .

The rear wall 23 has an installation groove 26 in which the rear door assembly 40 is installed.

The installation groove 26 is formed to be concave from the front to the rear of the rear wall (23). The installation groove 26 is formed to extend long in the vertical direction. The installation groove 26 may be formed to extend upward and downward of the work path 25 .

In this embodiment, the work path 25 passes through the installation groove 26 .

In the present embodiment, at least a portion of the movable panel 42 may be accommodated in the installation groove 26 . The guide rail 42 is received and installed in the installation groove 26 . The fixing panel 41 is disposed in front of the installation groove 26 .

Since a part of the rear door assembly 40 is accommodated and installed in the installation groove 26 concave toward the rear side, the processing space A can be sufficiently secured.

In addition, since the guide rail 43 is accommodated and installed in the installation groove 26, it is possible to block the chips scattered in the processing space A from penetrating between the guide rail 43 and the moving panel 42, and , it is possible to secure the operation reliability of the rear door assembly 40 through this.

When the moving panel 42 stops in the middle while the rear door assembly 40 is being operated, the processing of the object 101 may be stopped, and thus the production yield may be reduced.

Referring to FIG. 11 , the moving panel 42 of the rear door assembly 40 moves upward to open the work path 25 , and the robot arm 610 passes through the work path 25 to the processing space A ) can be entered.

And the robot arm 610 that has entered the processing space (A) can automatically load the processing object 101 to the spindle (70).

Also, after the machining is completed, the robot arm 610 may enter the machining space A through the work path 25 to unload the work piece of the main spindle spindle.

12 is a block diagram of a shelf and a robot according to an embodiment of the present invention, and FIG. 13 is a flowchart illustrating a method for controlling a shelf and a robot according to an embodiment of the present invention.

Referring to FIG. 12 , the shelf according to the present embodiment further includes a shelf communication module 80 for communicating with the robot 600 and a shelf control unit 90 for controlling each device of the shelf.

The lathe control unit 90 includes a first processing device 50 , a second processing device 60 , a spindle spindle 70 , a front door assembly 30 , a rear door assembly 40 , a lathe communication module 80 and It is electrically connected to the sensor 47 and can control each configuration.

Specifically, the lathe control unit 90 may control the first turret 51 , the first horizontal transfer unit 52 , and the first vertical transfer unit 53 of the first processing apparatus 50 .

The lathe control unit 90 may control the second turret 61 , the second horizontal transfer unit 62 , and the second vertical transfer unit 63 of the second processing apparatus 60 .

The shelf control unit 90 may detect opening and closing of the front door assembly 30 .

The shelf control unit 90 may open and close the work path 25 by operating the actuator 45 of the rear door assembly 40 .

The shelf control unit 90 may receive a signal sensed by the sensor 47 , and determine the complete opening of the rear door assembly 40 by determining the sensed signal, and complete the work path 25 . After opening, a control signal is transmitted to the robot 600 .

The shelf control unit 90 may communicate with the robot 600 through the shelf communication module 80 , and may control the operation of the robot arm 610 according to the opening and closing of the work path 25 .

The robot 600 further includes a robot communication module 680 capable of communicating with the shelf communication module 80 .

The shelf communication module 80 and the robot communication module 680 may be connected through a wired communication network or a wireless communication network. In addition, the shelf communication module 80 and the robot communication module 680 may be directly connected 1:1 in a wired or wireless manner to exchange data.

1 or 13 , the control method according to the present embodiment includes a step of determining the start of processing (S10), and a step of opening the rear door assembly 40 when the step S10 is satisfied (S20) And, if the step S10 is satisfied, the step (S30) of holding the object to be processed on the pallet (not shown) through the robot arm 610, and the object to be processed of the robot arm 610 after the steps S20 and S30 A step (S40) of controlling the robot 600 to enter the processing space (A) through the work path 25 (S40), and after the step S40, by controlling the robot arm 610, the object to be processed is the main spindle (S40). 70) loading step (S50), and after step S50, the robot arm 610 exits the work path 25 and returns to the robot workspace S2 (S60), and after step S60 and closing the rear door assembly 40 ( S70 ).

Before step S10, the shelf communication module 80 and the robot communication module 680 can first check the connection state through communication with each other, and the communication connection between the shelf communication module 80 and the robot communication module 680 is completed. After that, the step S10 may be entered.

Control according to the present embodiment may be performed through the lathe control unit 90 or the robot control unit 690, and it is preferable that the lathe control unit 90 has the main authority for processing.

A worker may input a machining command by manipulating the operation panel 500, and the lathe control unit 90 determines the machining command. (S10)

When the step S10 is satisfied, the lathe control unit 90 opens the rear door assembly 40 to receive the object to be processed.

The shelf control unit 90 sends a control signal to the actuator 45 to operate the actuator 45 , and moves the moving panel 42 upward to open the work path 25 .

The shelf control unit 90 may check the movement of the moving panel 42 through the sensor 47 and determine the complete opening of the work path 25 . When the work path 25 is not fully opened but only partially opened, the robot arm 610 enters the work path 25 and collides with the moving panel 42 , thereby causing damage.

On the other hand, when the step S10 is satisfied, the robot control unit 690 may hold the object to be processed. (S30)

Since the determination of step S10 is made in the shelf control unit 90 , after step S10 , the shelf control unit 90 must transmit a control signal to the robot control unit 690 through each communication module.

Step S30 may be sequentially performed after step S20. In addition, the steps S20 and S30 may be performed simultaneously.

After the step S30 , the robot controller 690 controls the robot arm 610 to allow the robot arm 610 to enter the work path 25 . (S40)

Steps S30 and S40 are sequentially performed.

When or after the step S40 is performed, the robot control unit 690 may transmit a control signal to the lathe control unit 90, and the lathe control unit 90 controls the object placed on the spindle 70. Fix it. (S50)

The lathe control unit 90 operates a chuck to fix the object placed on the main spindle 70 .

After the step S50, the robot control unit 690 returns the robot arm 610 to its original position. (S60)

After step S60, the robot control unit 690 transmits a control signal according to the original position of the robot arm 610 to the shelf control unit 90, and the shelf control unit 90 closes the rear door assembly 40 do. (S70)

After the step S70 is completed, the lathe control unit 90 may start processing the object to be processed. (S80)

In the control method according to this embodiment, after the step S70, processing the processing object loaded through the first processing apparatus 50 or the second processing apparatus 60 (S80), and the processing of the processing object is completed After the step of determining (S90) and, if the step S90 is satisfied, the step of opening the rear door assembly 40 (S100), and after the step S90, the robot arm 610 is moved to the work path 25 ) through the step (S110) of entering the processing space (A), unloading the workpiece disposed on the spindle 70, and the robot arm 610 entering the processing space (A) is performed using the spindle spindle. A step (S120) of gripping the workpiece disposed on (70), and the step (S130) of the robot arm 610 holding the workpiece exiting the work path 25 and returning to the robot workspace S2 (S130). do.

After the step S70, the lathe control unit 90 starts processing the object to be processed. (S80) Before the step S80, the shelf control unit 90 may confirm that the front door assembly 30 and the rear door assembly 40 are closed.

The shelf control unit 90 confirms the completion of step S80. (S90)

After step S90 , the shelf control unit 90 opens the rear door assembly 40 , confirms the opening of the rear door assembly 40 , and then transmits a control signal to the robot control unit 690 . (S100)

After the step S100 , the robot control unit 690 enters the robot arm 610 into the processing space A through the work path 25 to recover the workpiece. (S110)

And the robot control unit 690 holds the workpiece of the spindle 70 through the robot arm 610 that has entered the processing space (A). (S120) The lathe control unit 90 may release the chuck of the main shaft spindle 70 in the step S100 or S110.

The robot control unit 690 controls the robot arm 610 to pass the work path 25 with the workpiece gripped in step S120 and then to move to the robot work space S2. (S130)

The robot control unit 690 may control the workpiece recovered to the robot work space S2 to be loaded on the finished pallet.

After S130, the robot control unit 690 transmits the completion of S130 to the lathe control unit 90, and the lathe control unit 90 determines the processing of the object to be processed. (S140)

If the step S140 is satisfied, the process may return to the step S10, and if the step S140 is not satisfied, the processing may be finished.

Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be embodied in other specific forms without changing the technical spirit or essential features thereof. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts are included in the scope of the present invention. should be interpreted

10: lower housing 20: upper housing
30: front door assembly 40: rear door assembly
50: first processing device 60: second processing device
70: spindle spindle 100: work room
101: object to be processed 200: coolant device
300: chip recovery device 400: electric box
500: operation panel 600: robot
610: robot arm

Claims (6)

A work room in which the operator workspace (S1) formed in the front is formed, the robot workspace (S2) is formed in the rear, and the processing of the object to be processed is made therein; In the control method of a lathe comprising; an operation panel disposed in front of the work room and receiving an operator's operation,
The working room may include: an upper housing having a processing space formed therein; a front door assembly disposed in front of the upper housing to open and close the processing space (A); a rear door assembly disposed at the rear of the upper housing to open and close the processing space (A); a processing device disposed in the processing space (A) to process the processing object; a spindle spindle disposed in the processing space (A) to which the processing object is fixed; It is disposed in the upper housing, and a work path for communicating the robot work space (S2) and the processing space (A); includes,
determining the start of processing (S10); When the step S10 is satisfied, the step of opening the rear door assembly (S20); If the step S10 is satisfied, the step of holding the object to be processed through the robot arm (S30); After the steps S20 and S30, controlling the robot so that the object to be processed of the robot arm penetrates the work path and enters the processing space (A) (S40); a lathe control method comprising a. The method according to claim 1,
After the step S40, the step of loading the workpiece onto the spindle spindle (S50); After the step S50, the robot arm exits the work path and returns to the robot work space (S2) (S60); The method of controlling a shelf further comprising the step of closing the rear door assembly (S70) after the step S60. The method according to claim 1,
The shelf further includes a shelf communication module, the robot further includes a robot communication module,
Before the step S10, after the shelf communication module and the robot communication module check a connection state through communication with each other, the lathe control method enters the step S10. The method according to claim 1,
The step S10 is a method of controlling a shelf that is started through an input of the operation panel. The method according to claim 1,
processing the workpiece loaded after the step S70 through the processing device (S80);
determining the processing completion of the object to be processed (S90);
when the step S90 is satisfied, the step of opening the rear door assembly (S100);
The method of controlling a lathe further comprising a step (S110) of entering the robot arm into the processing space (A) through the work path after the step S90 (S110). 6. The method of claim 5,
unloading the workpiece disposed on the spindle spindle after step S110, and the robot arm entering the processing space (A) holding the workpiece disposed on the spindle spindle (S120);
The method of controlling a lathe further comprising a step (S130) of the robot arm holding the workpiece exiting the work path and returning to the robot work space (S2).

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