TW202108326A - Removal system and control device - Google Patents

Abstract

Provided is a removal system and a control device capable of removing a foreign object attaching to an adhesion surface of a jig. There is provided a removal system for removing a foreign object attached to a machine tool, comprising: a surface sensor configured to detect a surface state of an adhesion surface among surfaces of a jig of the machine tool, which is in close contact with at least one of a member constituting the jig and a workpiece gripped by the jig; a foreign object removing device configured to remove the foreign object from the adhesion surface; and a control device including a surface state storage member configured to store the surface state of the adhesion surface in a state in which no foreign object is attached, a foreign object detection member configured to detect the foreign object attached to the adhesion surface based on a comparison between a surface state of the adhesion surface detected by the surface sensor and a surface state stored in the surface state storage member, and an operation instruction member configured to output an operation instruction to the foreign object removing device when the foreign object removing device detecting a foreign object.

Description

Removal system and control device

The present invention is a removal system and control device.

In working machines such as lathes or machining centers, if chips are attached to the gripping surface used to grip the workpiece, or when the chips are entangled in the chuck or tool, it may cause the working machine to fail. Normal operation conditions.

Therefore, existing inventions have proposed techniques for preventing chips from entering a predetermined space (for example, refer to Patent Document 1) and techniques for removing adhered chips (for example, refer to Patent Document 2). [Prior Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Application Publication No. 2001-277012

[Patent Document 2] Japanese Patent Application Laid-Open No. 8-150537

[The problem to be solved by the invention]

However, even in jigs of machine tools such as chucks, NC round tables, vices, fixed chucks, pallet jigs, etc., if the contact surfaces between the parts constituting the jigs of these machine tools are adhered to such as chips Such foreign objects may sometimes cause poor gripping of the workpiece, which may reduce the processing accuracy of the workpiece. Similarly, if foreign matter such as chips adheres to the contact surface with the workpiece during the gripping of the workpiece, a problem of poor gripping of the workpiece may occur, and the processing accuracy of the workpiece may be reduced. In addition, the adhesion of foreign matter can also cause damage to the workpiece and the fixture itself.

Therefore, even on the contact surface of the fixture, the removal of foreign matter is very important.

However, the technique described in Patent Document 1 cannot completely prevent chips from entering the predetermined space. Therefore, when using this technology, foreign matter may adhere to the contact surface when installing or replacing the parts constituting the jig or grasping the workpiece.

In addition, in the technique described in Patent Document 2, it is difficult to remove small foreign substances because the chip removing hand is used to grasp and remove the chips.

Furthermore, in the technique described in Patent Document 2, since the chips are physically inserted into the sensor to detect the chips, it is difficult to detect small foreign objects. For example, when jaggies are formed on the contact surface of the jig, it is hardly detected. A foreign body in the tooth valley may be detected.

The present invention has been completed in view of the above circumstances, and its object is to provide a removal system and a control device that can remove foreign objects attached to the contact surface of a jig. [Means to solve the problem]

According to an embodiment of the present invention, a removal system for removing foreign matter attached to a working machine is provided with a surface sensor, a foreign matter removal device, and a control device. The surface sensor is configured to be able to detect the surface state of the contact surface in the clamp surface of the working machine. Here, the contact surface is the surface between the parts constituting the clamp and the surface held by the clamp. At least one of the surfaces contacted by the workpiece; the foreign matter removing device is configured to be capable of removing foreign matter from the contact surface; the control device includes a surface state storage unit, a foreign matter detection unit, and an action instruction unit, wherein the surface state storage A portion stores the surface state of the contact surface in a state where no foreign matter is attached, and the foreign matter detection portion is configured to be able to store the state of the contact surface based on the surface state of the contact surface detected by the surface sensor and stored in the surface state storage portion. The foreign matter attached to the contact surface is detected by comparing the surface states of the two, and the action instruction unit is configured to be able to send an action instruction to the foreign matter removal device when the foreign matter detection unit detects the foreign matter.

According to an embodiment of the present invention, the foreign matter attached to the contact surface is detected based on the comparison between the surface state of the contact surface detected by the surface sensor and the surface state stored in the surface state storage section. As a result, it is possible not only to detect foreign objects such as small chips, but also to detect foreign objects even when there are marks or scratches on the contact surface.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Various characteristic items shown in the embodiments shown below can all be joined to each other.

The program for realizing software appearing in this embodiment can be provided as a non-transitory recording medium readable by a computer, can also be provided as downloadable from an external server, or can be provided so that the program can be downloaded from an external server. The computer starts and realizes its function on the client terminal (ie, cloud computing).

In addition, in this embodiment, the "part" may include, for example, a combination of hardware resources realized by circuits in a broad sense and information processing of software concretely realized by these hardware resources. In addition, various information is processed in this embodiment, but these information includes, for example, the physical value of the signal value of the voltage/current, the level of the signal value as a binary bit set consisting of 0 or 1, or through quantum superposition (ie. Qubit) means that the communication/calculation on the circuit can be performed in a broad sense.

In addition, a circuit in a broad sense is a circuit realized by at least appropriately combining a circuit (Circuit), a circuit system (Circuitry), a processor (Processor), and a memory (Memory). That is, it includes Application Specific Integrated Circuit (ASIC), programmable logic device (for example, Simple Programmable Logic Device (SPLD), Complex Programmable Logic Device: CPLD). ), and Field Programmable Gate Array (Field Programmable Gate Array: FPGA), etc.

1. Composition example First, the configuration of the removal system will be described. FIG. 1 is a structural diagram showing the functional configuration of the removal system 1.

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

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

The robot arm 3 is a robot that can perform various actions on the working machine 6. It not only has a front end actuator that can be attached to and detached from the front end of the robot arm 3, but also can install a surface sensor 4 or a foreign object removal device 5 around the front end of the robot arm 3. In addition, the removal system 1 may be provided with a plurality of robot arms 3 to realize simultaneous use of the robot arm 3 with the surface sensor 4 and the robot arm 3 with the foreign object removal device 5. The surface sensor 4 and the foreign matter removing device 5 can also be attached to and detached from the robot arm 3 as a front end actuator.

The surface sensor 4 is configured to be able to detect the surface state of the contact surface of the member constituting the jig of the machine tool 6. Specifically, the surface sensor 4 is realized by a camera, a displacement meter, and the like. As the displacement meter, as long as it is a non-contact type, various types such as an optical type, an eddy current type, an ultrasonic type, and a laser type can be used. For example, a two-dimensional laser displacement meter or a three-dimensional laser displacement meter can be used. In addition, the surface sensor 4 may be arranged at the front end or outer periphery of the robot arm 3, or may be arranged in the processing area of the machine tool 6, as long as it can detect the surface state of the contact surface of the parts constituting the jig of the machine machine 6. When the surface sensor 4 is arranged in this processing area, a plurality of surface sensors 4 can be used. The clamp and its contact surface will be described later.

The foreign matter removing device 5 removes foreign matter from the contact surface of the parts constituting the jig of the machine tool 6, and has a rotating brush, a brush, a jig, a blower, a liquid ejector, a suction device, and the like. These can be used alone or in combination. In addition, a composition such as a blower with built-in jaws can also be used.

In addition, the removal system 1 may be provided with a plurality of foreign matter removing devices 5, and may be used separately, for example, for removing relatively large foreign matter and for removing relatively small foreign matter.

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

In addition, when the surface sensor 4 is a two-dimensional laser displacement meter, the surface state storage unit 21 activates the robot arm 3 so that the two-dimensional laser displacement meter can measure the entire contact surface, and the measured state without foreign matter adhesion The contoured image of the surface state of the contact surface is stored. Here, instead of contoured images, numerical data measured by a two-dimensional laser displacement meter can also be stored.

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

The foreign object detection unit 22 detects the adhesion on the contact surface based on the comparison between the surface state of the contact surface of the member constituting the jig of the machine tool 6 detected by the surface sensor 4 and the surface state stored in the surface state storage unit 21 foreign body. Specifically, the foreign object detection unit 22 uses the image of the surface state stored in the surface state storage unit 21 as a background image, and uses the image of the surface state detected by the surface sensor 4 as a foreground image, and uses the background difference Detect foreign objects.

When the surface sensor 4 is a camera, the foreign matter detection section 22 detects foreign matter attached to the contact surface based on the difference between the image taken by the camera and the image stored in the surface state storage section 21. In addition, when the surface sensor 4 is a two-dimensional laser displacement meter, the foreign object detection unit 22 moves the robot arm 3 so that the two-dimensional laser displacement meter can measure the entire contact surface, and outlines the measurement results obtained based on this measurement The difference between the image and the image stored in the surface state storage section 21 is used to detect foreign matter attached to the contact surface.

When the foreign object detection unit 22 detects a foreign object, the operation instruction unit 23 sends an operation instruction to the robot arm 3 and the foreign object removal device 5. The operation instruction sent from the operation instruction unit 23 to the robot arm 3 includes position information indicating the position of the foreign object detected by the foreign object detection unit 22, and is used to move the foreign object removal device 5 to the vicinity of the foreign object through the robot arm 3 based on the position information. Move instructions. The action instruction sent by the action instruction unit 23 to the foreign matter removing device 5 is a drive instruction for driving the foreign matter removing device 5. For example, if the foreign matter removing device 5 is composed of a rotating brush, the action instruction is for driving the rotating brush. Drive instructions.

The operation instruction unit 23 may communicate with the machine tool 6 to be linked with the machine tool 6, but at least it can confirm whether the machine tool 6 is in an operation state such as cutting or a stopped state.

The operation instruction to the foreign object removal device 5 may also be notified to the foreign object removal device 5 from the operation instruction section 23 through the robot arm 3 to which the foreign object removal device 5 is installed.

In addition, when a plurality of foreign matter removal devices 5 are used, the action instruction section 23 selects any one of the foreign matter removal devices 5 based on at least one of the position and size of the foreign matter detected by the foreign matter detection section 22, and then submits it to the robot arm 3 Send the installation instructions for installing the selected foreign body removal device. The selection according to the position of the foreign matter is performed, for example, when a saw tooth is formed on the contact surface, the foreign matter is removed with the most suitable material.

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

2. Contact surface Next, the contact surface of the removal system 1 for removing foreign objects will be described. The contact surface is not only the contact surface between the component and the component constituting the fixture, but also the contact surface between the component and the workpiece. As the clamp, for example, a chuck, an NC round table, a vise, a fixed chuck, a pallet clamp, etc., and a chuck is used as an example to describe the contact surface. It should be noted that although descriptions other than the chuck are omitted, all jigs other than the chuck can also be used as the object of the removal system 1 to remove foreign objects.

Fig. 2 is a perspective view showing the appearance of the chuck. As shown in FIG. 2, the chuck 7 can include a main body 71, a main claw 72, and a top claw 73. Any one of the main body 71, the main claw 72, and the top claw 73 is equivalent to a member constituting a jig.

Next, the contact surface will be described. FIG. 3 is a perspective view showing the appearance of the main claw 72. FIG. 4 is a perspective view showing the appearance of the top claw 73. As shown in FIG. As shown in FIG. 3, the main pawl 72 has serrations 721 and grooves 722. As shown in FIG. 4, the top pawl 73 has serrations 731.

The saw teeth 721 and the saw teeth 731 are both contact surfaces. When the top pawl 73 is installed on the main pawl 72, the tooth peak portion of the saw tooth 721 and the tooth valley portion of the saw tooth 731 mesh with each other to realize the installation.

In addition, the groove 722 is also a contact surface. The groove 722 is a part where a T-nut as a component (not shown) can be inserted, that is, an inverted T-shaped groove.

When the work piece is grasped by the top claw 73, a positioner (not shown) is installed to position the work piece. The contact surface of the positioner and the workpiece is also the contact surface, and the contact surface of the top claw 73 and the workpiece is also the contact surface.

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

When the surface sensor 4 is a camera, the image shown in FIG. 5 and the image shown in FIG. 6 both correspond to the image of the sawtooth 721 taken from the front. When the surface sensor 4 is a two-dimensional laser displacement timer, the image is equivalent to the contour map when the saw tooth 731 is measured from the front.

The contour map may be, for example, produced by the foreign object detection unit 22, and corresponding to each resolution measured by the two-dimensional laser displacement meter, generate pixels showing gray levels corresponding to the measured distance, and combine the pixels to generate an image.

The foreign object detection unit 22 uses the image shown in FIG. 5 as a background image and the image shown in FIG. 6 as a foreground image to extract a background difference. Here, although appropriate image processing or the like is performed on each image, a detailed description thereof will be omitted.

FIG. 7 is a diagram showing an example of an image of the difference between the image shown in FIG. 5 and the image shown in FIG. 6. The image shown in FIG. 7 is obtained by binarizing the difference between the image shown in FIG. 5 and the image shown in FIG. 6 based on a predetermined threshold, and shows foreign matter such as cutting chips. Preferably, the threshold value is appropriately adjusted according to the dynamic range of the surface sensor 4 used. In addition, the threshold value can be adjusted to detect chips without detecting droplets of chip water. Moreover, according to needs, algorithms can also be designed so that information such as the color or shape of foreign objects can be used.

4. Action Next, the operation of the removal system 1 will be described. FIG. 8 is an activity diagram showing the operation flow of the removal system 1. Here, it is assumed that the surface sensor 4 is mounted on the outer peripheral surface near the front end of the robot arm 3.

When the removal system 1 needs to replace the parts constituting the jig, the robot arm 3 first removes the target part (A101).

Subsequently, the robot arm 3 moves the surface sensor 4 to the vicinity of the contact surface of the component removed from A101, and the surface sensor 4 detects the surface state of the contact surface (A102).

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

When no foreign matter is detected as a result, the robot arm 3 installs the replacement target component (A104).

On the other hand, when a foreign matter is detected, the robot arm 3 attaches the foreign matter removal device 5 from the front end thereof (A105).

Subsequently, the robot arm 3 moves the foreign matter removing device 5 to the vicinity of the contact surface of the component removed from A101 to try to remove the foreign matter (A106).

Next, the robot arm 3 moves the surface sensor 4 to the vicinity of the contact surface of the component removed from A101, and the surface sensor 4 detects the surface state of the contact surface (A107).

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

When the foreign matter is not detected as a result, the robot arm 3 removes the foreign matter removing device 5 (A109), and installs the replacement target component (A104).

When a foreign matter is detected as a result of the background difference extraction of A108, if the foreign matter removal attempt does not reach the predetermined number of times, the foreign matter removal device 5 is moved to the vicinity of the contact surface of the component removed from A101 again to try to remove the foreign matter (A106).

A106 performs a predetermined number of foreign matter removal attempts. If the foreign matter cannot be removed during this period, the removal system 1 will stop operating and issue a warning.

When a plurality of foreign matter removal devices 5 are used, a different foreign matter removal device 5 may be used in each foreign matter removal attempt when the foreign matter removal attempt of A108 is repeated multiple times.

5. Other In summary, the present invention meets the requirements of an invention patent, and Yan filed a patent application in accordance with the law. However, although the present invention has been described above in terms of embodiments, it is not intended to limit the present invention. Any person with ordinary knowledge in the technical field can implement the embodiments described in the present invention in various other ways without departing from the spirit and scope of the present invention, and various omissions, substitutions and changes can be made. This embodiment and its modifications are all included in the scope and spirit of the invention, and are included in the invention described in the scope of the invention application and its equivalent scope.

In addition, the present invention also provides the following various embodiments. In the removal system, the surface sensor is a camera, the surface state storage section stores an image of the contact surface in a state where no foreign matter is attached, and the foreign matter detection section is based on the image captured by the camera and The difference between the images stored in the surface state storage section is used to detect foreign matter attached to the contact surface. In the removal system, the surface sensor is a displacement meter, and the surface state storage unit stores a contoured image of the surface state of the contact surface in a state where no foreign matter is attached, measured by the displacement meter, The foreign matter detection unit detects foreign matter attached to the contact surface based on a difference between an image that outlines the measurement result of the displacement meter and the image stored in the surface state storage unit. In the removal system, the foreign object removal device is mounted on a robot arm that performs a predetermined operation on the work machine, and the operation instruction unit is configured to display the position of the foreign object detected by the foreign object detection unit based on The position information sends a movement instruction to the robotic arm. In the removal system, the surface sensor is installed on the robot arm. In the removal system, the foreign object removal device is arranged in a plurality, and the operation instruction unit selects any one of the foreign object removal devices based on at least one of the position and size of the foreign object detected by the foreign object detection unit , And send an installation instruction to the robot arm to install the selected foreign body removal device. A control device for a foreign matter removal device that removes foreign matter attached to a machine tool, which includes a surface state storage unit, a foreign matter detection unit, and an action instruction unit, wherein, on the surface of the jig of the machine tool, there are 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 is attached to the contact surface of at least one of the parts of the clamp and the workpiece gripped by the clamp. The foreign matter detection unit is configured to be able to detect adhesion 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 The operation instruction unit is configured to be capable of sending an operation instruction to the foreign object removal device when the foreign object detection unit detects the foreign object. In the control device, the foreign object removal device is mounted on a robot arm that performs a predetermined operation on the work machine, and the operation instruction unit is configured to display the position of the foreign object detected by the foreign object detection unit based on The position information sends a movement instruction to the robotic arm. In the control device, the surface sensor is installed on the robot arm. Of course, it is not limited to this.

1: Remove the system 2: control device 21: Surface state storage section 22: Foreign body detection department 23: Action Instruction Department 3: Robotic arm 4: Surface sensor 5: Foreign body removal device 6: working machinery

FIG. 1 is a structural diagram showing the functional configuration of the removal system 1. Fig. 2 is a perspective view showing the appearance of the chuck. FIG. 3 is a perspective view showing the appearance of the main claw 72. FIG. 4 is a perspective view showing the appearance of the top claw 73. As shown in FIG. FIG. 5 is a diagram showing an example of an image of the surface state of the contact surface in a state where no foreign matter adheres. FIG. 6 is a diagram showing an example of an image of the surface state of the contact surface when a foreign object is detected. FIG. 7 is a diagram showing an example of an image of the difference between the image shown in FIG. 5 and the image shown in FIG. 6. FIG. 8 is an activity diagram showing the operation flow of the removal system 1.

1: Remove the system

2: control device

21: Surface state storage section

22: Foreign body detection department

23: Action Instruction Department

3: Robotic arm

4: Surface sensor

5: Foreign body removal device

6: working machinery

Claims (9)

A removal system for removing foreign objects attached to working machinery, which has: Surface sensors, foreign body removal devices, and control devices, including: The surface sensor is configured to be able to detect the surface state of a contact surface in the surface of the clamp of the work machine. Here, the contact surface is the surface between the parts constituting the clamp and the workpiece held by the clamp At least one of the surfaces in contact, The foreign matter removing device is configured to be able to remove foreign matter from the contact surface, The control device includes a surface state storage unit, a foreign object detection unit, and an action instruction unit, wherein: The surface state storage unit stores the surface state of the contact surface in a state where no foreign matter is attached, and The foreign matter detection section is configured to be capable of detecting adhesion 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 section Foreign body, The operation instruction unit is configured to be able to send an operation instruction to the foreign object removal device when the foreign object detection unit detects a foreign object. The removal system as described in claim 1, wherein: The surface sensor is a camera, The surface state storage unit stores an image of the contact surface in a state where no foreign matter is attached, and The foreign matter detection section detects foreign matter attached to the contact surface based on a difference between an image taken by the camera and an image stored in the surface state storage section. The removal system as described in claim 1, wherein: The surface sensor is a displacement meter, The surface state storage unit stores a contoured image of the surface state of the contact surface in a state where no foreign matter is attached, which is measured by the displacement meter, and The foreign matter detection unit detects foreign matter attached to the contact surface based on a difference between an image that outlines the measurement result of the displacement meter and the image stored in the surface state storage unit. The removal system according to any one of claims 1 to 3, wherein: The foreign matter removing device is installed on a mechanical arm that performs a predetermined operation on the working machine, The operation instruction unit is configured to be able to send a movement instruction to the robot arm based on position information showing the position of the foreign object detected by the foreign object detection unit. The removal system as described in claim 4, wherein: The surface sensor is installed on the mechanical arm. The removal system shown in claim 4 or 5, in which: The foreign body removing device is configured in multiple, The operation instructing unit selects any one of the foreign object removal devices based on at least one of the position and size of the foreign object detected by the foreign object detection unit, and sends an installation instruction instructing the installation of the selected foreign object removal device to the robot arm . A control device of a foreign matter removing device for removing foreign matter attached to a working machine, which includes: The surface state storage unit, the foreign object detection unit, and the action instruction unit, wherein: On the surface of the jig of the machine tool, in a state where no foreign matter adheres to the contact surface that comes into contact with at least one of the components constituting the jig and the workpiece held by the jig, the surface state storage unit Store the surface state of the contact surface detected by the surface sensor, The foreign matter detection unit is configured to be able to detect adhesion 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 Foreign body, The operation instruction unit is configured to be able to send an operation instruction to the foreign object removal device when the foreign object detection unit detects a foreign object. The control device according to claim 7, wherein: The foreign matter removing device is installed on a mechanical arm that performs a predetermined operation on the working machine, The operation instruction unit is configured to be able to send a movement instruction to the robot arm based on position information showing the position of the foreign object detected by the foreign object detection unit. The control device according to claim 7 or 8, wherein: The surface sensor is installed on the mechanical arm.

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