Internal cleaning device of a machine tool

Abstract

Internal cleaning device of a machine tool (1) with a cover separating an inside of the machine tool (1), which is a machining area, from an outside, wherein the internal cleaning device removes the chips accumulated inside the cover and the internal cleaning device comprises: a chip removal device that removes the chips; a movable device that can hold the chip removal device; a detection device that detects a chip accumulation state in the machine tool (1); an information processing device (21) that processes information related to the chip accumulation state obtained by the detection device and determines a location that requires chip removal;and a control device (20) of the movable device which moves the chip removal device to the location for which the information processing device has determined that the location requires chip removal; wherein the detection device is attached to the movable device.

Description

GENERAL STATE OF THE ART1. Field of the invention

[0001] The present invention relates to an internal or integrated cleaning device of a machine tool, wherein the internal cleaning device uses a robot and a recognition device. 2. Description of the state of the art

[0002] When chips accumulate in a machine tool during machining, they can become trapped in a moving part, potentially causing various malfunctions. One known chip removal unit is equipped with a nozzle containing a coiled tube. This unit uses a cutting fluid to expel chips to the outside of the machine during machining. However, because the nozzle's movement range is limited, thoroughly cleaning a chip accumulation area is difficult, necessitating regular manual cleaning.

[0003] On the other hand, a system is proposed that attaches a cleaning device to a robot or similar device and controls the position and location of the cleaning device. Using these prior art techniques, it is possible to perform chip removal over a wide area within the machine tool by moving the cleaning device.

[0004] In the published Japanese patent application No. 2009-113182, an automatic cleaning device for a machine tool is disclosed, wherein the automatic cleaning device of an air nozzle, which at the time of machining of the workpiece carries away dispersed chips and cutting oil to the outside by means of an airflow, enables itself to move independently of the movement of a spindle head and relative to the workpiece in three orthogonal axial directions.

[0005] In the published Japanese patent application No. 2001-322049, a device is disclosed which provides in a movable body, such as a transverse guide or a spindle head of a machine tool, a cleaning robot which has an arm with a nozzle that sucks up chips at its tip, wherein the device defines a motion path along which the nozzle can move within a time determined by a machining program used when machining a workpiece by a tool and can suck up the chips, and sucks up and removes the chips by controlling the cleaning robot by outputting only the path data of an overlap area, from which an area in which an overlap with the machining tool occurs is removed.

[0006] The robots described above each operate according to a preset program, and the current state of the chip accumulation is not taken into account. Therefore, it is possible that more cleaning is performed than necessary, or that machining continues to the next stage in a state where chips are still present. BRIEF SUMMARY OF THE INVENTION

[0007] It is therefore an object of the invention to provide an internal cleaning device for a machine tool, wherein the internal cleaning device uses a robot and a detection device and is able to perform internal cleaning by determining a location that requires cleaning based on the chip accumulation state, using the detection device that detects the chip accumulation state in the machine tool.

[0008] An internal or integrally provided cleaning device of a machine tool according to the present invention is an internal cleaning device of a machine tool with a cover that separates the inside of the machine tool, which is the machining area, from the outside, wherein the internal cleaning device removes the chips that have accumulated inside the cover.The internal cleaning device includes: a chip removal device that removes the chips; a movable device that can hold the chip removal device; a detection device that detects a chip accumulation state in the machine tool; an information processing unit that processes information related to the chip accumulation state obtained by the detection device and determines a location that requires chip removal; and a control device for the movable device that moves the chip removal device to the location for which the information processing unit has determined that chip removal is required.

[0009] The internal cleaning device of the machine tool can be designed such that, after the removal of the chips by the chip removal device, the internal cleaning device detects a chip accumulation state in the machine tool by means of the detection device and repeatedly performs a removal of the chips until the information processing device determines that the chips have been removed.

[0010] When repeatedly performing chip removal, the chip removal device can be made to operate in a different manner than in the previous performance.

[0011] The chip removal device can remove the chips by spraying a liquid.

[0012] The chip removal device can remove the chips by suctioning them with a liquid.

[0013] The movable device could be a robot.

[0014] The detection device can be a visual sensor.

[0015] The detection device can be a distance sensor.

[0016] The detection device can be attached to the movable device.

[0017] The information processing device can be built into the control device of the movable device.

[0018] The internal cleaning device of the machine tool can provide markings or patterns within the machine tool, and the information processing device can determine that a location where the markings or patterns cannot be detected after machining is a location that requires cleaning.

[0019] The internal cleaning device of the machine tool can determine whether chip removal is performed by the chip removal device or by manual chip removal, and provide a notification of the need for manual chip removal if the internal cleaning device determines that manual chip removal is necessary.

[0020] With the above embodiment, the present invention can provide an internal cleaning device for a machine tool, wherein the internal cleaning device is able to perform internal cleaning by determining a location that requires cleaning based on the chip accumulation state, and by using the detection device that detects the chip accumulation state in the machine tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] These and other tasks and features of the present invention will become apparent from the following description of exemplary embodiments with reference to the accompanying drawings, in which:

[0022] Fig. 1 a diagram that represents an internal cleaning device of a machine tool, wherein the internal cleaning device uses a robot and a detection device that detects the accumulation state of chips in the machine tool;

[0023] Fig. 2 is a diagram that represents a process of processing carried out by the internal cleaning device of the machine tool, wherein the internal cleaning device uses a robot and a detection device that detects the accumulation state of chips in the machine tool;

[0024] Fig. 3 is a diagram that illustrates an example of marker placement; and

[0025] Fig. Figure 4 is a diagram that represents a further processing step carried out by the internal cleaning device of the machine tool, wherein the internal cleaning device uses a robot and a detection device that detects the accumulation state of chips in the machine tool. DETAILED DESCRIPTION OF PREFERRED EXECUTION FORMS

[0026] Fig. Figure 1 is a diagram depicting an internal cleaning device of a machine tool, where the internal cleaning device uses a robot and a detection device. The internal cleaning device of the machine tool is derived from a machine tool. 1 , a robot placed outside the machine tool 2 , a chip removal device, such as one on a robot 2 attached coolant gun 4 , a recognition device, such as one on the robot 2attached visual sensor 3 , and one in the robot 2 built-in information processing device 21 educated.

[0027] The machine tool 1 includes a bed 5 , a splash guard 7 , which separates the inside of the machine tool, which is the machining area, from the outside, thereby preventing machining fluid and chips produced during the machining of a workpiece from being flung from the inside of the machine tool to the outside. The splash guard 7 It has openings provided for 9a and 9b , and at the openings 9a and 9b are doors that can be opened and closed 8a or 8b attached. A table is installed in the machine tool. 6 , onto which a workpiece (not shown in the drawing) is placed, and a tool changing device 10, which replaces one tool with another, arranged. The machine tool 1 The workpiece is machined by means of a control device of the machine tool (not shown in the drawing). 1 is controlled.

[0028] The robot 2 is a robot with an articulated arm, controlled by a control device 20 the robot 2 is controlled and in which the coolant gun 4 It is attached to the tip of the arm. The control device 20 the robot 2 The information processing device contains 21 .

[0029] The robot 2 checks the chip accumulation status using the detection device, such as one on the robot 2 attached visual sensor 3 , by pushing the tip of the arm through the opening 9b is introduced into the machine tool during a period in which the machine tool1 If no machining is performed on the workpiece, the machine cleans the chips accumulated in the machine tool by spraying a cutting fluid used for machining the workpiece, i.e., a coolant, from the coolant gun attached to the tip of the arm. 4 The information processing device collects the accumulated chips and directs them to the outside of the machine tool. 21 processes the information in relation to the detection device, such as the visual sensor. 3 The system detects the chip accumulation state and performs processing to determine the location requiring chip removal. Furthermore, the information processing device can 21 in the control device 20 the robot 2 be built-in or can be independent of the control device 20 the robot will be provided.

[0030] Fig. Figure 2 is a diagram depicting a processing sequence carried out by the internal cleaning device of the machine tool. The internal cleaning device utilizes the robot and a detection device that identifies the chip accumulation state within the machine tool. After machining the workpiece is complete, the robot is inserted into the machine tool. The detection device then obtains information about the internal condition of the machine tool, and this information is processed by the information processing device to determine which area requires cleaning.

[0031] A description of each step is given below.

[0032] [Step sa01] A determination is made as to whether a predetermined number of processing operations have been completed or not. If a predetermined number of processing operations have been completed (YES), the process continues to step sa02; if a predetermined number of processing operations have not been completed (NO), it is determined that cleaning is not necessary, and the internal cleaning is completed.

[0033] [Step sa02] An image of the inside of the machine tool is taken.

[0034] [Step sa03] A determination is made as to whether chips have accumulated in the machine tool. If chips have accumulated in the machine tool (YES), the process continues to step sa04; if no chips have accumulated in the machine tool (NO), it is determined that cleaning is not necessary, and the internal cleaning is complete.

[0035] [Step sa04] An internal cleaning is performed to remove chips from the inside of the machine tool, and the process goes back to step sa02.

[0036] An example of a method for determining a location that requires cleaning by using the detection device that detects the accumulation of chips in the machine tool is described. (1) A method that uses a template image

[0037] The visual sensor 3 is used as a detection device. The visual sensor 3 takes an image of the workpiece in the machine tool, the table 6 and the floor splash guard 7The process involves capturing an image taken in a state where no chips have accumulated. This image is saved as a template and compared to an image taken after the workpiece has been machined. At a chip accumulation point, the luminance of the image differs from that of the template image. Therefore, a point where the luminance difference between the image taken after machining and the template image is greater than or equal to a preset threshold is identified as requiring cleaning. (2) A method that provides markings in the machine tool

[0038] The visual sensor 3 is used as a detection device. Fig. Figure 3 is a diagram that illustrates an example of marker placement. Specific markers are shown. 13or patterns (not shown in the drawing) provided in the machine tool, and a location where the markings can be detected 13 or where processing becomes impossible after editing, it is identified as an area requiring cleaning. Fig. 3 are the markings 13 on a floor surface 12 splash guard 7 planned. (3) A method that uses depth information

[0039] A distance sensor is used as a detection device. The distance sensor is a device that measures the depth to an object. A common method involves a distance imaging sensor that illuminates an object with infrared radiation or laser light and calculates the distance based on the time it takes for the light to reach the object and return. The depth information of the inside of the machine tool, without accumulated chips, is compared with the depth information obtained after machining. Any area where a change in depth greater than or equal to a threshold value is observed is identified as requiring cleaning.

[0040] The chip removal unit, such as the coolant gun 4The robot moves the workpiece to the area requiring cleaning, and the chips are removed. The condition of the machine tool's interior is restored, and the detection device, such as a visual sensor, is used again. 3The system uses a distance image sensor to determine an area requiring cleaning and checks whether the chips have been completely removed. If the luminance difference between the image taken without accumulated chips and the image obtained after cleaning is greater than or equal to the threshold, even after cleaning, the cleaning is deemed insufficient and is repeated. This process is repeated until the luminance difference becomes less than or equal to the threshold, at which point the chips are considered removed. During repeated chip removal, the chip removal device can be configured to operate differently each time.For example, the injection pressure of a liquid to be sprayed can be changed, the injection pressure of the liquid to be sprayed can be varied, or the direction in which the liquid is sprayed towards the chip accumulation point can be changed. Additionally, the suction pressure of a liquid to be drawn in can be changed, the suction pressure of the liquid to be drawn in can be varied, or the direction in which the liquid is drawn in from the chip accumulation point can be changed. Furthermore, in addition to a cleaning fluid, cutting fluid, compressed air, a mixture thereof, or the like is used as the fluid to be sprayed. Besides air, the fluid to be drawn in also contains cutting fluid or the like.

[0041] Once it has been determined that the shavings have been removed, the process continues to the next stage.

[0042] Depending on the location of chip accumulation, manual cleaning is sometimes performed sooner than removal by a robot. If repeated operations are performed with a number and duration greater than or equal to a predetermined number and duration, a determination can be made that manual cleaning should be performed, and an operator can be notified of a chip accumulation. An area for which an operator has received a notification can be saved, or the operator can pre-register an area to be cleaned manually. If the detection device determines that chips have accumulated in this area, a notification can be sent to the operator in advance to cancel the cleaning time performed by the chip removal unit.In each of these cases, the machine tool proceeds to the next process after the operator removes the chips. Furthermore, chip removal by the operator can be performed during the day, while switching to cleaning by the chip removal device can be carried out, for example, in the middle of the night when no operator is present at the machine tool. Additionally, a notification unit can be used that provides notification of a chip accumulation solely through the use of a rotating warning light or similar device, or it can be used that also provides notification of a chip accumulation point through, for example, a graphical display of the location or by displaying a number assigned to each area.

[0043] Fig. Figure 4 is a diagram illustrating a further processing sequence performed by the machine tool's internal cleaning device. This device utilizes a robot and a detection unit that identifies the chip accumulation within the machine tool. After machining the workpiece, the robot is inserted into the machine tool. The detection unit then monitors the internal condition of the machine tool. This information is processed by the information processing unit, which determines which area requires cleaning. Furthermore, if chips have accumulated and a predetermined number of internal cleaning cycles have been performed within a specified time, the notification unit alerts the operator to the chip accumulation.

[0044] A description of each step is given below.

[0045] [Step sb01] A determination is made as to whether a predetermined number of processing operations have been completed. If a predetermined number of processing operations have been completed (YES), the process continues to step sb02; if a predetermined number of processing operations have not been completed (NO), it is determined that cleaning is not necessary, and the internal cleaning is completed.

[0046] [Step sb02] An image of the inside of the machine tool is taken.

[0047] [Step sb03] A determination is made as to whether chips have accumulated in the machine tool or not. If chips have accumulated in the machine tool (YES), the process continues to step sb04; if no chips have accumulated in the machine tool (NO), it is determined that cleaning is not necessary, and the internal cleaning is complete.

[0048] [Step sb04] A determination is made as to whether the number of internal cleaning operations is less than or equal to a predetermined number of operations. If the number of internal cleaning operations is less than or equal to a predetermined number of operations (YES), the process continues to step sb05; if the number of internal cleaning operations is greater than a predetermined number of operations (NO), the process continues to step sb09.

[0049] [Step sb05] If the working time of the internal cleaning is less than or equal to a specified time (YES), the process continues to step sb06; if the working time of the internal cleaning is longer than a specified time (NO), the process continues to step sb09.

[0050] [Step sb06] An internal cleaning is performed to remove chips from the inside of the machine tool, and the process continues to step sb07.

[0051] [Step sb07] The number of internal cleaning operations performed in step sb06 is counted, and the process continues to step sb08.

[0052] [Step sb08] The working time of the internal cleaning carried out in step sb06 is counted, and the process goes back to step sb02.

[0053] [Step sb09] The number of internal cleaning operations is reset to an initial value.

[0054] [Step sb10] The working time of the internal cleaning is reset to an initial value.

[0055] [Step sb11] An operator is notified that the internal cleaning is not complete. That is, the operator is notified of the need for manual removal of chips.

[0056] Furthermore, this is done by the visual sensor. 3 Taking an image of the inside of the machine tool and internal cleaning are not necessarily performed after every machining operation. This is done using the visual sensor. 3Taking an image of the inside of the machine tool and performing internal cleaning are carried out after a preset number of machining operations have been performed in order to reduce cleaning time by not operating the cleaning device when it is clear that the number of accumulated chips is small and there is no need for cleaning.

[0057] In Fig. 1. The one with a splash guard 7 provided machine tool 1 illustrated; however, the present invention can also be applied to a machine tool without a splash guard. Furthermore, in Fig. 1 of the robots 2 as an example of the movable device, and the robot 2 is outside the area with the splash guard 7 provided machine tool 1placed; however, the movable device can also be positioned in the position with the splash guard 7 provided machine tool 1 The present invention can also be used for removing chips accumulated on the table. Furthermore, in addition to a coolant gun that sprays a liquid and a nozzle that draws in a liquid, a unit that does not use a liquid, such as a brush, a scraper, or part of the housing of the movable device, can be used as a chip removal device. QUOTES INCLUDED IN THE DESCRIPTION

[0058] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0059] JP 2009-113182

[0004] JP 2001-322049

[0005]

Claims

[1] Internal cleaning device of a machine tool with a cover separating an inside of the machine tool, which is a machining area, from an outside, wherein the internal cleaning device removes the chips that have accumulated inside the cover and the internal cleaning device comprises: a chip removal device that removes the chips; a movable device that can hold the chip removal device; a detection device that detects a chip accumulation state in the machine tool; an information processing unit that processes information related to the chip accumulation state obtained by the detection device and determines a location that requires chip removal; and a control device of the movable device that moves the chip removal device to the location for which the information processing unit has determined that the location requires chip removal. [2] Internal cleaning device of the machine tool according to claim 1, wherein after the removal of the chips by the chip removal device, the internal cleaning device detects a chip accumulation state in the machine tool by means of the detection device and repeatedly performs chip removal until the information processing device determines that the chips have been removed. [3] Internal cleaning device of the machine tool according to claim 1 or 2, wherein, in the repeated execution of chip removal, the chip removal device is caused to operate in a manner different from a previous execution. [4] Internal cleaning device of the machine tool according to one of claims 1 to 3, wherein the chip removal device removes the chips by spraying a liquid. [5] Internal cleaning device of the machine tool according to one of claims 1 to 3, wherein the chip removal device removes the chips by suctioning the chips with a liquid. [6] Internal cleaning device of the machine tool according to any one of claims 1 to 5, wherein the movable device is a robot. [7] Internal cleaning device of the machine tool according to one of claims 1 to 6, wherein the detection device is a visual sensor. [8] Internal cleaning device of the machine tool according to one of claims 1 to 6, wherein the detection device is a distance sensor. [9] Internal cleaning device of the machine tool according to one of claims 1 to 8, wherein the detection device is attached to the movable device. [10] Internal cleaning device of the machine tool according to one of claims 1 to 9, wherein the information processing device is installed in the control device of the movable device. [11] Internal cleaning device of the machine tool according to one of claims 1 to 6, wherein Markings or patterns are provided in the machine tool, and The information processing device determines that a location where the recognition of the markings or patterns becomes impossible after processing is a location that requires cleaning. [12] Internal cleaning device of the machine tool according to any one of claims 1 to 11, further comprising: a unit that determines whether chip removal is performed by the chip removal device or manual chip removal is performed, and that provides a notification of the need for manual chip removal when the unit determines that manual chip removal is necessary.