Processing system

Abstract

To provide a processing system that can determine a processing step in which winding of chips has occurred, later.SOLUTION: A processing system comprises: a work-piece holding device that holds a work-piece; a processing device that processes the work-piece held by the work-piece holding device; a detecting device that detects winding of chips occurring when the processing device processes the work-piece; and a control device that controls the processing device on the basis of a processing program. During processing of the work-piece, the control device executes a storage process for storing a program line of the processing program executed when detecting the winding of chips, on the basis of the detection of the winding of chips by the detecting device.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to the coiling of chips in the machining of workpieces.

Background Art

[0002] Conventionally, in a machining system such as a machine tool, chips generated by machining a workpiece with a cutting tool are washed away with a coolant or the like. If the chips cannot be removed during this flushing, there is a risk that the chips will wind around the cutting tool or the chuck of the workpiece spindle device. Also, depending on differences in machining conditions or wear of the cutting tool, longer chips may be generated than normal, and there is a risk that the chips will wind around. Patent Document 1 below describes a technique for driving a chip removal hand to remove wound chips.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When chip coiling occurs, it may affect the machining accuracy and reduce the machining quality of the workpiece. However, it is difficult to predict when chip coiling will occur. For this reason, if coiling occurs while the user is not near the machine tool, there is a problem that it is difficult for the user who later checks the workpiece to determine from which point in time the coiling occurred.

[0005] The present disclosure has been made in view of the above problems, and an object thereof is to provide a machining system capable of later determining a machining process in which chip coiling has occurred.

Means for Solving the Problems

[0006] To solve the above problems, this specification discloses a machine tool comprising a workholding device for holding a work, a processing device for processing the work held by the workholding device, a detection device for detecting winding of chips generated during processing of the work by the processing device, and a control device for controlling the processing device based on a control program, wherein the control device executes a storage process of storing a program line of the control program being executed when winding of chips is detected, based on detection of winding of chips by the detection device during processing of the work.

Advantages of the Invention

[0007] According to the machine tool of the present disclosure, a user can determine from which point the winding of chips has occurred by checking the program line stored by the storage process. By checking the program line and the work, it can be determined whether a processing defect has occurred after the winding. Further, in subsequent processing, the processing state when executing the program line in which the problem has occurred can be checked, and if there is a problem such as recurrence of chip winding, countermeasures such as changing the processing conditions or changing the cutting tool can be taken.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Modes for Carrying Out the Invention

[0009] Hereinafter, an embodiment embodying the processing system of the present disclosure will be described with reference to the drawings. FIG. 1 shows a perspective view of the processing system 10 of this embodiment, and FIG. 2 shows a block diagram of the processing system 10. As shown in FIGS. 1 and 2, the processing system 10 includes a machine tool 11 and a robot 12. The processing system 10 is a system that supplies a workpiece W to be processed by the machine tool 11 by the robot 12. In the following description, as shown in FIG. 1, based on the direction of viewing the machine tool 11 from the front, it will be described using the terms up and down, left and right, front and back.

[0010] (Regarding the machine tool 11) First, the machine tool 11 will be described. The machine tool 11 is, for example, a turret-type lathe equipped with a workpiece spindle device 21 and a turret device 22, and has a slant bed. Note that the configuration of the machine tool 11 shown in FIGS. 1 and 2 is an example. For example, the machine tool 11 may be a lathe equipped with a plurality of sets of a workpiece spindle device 21 and a turret device 22, or may be a so-called composite machining machine equipped with a tool spindle device in addition to the turret device 22. Therefore, as the processing system of the present disclosure, various systems (machines) can be adopted as long as they are processing systems in which chips can be generated during processing. Specifically, as the processing system of the present disclosure, not only lathes, but also machine tools with various configurations such as machining centers, milling machines, and boring machines can be adopted. Further, the processing system 10 may be configured to include a gantry loader that transports the workpiece W as a robot. Further, the processing system 10 may be configured to include only the machine tool 11 without including the robot 12.

[0011] The machine tool 11 is provided with a slide door 23 on the front surface of the device. The slide door 23 is slidable in the left-right direction. The control device 25 (see FIG. 2) of the machine tool 11 can automatically open and close the slide door 23 by driving a door motor 23A provided on the machine tool 11. A processing chamber 26 for processing the workpiece W is provided behind the slide door 23. The processing chamber 26 is provided with a workpiece spindle device 21 and a turret device 22 (see FIG. 2).

[0012] The work spindle device 21 is provided with, for example, three chuck jaws 21A as a gripping mechanism for gripping the work W. The work spindle device 21 sandwiches the work W with the three chuck jaws 21A and rotates the work W about a work spindle parallel to the left-right direction. The work spindle device 21 includes a servo motor, an encoder, etc. for rotating the work W, and the rotation operation of the servo motor is controlled by the control device 25. Note that the gripping mechanism is not limited to the chuck jaws 21A, and other mechanisms capable of gripping the work W, such as a collet chuck, may be used. Further, a detection device 27, which will be described later, is provided near the work spindle device 21.

[0013] The turret device 22 includes, for example, a turret (not shown) to which a plurality of cutting tools (such as a tool bit and a rotary tool) can be attached, a servo motor (not shown) for rotating the turret, and the like. The turret device 22 machines the work W held by the work spindle device 21 with the cutting tool attached to the turret. The turret device 22 rotates the turret based on the control of the control device 25 and replaces the cutting tool (the cutting tool allocated to the working position) used for machining the work W. Further, the machine tool 11 includes a slide device (not shown) for moving the turret device 22 in the left-right direction or in a direction along the guide surface of the slant bed, and the position of the turret device 22 (the cutting tool allocated to the working position) is changed by controlling the slide device. The turret device 22 is an example of the processing device of the present disclosure. Note that the processing device of the present disclosure is not limited to a turret-type lathe, and may also be a cross-slide lathe. Further, the processing device of the present disclosure may be other devices capable of machining the work W, such as a tool spindle. Further, a detection device 28 (see FIG. 2), which will be described later, is provided in the turret device 22.

[0014] In addition, an operation panel 29 is provided on the front surface of the machine tool 11. The operation panel 29 includes, for example, a touch panel and a plurality of operation switches, and executes operations such as display of information regarding the machine tool 11 and reception of operation instructions. The operation panel 29 is an example of the user interface of the present disclosure. Note that the user interface of the present disclosure may be configured to include only a touch panel, or may be configured to include a liquid crystal display and operation switches without including a touch panel. Alternatively, the user interface may be a portable operation unit such as a teach pendant.

[0015] In addition, as shown in FIG. 2, the processing system 10 includes an inspection device 13 for inspecting the processed shape and the like of the workpiece W. Note that FIG. 1 omits the illustration of the inspection device 13. The inspection device 13 is connected to, for example, the machine tool 11 and is controlled by the control device 25 of the machine tool 11 to execute inspection of the outer shape of the workpiece W. Note that the processing system 10 may be configured not to include the inspection device 13.

[0016] In addition, as shown in FIG. 2, the control device 25 includes a numerical control device 31 and a PLC 32. The numerical control device 31 includes a CPU 33 and a storage device 34. The storage device 34 includes, for example, a RAM, a ROM, a flash memory, an HDD, and the like. Note that the configuration of the storage device 34 is not limited to the above-described configuration, and may be configured to include an SSD instead of an HDD, an external storage device such as a USB memory, a storage medium such as a DVD-RAM, or a combination thereof.

[0017] In addition, the machine tool 11 includes a control device 25 and a plurality of drive circuits 30 that connect to each of the above-described devices (work spindle device 21, turret device 22, door motor 23A, operation panel 29, detection devices 27 and 28). The numerical control device 31 can control each device via the drive circuit 30 by executing the NC program 35 stored in the storage device 34 with the CPU 33. The drive circuit 30 is, for example, a driver circuit (servo amplifier) or the like.

[0018] The PLC32 is a Programmable Logic Controller. The PLC32 executes, for example, a ladder program and performs sequence processing on various signals by means of a ladder circuit. The various signals referred to here are, for example, output signals for driving elements such as various lamps provided in the machine tool 11 and input signals input from elements such as limit switches. The PLC32 is connected to the numerical control device 31 via the communication bus 37 and performs signal input and output with the numerical control device 31.

[0019] In addition, the machine tool 11 is provided with an external interface 38. The external interface 38 is, for example, a LAN interface and is connected to the external interface 41 of the robot 12 via the LAN cable 40. The machine tool 11 can communicate with the robot 12 via the external interface 38. Note that the communication standard for connecting the machine tool 11 and the robot 12 is not limited to the LAN communication standard and may be other communication standards such as the USB standard. Also, the communication for connecting the machine tool 11 and the robot 12 is not limited to wired communication and may be wireless communication.

[0020] In addition, a control program 39 is stored in the storage device 34. The control device 25 determines the winding of the swarf by executing the control program 39 with the CPU 33. Also, the control device 25 controls the opening and closing of the slide door 23, the operation of the robot 12, etc. by executing the control program 39. Note that in the following description, the control device 25 executing the NC program 35 and the control program 39 with the CPU 33 to control each device may sometimes be simply described by the device name. For example, the description "the control device 25 determines the winding of the swarf based on the detection results of the detection devices 27, 28" means "the control device 25 executes the control program 39 with the CPU 33 and determines the winding of the swarf based on the detection results of the detection devices 27, 28".

[0021] Further, detection data 36 is stored in the storage device 34. When the control device 25 detects the winding of swarf, it stores information such as the program line of the NC program 35 being executed in the detection data 36 (see FIG. 3). Note that the storage destination of the detection data 36 is not limited to the storage device provided in the machine tool 11, and may be an external storage device wired to the machine tool 11, a server on a network, or the like.

[0022] (Regarding the robot 12) Next, the robot 12 will be described. The robot 12 is, for example, an articulated robot, and in addition to the above-described external interface 41, includes an arm 43 and an end effector 45. The arm 43 includes a plurality of arm portions and joint portions that connect the arm portions. The end effector 45 is attached to the tip of the arm 43 and is, for example, a chuck mechanism that opens and closes. The end effector 45 has a plurality of claws and clamps the workpiece W by opening and closing the plurality of claws. Note that the end effector 45 is not limited to a chuck mechanism, and may be a mechanism that sucks and grips the workpiece W. The robot 12 includes, for example, a servo motor, an encoder, and an air cylinder that drive the arm 43, and an air cylinder that drives the end effector 45. The robot 12 is controlled by the control device 25 via the external interface 41, and grips and conveys the workpiece W with the end effector 45. Further, the robot 12 removes the swarf wound around the workpiece spindle device 21 and the turret device 22 based on the control of the control device 25. Note that the robot 12 may include a detection device (such as a camera) for detecting the winding of swarf.

[0023] Robot 12 is placed on base 47. Further, a carriage 49 is placed in front of base 47. For example, a supply tray 52 and an unfinished product tray 53 are placed on carriage 49, and a discharge tray 54 is placed on base 47. Supply tray 52 is a tray for accommodating workpiece W before processing (hereinafter referred to as unprocessed workpiece W1). Discharge tray 54 is a tray for accommodating workpiece W after processing is completed (hereinafter referred to as finished product workpiece W2). Unfinished product tray 53 is a tray for accommodating workpiece W during processing (hereinafter referred to as unfinished product workpiece W3) when winding of chips is detected during processing and processing is stopped. Note that when collectively referring to unprocessed workpiece W1, finished product workpiece W2, and unfinished product workpiece W3, it is described as workpiece W.

[0024] The control device 25 opens the slide door 23 and controls the robot 12 to convey the unprocessed workpiece W1 in accordance with the start of processing of the workpiece W. Based on the control of the control device 25, the robot 12 conveys the unprocessed workpiece W1 from the supply tray 52 to the workpiece spindle device 21 and executes the transfer of the unprocessed workpiece W1 with the workpiece spindle device 21. Further, when the processing of the workpiece W is completed, the control device 25 controls the robot 12 to take out the workpiece W. The robot 12 receives the finished product workpiece W2 from the workpiece spindle device 21 and conveys it to the discharge tray 54. Further, the control device 25 may perform an inspection by the inspection device 13 on the finished product workpiece W2 and convey it to the discharge tray 54 only when it is a good product before conveying it to the discharge tray 54. Further, when the control device 25 detects winding of chips during processing and takes out the workpiece W, it controls the robot 12. The robot 12 receives the unfinished product workpiece W3 from the workpiece spindle device 21 and conveys it to the unfinished product tray 53 or the like. That is, the unfinished product workpiece W3 is retracted to a location different from the finished product workpiece W2.

[0025] The discharge tray 54 is an example of the finished product storage section of the present disclosure. The unfinished product tray 53 is an example of the unfinished product storage section. Note that the member for storing the workpiece W is not limited to a tray, and may be a device such as a stocker. Further, the workpiece W may be supplied and discharged in a scattered posture, or may be supplied and discharged in an aligned state in the same posture. Further, the robot for transporting the workpiece W is not limited to an articulated robot, and may be, for example, a gantry loader. In this case, the loader may transport the workpiece W to a stocker for supply, discharge, and retraction. Further, the control device 25 may supply and discharge the unprocessed workpiece W1, the finished product workpiece W2, and the unfinished product workpiece W3 from the same location without classifying and transporting them to separate locations. That is, at least two of the unprocessed workpiece W1, the finished product workpiece W2, and the unfinished product workpiece W3 may be arranged in one tray.

[0026] (Regarding the detection devices 27 and 28) Next, the detection devices 27 and 28 will be described. The detection device 27 is attached to the processing chamber 26, and the detection device 28 is attached to the turret device 22. The control device 25 detects the winding of chips generated during the processing of the workpiece W based on the detection results of the detection devices 27 and 28. The winding of chips refers to a state in which, for example, relatively long chips are entangled with the chuck jaws 21A of the workpiece spindle device 21 or the cutting tools of the turret device 22. The chips generated during processing naturally fall or are washed away by a coolant or the like. However, depending on differences in processing conditions (such as feed and depth of cut) and deterioration of the cutting tool, relatively long chips may be generated compared to normal fine chips. When such long chips are generated, there is a risk that the spirally extending chips will become entangled with each other or with other members such as the chuck jaws 21A or the cutting tools. The control device 25 of the present embodiment detects a state in which such relatively long chips accumulate in the workpiece spindle device 21 or the turret device 22 without falling as a state in which the chips are wound.

[0027] The detection devices 27 and 28 are, for example, stereo 3D cameras. The control device 25 determines, based on the imaging data of the detection device 27, whether chips are wound around the spindle device 21, that is, whether chips are wound around the chuck jaws 21A or the like. For this purpose, the detection device 27 is attached to the wall of the machining chamber 26, for example, at a position and in a direction where the three chuck jaws 21A can be imaged. Also, the control device 25 determines, based on the imaging data of the detection device 28, whether chips are wound around the turret device 22, that is, whether chips are wound around the cutting tool attached to the turret or the like. For this purpose, the detection device 28 is attached to the turret, for example, at a position and in a direction where the cutting tool determined at the working position can be imaged. Note that the machine tool 11 may be provided with a mechanism for changing the imaging direction and imaging position of the detection devices 27 and 28. Also, the machine tool 11 may be configured to include only one detection device, or may be configured to include three or more detection devices.

[0028] The control program 39 includes, for example, an AI (Artificial Intelligence) program that determines whether chips are wound based on the imaging data captured by the detection devices 27 and 28. This AI program is, for example, a program that has learned, through machine learning, a process for determining whether chips are wound in an arbitrary given image. Note that the control program 39 may be machine-learned in the user's usage environment after the processing system 10 is installed. For example, the control program 39 may display an image suspected of having chips wound thereon on the operation panel 29. Then, the user checks the image and inputs whether it is an image with chips wound, and if so, specifies the position where the winding has occurred. The control program 39 may be machine-learned by this input information using the AI program. Thereby, the mode of chip winding generated according to the material of the workpiece W, cutting tool, etc. used in the processing system 10 can be machine-learned, and the determination conditions can be optimized to improve the determination accuracy.

[0029] The method for determining the entanglement of chips is not limited to the method using an AI program. For example, the control program 39 may determine, by an image, the changes around the chuck jaws 21A of the work spindle device 21 and the cutting tool of the turret device 22, and may determine that chip entanglement has occurred when chips have accumulated by a predetermined amount or more. Also, the image for determining chip entanglement is not limited to a three-dimensional image, and a two-dimensional image may also be used.

[0030] Further, the detection devices 27 and 28 are not limited to a stereo-type 3D camera, and other types of 3D cameras such as the ToF method can be adopted. Also, the detection device of the present disclosure is not limited to a 3D camera, and LiDAR (Light Detection and Ranging, also referred to as a laser scanner) may also be used. In this case, the control device 25 may acquire point cloud data of the periphery (chips) of the work spindle device 21 and the turret device 22 by the laser emitted from the LiDAR and determine the occurrence of entanglement. Alternatively, the detection device may have a configuration combining LiDAR with a 2D camera or a 3D camera.

[0031] (Regarding the operation at the time of detection) During the machining of the work W, the control device 25 determines whether or not chip entanglement has occurred using the detection devices 27 and 28. Based on the detection of chip entanglement by the detection devices 27 and 28, the control device 25 executes a storage process of storing the program line of the NC program 35 that was being executed when the chip entanglement was detected. For example, when the control device 25 detects chip entanglement based on the imaging data of the detection devices 27 and 28, it stores the number of lines being executed at the time of detection in the detection data 36.

[0032] FIG. 3 shows an example of the data stored in the detection data 36. The control device 25, for example, starts recording new (separate file) detection data 36 and stores it in the storage device 34 every time the NC program 35 is changed. In addition to the program line, the control device 25 stores, for example, the detection time, the tool number, and each counter value in the detection data 36. The control device 25 assigns a number "NO." in the order in which the winding is detected, and stores each data in association with the detection data 36. The detection time is the date and time when the winding is detected. The tool number is a number for identifying the cutting tool, and is the tool number of the cutting tool used at the time when the winding is detected. Specifically, for example, it is an identification number (folder number) assigned to each tool folder for attaching the cutting tool of the turret.

[0033] The counter value is various information for knowing the information of the machine tool 11 at the time of detection. Specifically, the counter value 1 is the cumulative number of uses of the cutting tool used at the time of detection, that is, the cutting tool indicated by the tool number. Also, the counter value 2 is information on the production order indicating which workpiece W was produced when machining consecutive workpieces W using the same NC program 35. By storing the tool number and the number of uses (counter value 1) of the cutting tool, it is possible to judge the occurrence tendency of winding for each cutting tool. For example, if a certain type of cutting tool has a service life of 100 times that requires replacement, but winding of chips occurs every time it is used about 80 times, 80 times can be used as a reference for replacement. Also, by leaving the production order information of the counter value 2, it is possible to confirm later which workpiece W the unfinished workpiece W3 was produced as, and traceability can be ensured. Note that FIG. 3 shows a part of the detection data 36, and the information to be left as the detection data 36 is not limited to the information shown in FIG. 3. For example, the control device 25 may leave the temperature in the processing chamber 26 at the time of detecting the winding as the detection data 36. Also, the control device 25 may store only the information of the program line at the time when the winding occurs in the detection data 36.

[0034] When detected, the control device 25 can execute operations in the first to third patterns. The first pattern is a pattern that only executes a storage process for storing the detection data 36. The second pattern is a pattern that, in addition to the storage process, stops the processing at the time of detection. The third pattern is a pattern that, in addition to the storage process, stops the processing when the processing of the cutting tool being used at the time of detection is completed.

[0035] In the initial setting, the control device 25 of this embodiment is set to execute the first pattern. Therefore, until the user changes the setting, the control device 25 executes a process of storing the program line etc. at the time of detecting the winding in the detection data 36, but does not execute the stop of the processing. As a result, the user can determine from which point the chip winding has occurred by checking the program line stored by the storage process later. For example, after instructing the start of automatic operation for the processing system 10 and returning home from the factory, by checking the detection data 36 the next day, it is possible to determine whether winding has occurred during the absence. It is possible to reexamine the processing conditions of the program line where winding occurs. Also, it is possible to individually check the processing results of the workpiece W where winding has occurred.

[0036] The second pattern is a pattern that, in addition to the storage process, stops the processing at the time of detection. For example, when winding occurs during the execution of finish machining, if the processing is continued as it is, there is a risk that the machined surface (finish surface) will be damaged by the wound chips, etc., and the machining accuracy will decrease. There is a high possibility that it will affect the machining accuracy of the finished product. Therefore, when the control device 25 detects the occurrence of winding during finish machining, for example, after executing the program line being executed, it stops the processing. That is, different from the third pattern described later, it stops during the machining being performed using any type of cutting tool. As a result, the influence of the wound chips on the machined surface of the finish machining can be minimized as much as possible, and it can be retracted as the unfinished workpiece W3.

[0037] Alternatively, when the control device 25 detects the occurrence of winding during the finishing process, it may immediately stop the execution of the process. In this case, the control device 25 may store the coordinates of the cutting tool tip, path information, etc. at the time of stoppage in the detection data 36 and use them when resuming the process. Also, the control device 25 may stop after completing the process until the cutting tool can be properly removed. For example, when performing internal diameter machining on the intricate part of the hole formed in the workpiece W, if the process is stopped halfway, it may become impossible to properly remove the cutting tool. In such a case, the control device 25 may, for example, execute the process until one pass of the internal diameter machining is completed and then stop the process and remove the cutting tool.

[0038] Also, the third pattern is a pattern in which, in addition to the storage process, the process is executed until the machining of the cutting tool in use at the time of detection is completed, and the process is stopped when the cutting tool is changed. The control device 25 executes the third pattern, for example, in the case of semi-finishing or rough machining. In rough machining, unnecessary surplus material is cut off. Also, in semi-finishing, preparations for finishing are executed. In both types of machining, finishing is then executed, and there remains a margin for executing the finishing. For this reason, it is possible to eliminate the influence by finishing the process with the chips wound around and, even if the machining accuracy of the machined surface is affected, shaving off the margin in the subsequent finishing process.

[0039] For example, in the memory device 34, there are prepared an M code for executing a process corresponding to the second pattern and an M code for executing a process corresponding to the third pattern. When this M code is not set in the NC program 35, the control device 25 executes the first pattern. Further, when the M code of the second pattern or the third pattern is inserted, in that machining process, the control device 25 executes the pattern corresponding to the M code. For example, the user sets the M code for each block of the machining process of the NC program 35, sets the M code of the second pattern for the finish machining block, and sets the M code of the third pattern for the semi-finish machining block and the rough machining block. Thereby, if the block (machining process) being executed is finish machining, the control device 25 executes the second pattern, if it is semi-finish machining or rough machining, the control device 25 executes the third pattern, and if it is a block with nothing set, only the recording process (first pattern) can be executed.

[0040] Note that the method of setting the first to third patterns is not limited to the method using the above-described M code. For example, the control device 25 may display the NC program 35 on the operation panel 29 for each block (machining process) and accept from the user which of the first to third patterns to execute in the displayed block. Alternatively, the creator of the NC program 35 may put character information (finish, semi, rough, etc.) that can determine the machining content in the program, and the control device 25 may automatically insert the M code based on the character information. Further, the control device 25 may analyze the content and additional information of the NC program 35, determine the content of each machining process, and set the pattern. The additional information here is, for example, the design drawing of the work W, the information of the machining simulation, etc. Also, the corresponding patterns are not limited to three, and two patterns or four or more patterns may be prepared according to the control content for stopping the machining and the control content for retracting the work W described later. Further, the control device 25 may be configured to be able to execute only the first pattern, only the second pattern, or only the third pattern.

[0041] (Regarding the operation after stopping) Next, the chip wrapping is detected according to the second and third patterns described above, and the subsequent operations when the processing is stopped will be described. As described above, when the processing is normally completed, the control device 25 causes the robot 12 to convey the completed product workpiece W2 that has completed the processing to the discharge tray 54. Further, for example, when the control device 25 stops the processing in a block (processing step) in which an M code corresponding to the second pattern or the third pattern is set, the control device 25 causes the robot 12 to convey the unfinished workpiece W3 being processed to the unfinished product tray 53. Thereby, the user can easily distinguish between the completed product workpiece W2 and the unfinished workpiece W3. The work load of classifying the workpiece W can be reduced.

[0042] Further, for example, when the control device 25 conveys the unfinished workpiece W3 to the unfinished product tray 53, it stores them in order side by side. The control device 25 stores them in the unfinished product tray 53 in the order in which the wrapping was detected, that is, in the order of "NO." in the detection data 36. Thereby, the user can easily determine the correspondence between the detection data 36 and the unfinished workpiece W3, such as when the detection data 36 is displayed on the operation panel 29 for confirmation. Note that identification information such as a barcode or a two-dimensional code may be assigned to the workpiece W, and the identification information of the unfinished workpiece W3 in which the wrapping has been detected may be registered and managed in the detection data 36.

[0043] Further, after the control device 25 conveys the unfinished workpiece W3 to the unfinished workpiece tray 53, it controls the robot 12 to remove the chips wound by the end effector 45. For example, the control device 25 identifies the position of the wound chips from the imaging data of the detection devices 27 and 28, and controls the robot 12 based on the identified position to remove the chips. The robot 12 grabs the chips wound around the workpiece spindle device 21 and the turret device 22 with the end effector 45 and discards them. The chips grabbed by the robot 12 may be discarded in a coolant tank or the like at the lower part of the processing chamber 26, or may be taken out of the processing chamber 26 and discarded in a disposal box or the like. Thereby, the wound chips can be removed, and the processing of the next workpiece W or the processing of the unfinished workpiece W3 can be resumed. Note that the method of removing the wound chips is not limited to the method using the robot 12, and may also be a method of blowing them off with coolant or air, a method of removing them by suction, or the like. Alternatively, a method combining these methods may also be used.

[0044] The control device 25, for example, after removing the chips wound by the robot 12, controls the robot 12 to convey the unfinished work W3 conveyed to the unfinished product tray 53 to the work spindle device 21. After removing the chips, the control device 25 may wash the work spindle device 21, the turret device 22, the unfinished work W3, etc. with coolant. Further, the control device 25 may control the robot 12 to convey the unfinished work W3 from the unfinished product tray 53 to the inspection device 13 and execute the inspection of the unfinished work W3 by the inspection device 13. Based on the inspection result, the control device 25 checks whether the unfinished work W3 has been damaged, etc. by the wound chips, and determines whether the unfinished work W3 is a work that can be reprocessed. When the control device 25 determines that reprocessing is possible, it may convey the unfinished work W3 to the work spindle device 21 by the robot 12. The control device 25 causes the work spindle device 21 to hold the unfinished work W3 and resumes the processing by the turret device 22 from the program line stored in the detection data 36 by the storage process. Thereby, the processing can be resumed from the processing step in which the processing was stopped due to the winding of the chips. The occurrence of processing defects and the occurrence of defective products can be suppressed. Incidentally, the control device 25 may directly convey the unfinished work W3 from the work spindle device 21 to the inspection device 13 without retracting the unfinished work W3 to the unfinished product tray 53. When the winding of the chips occurs, the control device 25 conveys the unfinished work W3 to the inspection device 13, removes the wound chips by the robot 12, and may execute the inspection by the inspection device 13. In this case, the inspection device 13 serves as the unfinished product storage unit of the present disclosure. When the control device 25 determines that reprocessing is possible, it may convey the unfinished work W3 from the inspection device 13 to the work spindle device 21 and resume the processing. Further, in a configuration in which the machine tool 11 is provided with an autoloader, the autoloader may execute the removal of the wound chips and the conveyance to the inspection device 13.

[0045] Also, when resuming the processing of the unfinished workpiece W3, among the unfinished workpieces W3 for which the resumed processing has been completed, there may be defective workpieces in which processing defects have occurred due to the influence of the chips being wound around at the time of stoppage. For this reason, the control device 25 may resume the processing of the unfinished workpiece W3 and convey the workpiece W (hereinafter referred to as the semi-finished workpiece) for which the processing has been completed to a location different from the finished workpiece W2. Therefore, the control device 25 resumes the processing and controls the robot 12 to convey the semi-finished workpiece for which the resumed processing has been completed to a location different from the discharge tray 54. For example, a tray for accommodating the semi-finished workpiece may be provided separately from the supply tray 52, the unfinished workpiece tray 53, and the discharge tray 54. Thereby, the user can easily distinguish between the finished workpiece W2 and the semi-finished workpiece when looking at them later. The operation of checking whether there are any processing defects in the semi-finished workpiece can be smoothly performed.

[0046] Still, the control device 25 may convey the semi-finished workpiece to the discharge tray 54. That is, the semi-finished workpiece may be accommodated in the same location as the finished workpiece W2. Also, the control device 25 does not necessarily have to resume the processing of the unfinished workpiece W3 after removing the wound chips. For example, the control device 25 detects the winding of the chips, retracts the unfinished workpiece W3 to the unfinished workpiece tray 53, removes the chips, and then takes out the next unprocessed workpiece W1 in the production order from the supply tray 52, sets it in the workpiece spindle device 21, and starts the processing. That is, only the retraction of the unfinished workpiece W3 may be executed, and the processing may be resumed from the processing of the next unprocessed workpiece W1. In this case, after all the processing of the unprocessed workpieces W1 has been completed, the control device 25 may resume the processing of the unfinished workpiece W3 based on the user's operation on the operation panel 29.

[0047] For example, after the user arrives at the factory the next day, the user checks the work W classified into the finished work W2 and the unfinished work W3. The user determines the work W that needs reprocessing from among the unfinished work W3. The method for determining whether reprocessing is possible may be the method using the above-described inspection device 13 or the method of human judgment. For example, the user may put the unfinished work W3 into the inspection device 13 and determine whether reprocessing is possible based on the inspection result.

[0048] As shown in FIG. 3, the detection data 36 stores information such as "NO." and the counter value 2 "production order" as work identification information for identifying the unfinished work W3. When the control device 25 receives an instruction to start the selected processing via the operation panel 29, the control device 25 resumes the processing from the program line associated with the selected work identification information and the detection data 36. For example, the control device 25 displays the list of the detection data 36 shown in FIG. 3 on the operation panel 29 and receives a selection of the unfinished work W3 for which the processing is to be resumed from among the displayed list.

[0049] For example, the user returns the unfinished work piece W3 that has been inspected by the inspection device 13 and has a good inspection result (rework is possible) to the original position of the unfinished work piece tray 53. After the user returns it, the user selects the inspected unfinished work piece W3 from the list. When the determination button on the operation panel 29 is operated in a state where an arbitrary row is selected from the list, the control device 25 takes out the selected unfinished work piece W3 from the unfinished work piece tray 53 and sets it on the work spindle device 21, and resumes processing from the "program line" displayed in the selected row. In the example shown in FIG. 3, for example, when "NO.1" is selected, the control device 25 takes out the unfinished work piece W3 placed at the position of "NO.1" (the first one) of the unfinished work piece tray 53 and resumes processing from the 25th line of the NC program 35. Thereby, the user can check the unfinished work piece W3, select the unfinished work piece W3 that can be reworked, and resume processing. By simply operating the operation panel 29, the processing of the desired unfinished work piece W3 can be resumed. Note that the method of selecting the unfinished work piece W3 is not limited to the method of selecting an arbitrary row from the list of the detection data 36 described above, and may also be a method of inputting the "NO." of the unfinished work piece W3 to be selected or a method of inputting the counter value 2 "production order".

[0050] Also, the inspection by the inspection device 13 may be automatically executed. For example, the control device 25 may transport the selected unfinished work piece W3 to the inspection device 13 by the robot 12 and execute the inspection at the timing when the selection of the unfinished work piece W3 is received. When the inspection result is good, the control device 25 may set the unfinished work piece W3 on the work spindle device 21 and resume processing.

[0051] Also, as described above, the robot 12 arranges the unfinished workpieces W3 in the unfinished product tray 53 in the order in which the winding is detected, that is, in the order of "NO." Therefore, the control device 25 determines the unfinished workpiece W3 selected by the user according to the arrangement order in the unfinished product tray 53, and can pick up the unfinished workpiece W3 and set it on the workpiece spindle device 21. Incidentally, the operation of setting the unfinished workpiece W3 on the workpiece spindle device 21 may be performed manually by the user. In this case, the control device 25 may resume the processing without executing the pickup of the unfinished workpiece W3.

[0052] Incidentally, the correspondence between the terms in this embodiment and the terms described in the claims will be described below. In the above embodiment, the workpiece spindle device 21 is an example of a workpiece holding device. The turret device 22 is an example of a processing device. The operation panel 29 is an example of a user interface. The NC program 35 is an example of a processing program. The end effector 45 is an example of a chuck mechanism. The discharge tray 54 is an example of a finished product storage unit. The unfinished product tray 53 and the inspection device 13 are examples of unfinished product storage units.

[0053] As described above, the present embodiment has the following effects. The control device 25, which is an aspect of the present application, stores the program line of the NC program 35 that was being executed when the winding of the cutting chips was detected in the detection data 36 based on the detection of the winding of the cutting chips by the detection devices 27 and 28 during the processing of the workpiece W. Thereby, the user can determine from which point the winding of the cutting chips has occurred by checking the program line stored in the detection data 36.

[0054] Also, the content of the present disclosure is not limited to the above embodiment, and can be implemented in various forms with various changes and improvements based on the knowledge of those skilled in the art. For example, the configuration of the above-described processing system 10 is an example. The processing system 10 may have a configuration including only the machine tool 11 without the robot 12. In this case, the control device 25 may execute only the storage process of the program line in response to the detection of winding. Further, the processing program of the present disclosure is not limited to the NC program 35, and may be other programs capable of controlling the machine tool. The work holding device of the present disclosure is not limited to the work spindle device. For example, in the case of a tool spindle or a milling machine, the work holding device may be a chuck device that holds the work without rotating it.

[0055] Note that the content of the present disclosure is not limited to the dependency relationship described in the claims. For example, regarding the technical idea of changing "the processing system according to claim 1 or claim 2" to "the processing system according to any one of claims 1 to 6" in claim 7, this specification also discloses it. Further, for example, regarding the technical idea of changing "the processing system according to claim 1 or claim 2" to "the processing system according to any one of claims 1 to 7" in claim 8, this specification also discloses it.

Explanation of Reference Numerals

[0056] 10 Processing system, 11 Machine tool, 12 Robot, 13 Measuring device (unfinished product storage unit), 21 Work spindle device (work holding device), 22 Turret device (processing device), 25 Control device, 27, 28 Detection device, 29 Operation panel (user interface), 35 NC program (processing program), 45 End effector (chuck mechanism), 54 Discharge tray (finished product storage unit), 53 Unfinished product tray (unfinished product storage unit), W Work, W1 Unprocessed work, W2 Finished product work, W3 Unfinished product work.

Claims

1. A work holding device for holding a work, A processing device for processing the work held by the work holding device, A detection device for detecting winding of chips generated during processing of the work by the processing device, A control device for controlling the processing device based on a processing program, comprising, The control device, During the processing of the work, based on detection of chip winding by the detection device, a storage process is executed to store the program line of the processing program being executed when the chip winding is detected. A processing system.

2. The control device, When chip winding is detected by the detection device, A first pattern in which only the storage process is executed, A second pattern in which, in addition to the storage process, processing is stopped at the time of detection, A third pattern in which, in addition to the storage process, processing is stopped at the time when the processing of the cutting tool being used at the time of detection is completed. The processing system according to claim 1, which can select and execute three patterns.

3. Further comprising a robot that clamps the work with a chuck mechanism and conveys the work, The control device, When the processing by the processing device is completed normally, the finished product work, which is the work for which processing has been completed, is conveyed to the finished product storage section by controlling the robot, When chip winding is detected by the detection device during the processing of the work and the processing of the work is stopped, the unfinished product work, which is the work being processed, is conveyed to an unfinished product storage section different from the finished product storage section by controlling the robot. The processing system according to claim 1 or claim 2.

4. The control device, During the processing of the workpiece, the detection device detects the winding of chips, stops the processing of the workpiece, and after transporting the unfinished workpiece to the unfinished workpiece storage section, controls the robot to remove the chips wound by the chuck mechanism. The processing system according to claim 3.

5. The control device After removing the chips wound by the robot, the unfinished workpiece transported to the unfinished workpiece storage section is transported to the workpiece holding device by controlling the robot, the unfinished workpiece is held by the workpiece holding device, and the processing by the processing device is resumed from the program line stored by the storage process. The processing system according to claim 4.

6. The control device After resuming the processing by the processing device from the program line stored by the storage process, when the processing of the unfinished workpiece is completed, the semi-finished workpiece whose processing is completed is transported by controlling the robot to a location different from the finished workpiece storage section where the finished workpiece is stored. The processing system according to claim 5.

7. Further comprising a user interface The control device When the processing of the workpiece is stopped based on the detection of the winding of chips by the detection device during the processing of the workpiece, as the storage process, in addition to the program line, workpiece identification information for identifying the unfinished workpiece, which is the workpiece whose processing has been stopped, is stored in association with the program line. When an instruction to start processing for selecting the workpiece identification information is received via the user interface, the processing is resumed from the program line associated with the selected workpiece identification information. The processing system according to claim 1 or claim 2.

8. The control device The processing system according to claim 1 or claim 2, wherein, as the memory processing, in addition to the program line, the tool number of the cutting tool being used at the time when the detection device detects the winding of chips and the number of times the cutting tool has been used are memorized.

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