Machining system

Abstract

To discriminate the kind of a workpiece by simple measurement, to prevent a machine tool from machining a workpiece different from a workpiece scheduled to be machined, and to keep production efficiency high.SOLUTION: The machining system includes a machine tool that machines a workpiece carried in, a fixing device 6 that fixes the workpiece at least in the machine tool, jig members 7 and 8 that are interposed between the fixing device and the workpiece and to which the workpiece is attached, a measuring device that measures, inside or outside the machine tool, a height of the workpiece attached to the jig members from a reference surface P1 in a normal direction of the workpiece, and a determination unit that determines a type of the workpiece based on a measured result of the measuring device. The jig members 7 and 8 are constituted so that the heights W1 and W2 in the normal direction from the reference surface P1 of the work H1 and H2 attached to the jig members are made different for every kind.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a processing system. [Background technology]

[0002] Numerically controlled machine tools (NC machine tools) are known as devices for automatically machining workpieces. When machining multiple types of workpieces using this type of machine tool, a machining program is first input into the machine tool, which describes the type of workpiece to be machined and the machining details for that workpiece. Next, the workpiece to be machined is loaded into the machine tool, and the machine tool machines the workpiece according to the input machining program.

[0003] Workpieces are sometimes delivered to machine tools by a robot device. The robot device removes the workpiece to be machined from a workpiece stocker. The workpiece stocker stores workpieces by type in predetermined positions. The robot device removes the target workpiece from the workpiece stocker based on, for example, information about the type of workpiece and information about the position where the workpiece is stored in the workpiece stocker.

[0004] While a robotic device may deliver workpieces to a machine tool, humans may manually place the workpieces in the workpiece stocker. As a result, a workpiece of a different type than the one intended for placement in the workpiece stocker may end up being placed in the designated location. Consider a case in which a robotic device retrieves a workpiece based on position information indicating the location of the workpiece. If the wrong workpiece is placed in the designated location in the workpiece stocker, the robotic device may deliver a different type of workpiece to the machine tool than the one intended for machining. To address this issue, which could result in unintended machining being performed on such an incorrectly delivered workpiece, resulting in the waste of both the workpiece and machining time, a possible solution is to measure the dimensions of the workpiece before machining to identify its type, and then select a machining program appropriate for the identified type of workpiece. For example, Patent Document 1 discloses a machining center capable of measuring the height of a workpiece during in-machine measurement.

[0005] In the machining center of Patent Document 1, a camera that photographs a workpiece is fixed to the upper part of the machine tool. In this machining center, the camera photographs the workpiece fixed to a table below the camera from above while the table is translated a certain distance in a horizontal plane. When the height of the workpiece fixed to the table is low, the distance between the camera and the workpiece is long, so the amount of movement of the workpiece (change in the number of pixels) in the image captured by the camera is small. When the height of the workpiece fixed to the table is high, the distance between the camera and the workpiece is short, so the amount of movement of the workpiece in the image captured by the camera is large. This machining system calculates the height of the workpiece based on the amount of movement in the image captured. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent No. 6964291 Summary of the Invention [Problem to be solved by the invention]

[0007] The workpiece height measurement mechanism for a machining center in Patent Document 1 can determine the height of the workpiece, making it possible to determine whether a workpiece of a different height than the workpiece to be machined, i.e., a workpiece different from the workpiece to be machined, has been loaded into the machine tool. However, this height measurement mechanism makes it difficult to distinguish, for example, a workpiece that has the same height as the workpiece to be machined but is machined using a different machining program than the workpiece to be machined because of differences in material, dimensions other than height, etc. In other words, even with such a height measurement mechanism, it is difficult to distinguish between workpieces that differ from the workpiece to be machined in elements other than height. While it may be possible to determine the type of workpiece by measuring elements other than height, the measurement requires a long time and reduces machining efficiency.

[0008] The present invention aims to make it possible to distinguish the type of workpiece through simple measurements, prevent a machine tool from machining a workpiece different from the one it is intended to machine, and maintain high production efficiency. [Means for solving the problem]

[0009] (1) The machining system of the present invention is a machining system configured to machine multiple types of workpieces, and includes a machine tool on which the workpiece is machined when it is brought in; a fixture that fixes the workpiece at least within the machine tool; a jig member that is interposed between the fixture and the workpiece and on which the workpiece is attached; a measuring instrument that measures the normal height of the workpiece attached to the jig member from a reference plane inside or outside the machine tool; and a judgment unit that judges the type of the workpiece based on the measurement results of the measuring instrument, wherein the jig member is configured to make the normal height of the workpiece attached to the jig member from the reference plane different for each type of workpiece.

[0010] In the above-described machining system, there are multiple types of workpieces that can potentially be machined by the machine tool. Therefore, there is a possibility that an incorrect workpiece not intended for machining may be loaded into the machine tool, resulting in unintended machining of that workpiece. However, in the above-described machining system, the jig members on which the workpieces are attached are configured to be different for each of the multiple types of workpieces. That is, by attaching each of the multiple types of workpieces to the jig members, each type has a unique height. The above-described machining system is able to determine the type of workpiece by utilizing this difference in height for each type. In addition, the type of workpiece can be determined simply by measuring the height of the workpiece with a measuring device. Therefore, the above-described machining system makes it possible to determine the type of workpiece with a simple measurement, preventing the machine tool from machining a workpiece different from the one intended for machining, and maintaining high production efficiency.

[0011] (2) In the processing system of (1) above, the jig member comprises a clamped portion that is clamped by the fixture, and a height setting portion that is arranged to protrude from the clamped portion and to which the workpiece is attached, and the length that the height setting portion protrudes from the clamped portion may differ depending on the type of workpiece to be attached.

[0012] In the processing system (2) above, the jig member has a clamped portion that is clamped by the fixture and a height setting portion to which the workpiece is attached and which varies the height of the workpiece for each type. By dividing the jig member into different functions in this way, it is possible to set different heights for multiple types of workpieces, for example, simply by adjusting the length of the height setting portion. Therefore, with the above processing system, it is possible to easily adjust the height of each type of workpiece.

[0013] (3) In the processing system of (2) above, the clamped portion may have a common shape regardless of the type of the workpiece.

[0014] In the processing system (3) above, the shape of the clamped portion is the same regardless of the type of workpiece, so there is no need to change the fixture for each type of workpiece or attach it to the fixture via a separate attachment member, and all types of workpieces (jig members) can be attached to the fixture with the same configuration. Therefore, with the processing system, it is possible to maintain high production efficiency.

[0015] (4) In the processing system of (2) above, the height setting unit may include an attachment surface to be attached to the workpiece, and an attachment mechanism formed between the attachment surface and the workpiece according to the type of workpiece.

[0016] In the machining system (4) above, the mounting of a workpiece of a type other than the workpiece to be mounted on the mounting surface (jig member) is suppressed. Therefore, the machining system suppresses the mounting of the wrong type of workpiece on the jig member.

[0017] (5) In the processing system of (2) above, the height setting unit may have a mounting surface to be attached to the workpiece, and the mounting surface may have a shape according to the type of workpiece to be attached.

[0018] In the machining system (5) above, the mounting surface on which the workpiece is mounted has a shape that corresponds to the type of workpiece. Therefore, it is possible to prevent a workpiece of a type other than the workpiece to be mounted from being mounted on the mounting surface (jig member). Therefore, the machining system prevents the wrong type of workpiece from being mounted on the jig member.

[0019] (6) In the processing system of (2) above, the workpiece may have a cylindrical shape, the height setting unit may have a mounting surface that is attached to the underside of the workpiece, exposing the side of the workpiece, and the machine tool may process the side of the workpiece attached to the mounting surface.

[0020] For example, when clamping a cylindrical workpiece using a vise or the like, it is difficult to expose the entire side surface. In contrast, in the machining system described above in (6), the jig member is attached to the underside of the cylindrical workpiece, so that the entire side surface of the workpiece can be exposed. Therefore, the machining system described above can efficiently machine the side surface of the cylindrical workpiece.

[0021] (7) In the machining system of (1) above, the judgment unit may determine whether the type of workpiece determined based on the measurement results of the measuring instrument matches the type of workpiece planned to be machined by the machine tool.

[0022] In the machining system of (7) above, for example, by measuring the height of a workpiece before machining by a machine tool and determining the type of the workpiece, it is possible to determine whether the workpiece is a workpiece to be machined by the machine tool. Therefore, the machining system described above can prevent machining of workpieces that are not scheduled to be machined by the machine tool. [Effects of the Invention]

[0023] According to the machining system of the present invention, the type of workpiece can be identified through simple measurements, preventing the machine tool from machining a workpiece different from the one it is intended to machine, and maintaining high production efficiency. [Brief explanation of the drawings]

[0024] [Figure 1] FIG. 1 is a perspective view showing the overall configuration of the processing system. [Figure 2] FIG. 2 is a diagram schematically illustrating the structure of a machine tool. [Figure 3] FIG. 3 is a perspective view of the work stocker. [Figure 4] FIG. 4 is an exploded view that schematically shows the work stocker, the fixture, the jig member, and the work. [Figure 5] FIG. 5 is a diagram showing the heights from the reference plane for different types of workpieces. [Figure 6] FIG. 6 is a side view of the robot device. [Figure 7] FIG. 7 is a flowchart showing the process of determining whether a work is correct or incorrect. [Figure 8] FIG. 8 is a functional block diagram of the control device. DETAILED DESCRIPTION OF THE INVENTION

[0025] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0026] 1 is a perspective view showing the overall configuration of a machining system 100. The machining system 100 includes a machine tool 1, workpiece stockers 2 and 3, and a robot device 4. The machining system 100 is configured so that the robot device 4 carries unmachined workpieces stored in the workpiece stockers 2 and 3 into the machine tool 1, and carries out machined workpieces that have been machined in the machine tool 1 and returns them to the workpiece stockers 2 and 3.

[0027] Machine tool 1 is installed on the floor of a facility such as a factory. In this state, machine tool 1 includes a door 10 on the front that can be opened and closed. Door 10 constitutes part of the exterior of machine tool 1. Door 10 opens and closes a machining chamber in front of machine tool 1 where a workpiece is machined, and the outside of the machine tool. Door 10 is configured so that a workpiece can be carried in and out of the machining chamber from the front of machine tool 1.

[0028] Here, the front of the machine tool 1 refers to the side of the machine tool 1 on which the door 10 is provided. The rear of the machine tool 1 refers to the side of the machine tool 1 opposite to the front. Furthermore, the direction from the rear to the front of the machine tool 1 is referred to as the front direction, and the direction from the front to the rear is referred to as the rear direction. The left direction of the machine tool 1 refers to the direction toward the left of the machine tool 1 when viewed from the front, and the right direction refers to the direction toward the right of the machine tool 1 when viewed from the front. The up direction of the machine tool 1 refers to the direction toward the top (ceiling) of the machine tool 1, and the down direction refers to the direction toward the bottom (floor) of the machine tool 1. Hereinafter, the up-down direction of the machine tool 1 will also be referred to as the Z direction, the front-to-back direction as the Y direction, and the left-to-right direction as the X direction.

[0029] 2 is a diagram schematically illustrating the structure of a machine tool. Machine tool 1 is a machine that processes a workpiece W. Machine tool 1 is a vertical machining center. Machine tool 1 includes a bed 11, a saddle 12, a table 13, a column 14, a spindle head 15, a spindle 16, a tool magazine 17, a tool changer 18, and a control device 19.

[0030] The bed 11 is provided on the underside of the machining chamber. The bed 11 supports a saddle 12 via a guide rail 111. The guide rail 111 extends in the Y direction. The saddle 12 is configured to be movable along the guide rail 111, i.e., movable in the Y direction. The saddle 12 supports a table 13 via a guide rail 121. The guide rail 121 extends in the X direction. The table 13 is configured to be movable along the guide rail 121, i.e., movable in the X direction. The table 13 supports a workpiece W to be machined. The saddle 12 and the table 13 are driven by a drive device (not shown). With this configuration, the table 13 is configured to be movable in the Y direction and the X direction.

[0031] The column 14 is supported by the bed 11. The column 14 extends in the Z direction. The column 14 supports the spindle head 15 via a guide rail 141. The spindle head 15 is provided on the front side of the column 14. The guide rail 141 extends in the Z direction. The spindle head 15 is configured to be movable along the guide rail 141, i.e., movable in the Z direction. The spindle head 15 is driven by a drive unit (not shown). The spindle head 15 supports a spindle 16. The spindle 16 is attached to the underside of the spindle head 15. The spindle 16 holds a tool via a tool holder. The spindle 16 has a rotation axis parallel to the Z direction. The spindle 16 is configured to rotate the tool around the rotation axis. The spindle 16 is rotationally driven by a drive unit (not shown). With this configuration, the spindle 16 is configured to be movable in the Z direction and rotatable around the rotation axis.

[0032] The tool magazine 17 is provided adjacent to the machining chamber. The tool magazine 17 stores a plurality of tools to be attached to the spindle 16. In addition to the tools, the tool magazine 17 also stores a measuring device, which will be described later. The measuring device is, for example, a contact-type probe. The tool changer 18 is provided between the tool magazine 17 and the spindle 16. The tool changer 18 is a magazine-type automatic tool changer. The tool changer 18 transfers tools between the tool magazine 17 and the spindle 16. The tool changer 18 can handle the measuring device in the same way as a tool. In other words, the tool changer 18 can transfer the measuring device between the tool magazine 17 and the spindle 16.

[0033] Control device 19 is provided within machine tool 1. Control device 19 is composed of a computer including a CPU, RAM, ROM, etc. Control device 19 executes a computer program stored in a recording medium to realize various controls of machine tool 1. Details of control device 19 will be described later.

[0034] 3 is a perspective view of the work stocker. Work stocker 2 and work stocker 3 have the same configuration, so only work stocker 2 will be described below. Work stocker 2 is configured in a shelf shape. Work stocker 2 has a plurality of shelf plates arranged in the Z direction. In this embodiment, the shelf plate provided on the top level is referred to as the first shelf plate 21, the second shelf plate from the top is referred to as the second shelf plate 22, the third shelf plate from the top is referred to as the third shelf plate 23, and the fourth shelf plate from the top is referred to as the fourth shelf plate 24.

[0035] A plurality of first fixtures 6A are arranged along the X direction on the first shelf 21. As will be described later, each of the plurality of first fixtures 6A supports a first jig member and a first workpiece (not shown). Similarly, a plurality of second fixtures 6B are arranged on the second shelf 22. Each of the plurality of second fixtures 6B supports a second jig member and a second workpiece (not shown). A plurality of third fixtures 6C are arranged on the third shelf 23. Each of the plurality of third fixtures 6C supports a third jig member and a third workpiece (not shown). A plurality of fourth fixtures 6D are arranged on the fourth shelf 24. Each of the plurality of fourth fixtures 6D supports a fourth jig member and a fourth workpiece (not shown).

[0036] 4(A) is an exploded view schematically showing the first shelf plate, first fixture, first jig member, and first workpiece of the work stocker. The first shelf plate 21 is provided with an attachment / detachment mechanism 211 that detachably supports the first fixture 6A. The attachment / detachment mechanism 211 includes two protrusions 2111 and 2112 provided on the first shelf plate 21 and two recesses 2113 and 2114 provided on the first fixture 6A. The two protrusions 2111 and 2112 are provided with a predetermined interval between each other and protrude upward from the first shelf plate 21. The two recesses 2113 and 2114 are provided to correspond to the two protrusions 2111 and 2112, respectively. The two recesses 2113 and 2114 are configured to receive the corresponding protrusions 2111 and 2112, respectively.

[0037] The first fixing device 6A is a vise that includes a vise body and a pair of jaws provided on the vise body, at least one of which is configured to slide on the vise body. The first fixing device 6A includes a first transfer held part 6A1, which is the vise body, and first clamping parts 6A2 and 6A3, which are a pair of jaws. The first transfer held part 6A1 has a roughly rectangular parallelepiped shape, supports the first clamping parts 6A2 and 6A3, and includes an internal mechanism (not shown) for driving the first clamping parts 6A2 and 6A3 to move closer to or farther apart. The first transfer held part 6A1 is held and transported by a robot device (described later) via a connection mechanism 61.

[0038] The connection mechanism 61 includes two holes 611, 612 provided in the first fixture 6A and protrusions having shapes corresponding to the holes 611, 612 provided in two claws provided on a hand of a robot device (not shown). The two holes 611, 612 are provided on both side surfaces of the first transfer held portion 6A1 of the first fixture 6A. The two holes 611, 612 are provided with a predetermined distance between them. The two holes 611, 612 are provided at the ends of the first transfer held portion 6A1. The two holes 611, 612 are provided at positions closer to the ends of the first transfer held portion 6A1 than to the center of the first transfer held portion 6A1 in the relative movement direction of the first clamping portion 6A2 and the first clamping portion 6A3. The two holes 611, 612 are provided at the end closer to the robot device in the relative movement direction of the first clamping unit 6A2 and the first clamping unit 6A3. The two holes 611, 612 on both sides of the first transfer held part 6A1 are configured so that protrusions on the hands of the robot device can be inserted into them. Specifically, the two claws of the robot device, which are spaced apart, are positioned on the outsides of both sides of the first transfer held part 6A1 and the two claws are brought close to each other, thereby sandwiching the first transfer held part 6A1 between them. At this time, the two protrusions on one claw are inserted into the two holes 611, 612 on one side of the first transfer held part 6A1, and the two protrusions on the other claw are inserted into the two holes 611, 612 on the other side of the first transfer held part 6A1. This allows the hands of the robot device to clamp the first transport held portion 6A1 (first fixing device 6A) and transport the first fixing device 6A.

[0039] Furthermore, if the first retainer 6A were installed on the first shelf 21 in the opposite direction (i.e., if the convex portion 2111 were inserted into the concave portion 2114 and the convex portion 2112 were inserted into the concave portion 2113), the two holes 611 and 612 would be located at the end of the first transfer held portion 6A1 that is farthest from the robot device. The robot device is programmed to determine that the correct orientation of the first transfer held portion 6A1 is when the two holes 611 and 612 are located at the end of the first transfer held portion 6A1 that is closer to the robot device. Therefore, in this case, the convex portions of the robot device would not be inserted into the two holes 611 and 612, but would hit the end of the side surface of the first transfer held portion 6A1 that is opposite to the two holes 611 and 612. As a result, the stroke of the claws of the robot device when clamping the first transfer held portion 6A1 would be shorter than usual. By detecting this change in the stroke of the claw portion, it is possible to detect that the first fixing device 6A is not placed in the correct orientation.

[0040] The first clamping unit 6A2 and the first clamping unit 6A3 are arranged to face each other. The first clamping unit 6A2 and the first clamping unit 6A3 are configured to be able to move closer to and away from each other. The first clamping unit 6A2 and the first clamping unit 6A3 may be moved closer to and away from each other by moving the first clamping unit 6A2, by moving the first clamping unit 6A3, or by moving both the first clamping units 6A2 and 6A3. With this configuration, the first clamping units 6A2 and 6A3 clamp the first jig member 7.

[0041] The first jig member 7 includes a first clamped portion 71 and a first height setting portion 72.

[0042] The first clamped portion 71 is clamped between the first clamping portions 6A2 and 6A3. The first clamped portion 71 has a plate shape. The first clamped portion 71 has a square shape in top view. The first clamped portion 71 is clamped by the first fixator 6A by having its side surfaces clamped between the first clamping portions 6A2 and 6A3.

[0043] The first height setting portion 72 is provided on the first clamped portion 71. The first height setting portion 72 has a cylindrical shape. The first height setting portion 72 is provided so as to protrude upward from the first clamped portion 71. The height (length in the Z direction) of the first height setting portion 72 is set to H11. The first workpiece W1 is attached to the first height setting portion 72 via an attachment mechanism 73. The attachment mechanism 73 includes a plurality of holes 731 provided on the upper surface of the height setting portion 72, a plurality of holes 732 provided in the first workpiece W1 so as to correspond to the plurality of holes 731, and a connecting member 733 that connects the height setting portion 72 and the first workpiece W1. The plurality of holes 731 in the height setting portion 72 and the plurality of holes 732 in the first workpiece W1 have the same shape and arrangement and are configured to match when the first workpiece W1 is placed on the height setting portion 72. The connecting member is, for example, a bolt. The connecting members are inserted into the plurality of holes 731 of the height setting portion 72 and the plurality of holes 732 of the first workpiece W1 to fix them together.

[0044] The first workpiece W1 is attached to the upper surface of the first height setting unit 72. The first workpiece W1 has a cylindrical shape. The height (length in the Z direction) of the first workpiece W1 is H12.

[0045] 4(B) is an exploded view that schematically shows the second shelf, second fixture, second jig member, and second workpiece of the work stocker. The second fixture 6B has the same shape and configuration as the first fixture 6A. That is, the second fixture 6B is detachably attached to the second shelf via an attachment / detachment mechanism 221, similar to the first fixture 6A. The attachment / detachment mechanism 221 is the same as the attachment / detachment mechanism 211. However, the second fixture 6B clamps a second jig member 8 that is different from the first jig member 7.

[0046] The second jig member 8 includes a second clamped portion 81 and a second height setting portion 82. The second clamped portion 81 has the same shape as the first clamped portion 71. However, the height (length in the Z direction) of the second height setting portion 82 is set to H21. The height H21 of the second height setting portion 82 is different from the height H11 of the first height setting portion 72. The second height setting portion 82 holds the second workpiece W2 via an attachment mechanism 83 different from the attachment mechanism 73. The attachment mechanism 83 includes a plurality of holes 831 provided on the upper surface of the height setting portion 82, a plurality of holes 832 provided in the second workpiece W2 so as to correspond to the plurality of holes 831, and a connecting member 833 that connects the height setting portion 82 and the second workpiece W2. The multiple holes 831 in the height setting portion 82 and the multiple holes 832 in the second workpiece W2 have the same shape and arrangement, and are configured to match when the second workpiece W2 is placed on the height setting portion 82. The multiple holes 831, 832 are provided in positions different from the multiple holes 731, 732 in the attachment mechanism 73. In other words, the second height setting portion 82 is configured to be able to hold the second workpiece W2, but not to hold any workpiece other than the second workpiece W2.

[0047] The second workpiece W2 is a different type of workpiece from the first workpiece W1. In this embodiment, the second workpiece W2 differs from the first workpiece W1 only in material but has the same shape. That is, the height H22 of the second workpiece is the same as the height H12 of the first workpiece W1. The second workpiece W2 is machined into a different product from the first workpiece W1. That is, a different type of workpiece refers to a workpiece machined by a different machining program in the machine tool 1. For example, the second workpiece W2 may differ from the first workpiece W1 only in shape but in material. The second workpiece W2 may differ from the first workpiece W1 in both shape and material.

[0048] FIG. 5 is a diagram showing the height from the reference plane for different types of workpieces. The height of the first workpiece W1 from the reference plane P1 in the measurement direction (Z direction) is set to H1. The reference plane P1 is defined by the position of the bottom surface of the first fixture 6A in the measurement direction. As will be described later, in this embodiment, the height of the workpiece is measured with the fixture placed on the table of the machine tool, so the reference plane P1 corresponds to the top surface of the table in the measurement direction. Furthermore, the height H1 of the first workpiece W1 in the measurement direction from the reference plane P1 is defined as the height in the measurement direction from the reference plane P1 to the measurement surface of the first workpiece W1. In this embodiment, the measurement surface of the first workpiece W1 is the top surface of the first workpiece W1. These measurement standards are also applicable to other workpieces.

[0049] On the other hand, the height H2 of the second workpiece W2 in the measurement direction from the reference plane P1 is set to H2. This height H2 is different from the height H1 of the first workpiece W1 in the measurement direction from the reference plane P1. Here, the second fixture 6B has the same height as the first fixture 6A, and the height H22 of the second workpiece W2 itself is the same as the height H12 of the first workpiece W1 itself. However, the height H21 of the second height setting unit 82 itself is different from the height H11 of the first height setting unit 72 itself. As a result, the height H2 of the second workpiece W2 in the measurement direction from the reference plane P1 is different from the height H1 of the first workpiece W1 in the measurement direction from the reference plane P1. In other words, the first jig member 7 and the second jig member 8 each set the height of the workpiece they hold to a height specific to that workpiece.

[0050] Similarly, the heights of the third workpiece W3 and the fourth workpiece W4 in the measurement direction from the reference plane P1 are set to unique heights. The third workpiece W3 is a different type of workpiece from the first workpiece W1 and the second workpiece W2. The height H32 of the third workpiece W3 itself is different from the height H12 of the first workpiece W1. The third jig member holding the third workpiece W3 appropriately adjusts the height H31 of the third height setting unit 92 itself to make the height H3 of the third workpiece W3 in the measurement direction from the reference plane P1 different from the height H1 of the first workpiece W1 and the height H2 of the second workpiece W2. Similarly, the fourth jig member holding the fourth workpiece W4, which is a different type of workpiece from the first to third workpieces, makes the height H4 of the fourth workpiece W4 in the measurement direction from the reference plane P1 different from the heights H1-H3 of the first to third workpieces. As a result, the heights of the measurement direction from the reference plane P1 of the multiple workpieces that may be loaded into the machine tool, i.e., the multiple workpieces stored in the workpiece stocker, will differ depending on the type of workpiece. These various workpieces are carried into the machine tool together with the jig members and fixtures by a robot device.

[0051] 6 is a side view of the robot device 4. The robot device 4 includes a carriage 41, a robot 42, and a management device 43.

[0052] The cart 41 is configured to be movable within a facility in which the processing system 100 of this embodiment is employed. The cart 41 is a hand-pushed cart that is carried by a person. The cart 41 supports the robot 42.

[0053] The robot 42 carries workpieces from the workpiece stocker 2 into the machine tool 1. The robot 42 includes a first arm 421 that is a manipulator, a second arm 422 provided at the tip of the first arm 421, and a third arm 423 provided at the tip of the second arm 422. The robot 42 is an articulated robot in which the first arm 421 and the second arm 422, and the second arm 422 and the third arm 423 are connected by joints. A hand 424 that holds each workpiece (each fixture) is provided at the tip of the third arm 423. A camera 425 is also provided at the tip of the third arm 423. The camera 425 is used by the management device 43 to grasp the positional relationship between the robot 42 and the machine tool 1, the position of the workpiece to be removed, etc. The camera 425 and the hand 424 are configured to be movable in three-dimensional space based on instructions from the management device 43.

[0054] The management device 43 is provided within the robot device 4. The management device 43 is configured from a computer including a CPU, RAM, ROM, etc. The management device 43 receives instructions input via an operation panel (not shown). The management device 43 may also receive instructions via a network connected by wire or wirelessly. Upon receiving the instructions, the management device 43 executes a computer program stored in a recording medium. The management device 43 realizes control of the robot 42 by executing the computer program. The management device 43 is also connected to a machine tool by wire or wirelessly.

[0055] FIG. 7 is a flowchart showing the process for determining whether a workpiece is correct or incorrect. First, the management device 43 receives a work instruction indicating that the first workpiece W1 is to be machined by the machine tool 1 (step S11). Upon receiving the work instruction, the management device 43 controls the robot 42. Based on the instruction from the management device 43, the robot 42 retrieves the workpiece from a predetermined position in the workpiece stocker 2. This predetermined position is a position based on position information described in the instruction from the management device 43 and is set in advance. That is, the robot 42 retrieves the workpiece stored in the workpiece stocker 2 at a position where the first workpiece W1 should be stored (step S12). The robot 42 carries the retrieved workpiece into the machine tool 1. The robot 42 places the workpiece on the table of the machine tool 1 (step S13).

[0056] Next, the machine tool 1 prepares to measure the height of the workpiece from the reference plane in the measurement direction (step S14). Specifically, the machine tool 1 attaches the measuring device 5 stored in the tool magazine 17 to the spindle 16.

[0057] Next, measuring instrument 5 measures the height of the carried-in workpiece from the reference plane in the measurement direction (step S15). Specifically, machine tool 1 controls spindle 16. Machine tool 1 moves spindle 16 appropriately in the Y and X directions to position measuring instrument 5 above the workpiece. Then, machine tool 1 moves spindle 16 in the Z direction to bring measuring instrument 5 into contact with the top surface of the workpiece. This determines the position of the top surface of the workpiece in the Z direction. Machine tool 1 also brings measuring instrument 5 into contact with the top surface of the table. This determines the position of the top surface of the table in the Z direction. In this embodiment, the top surface of the table on which the workpiece is placed is set as the reference plane. Note that the reference plane may be determined in advance. Measuring instrument 5 transmits the measurement results to control device 19 of machine tool 1.

[0058] Next, the machine tool (control device 19) determines whether the work measured by measuring instrument 5, i.e., the work carried into machine tool 1, is the first work (step S16). If the machine tool 1 determines that the carried-in work is the first work (YES in step S16), it starts machining the first work (step S17). If the machine tool 1 determines that the carried-in work is not the first work (NO in step S16), it unloads the carried-in work (step S18). For example, the machine tool 1 moves the work to an unloading port by an unloading device provided within the machine tool 1.

[0059] 8 is a functional block diagram of the control device 19. The control device 19 includes a communication unit 191, a storage unit 192, a measurement processing unit 193, an acquisition unit 194, a determination unit 195, and a processing unit 196.

[0060] The communication unit 191 receives work instruction information indicating that the first workpiece W1 is to be processed from the management device 43 in the robot device 4. The communication unit 191 may be capable of transmitting information to the management device 43. The communication unit 191 stores the received work instruction information in the memory unit 192. The communication unit 191 transmits storage information indicating that the work instruction information has been stored in the memory unit 192 to the measurement processing unit 193.

[0061] When the measurement processing unit 193 receives the stored information from the communication unit 191, it causes the machine tool 1 and the measuring instrument 5 to perform a measurement operation to measure the height of the carried-in workpiece from the reference plane in the measurement direction. After the measurement operation is completed, the measurement processing unit 193 receives the measurement results from the measuring instrument 5. The measurement processing unit 193 stores the received measurement results in the memory unit 192. The measurement processing unit 193 transmits stored information indicating that the measurement results have been stored in the memory unit 192 to the acquisition unit 194.

[0062] When the acquisition unit 194 receives the stored information from the measurement processing unit 193, it acquires the measurement results from the memory unit 192. Furthermore, the acquisition unit 194 acquires first workpiece height information indicating the height of the first workpiece from the reference plane in the measurement direction from the memory unit 192. The first workpiece height information is stored in advance in the memory unit 192. The acquisition unit 194 transmits the acquired measurement results and first workpiece height information to the determination unit 195.

[0063] The determination unit 195 determines whether the measured workpiece, i.e., the workpiece carried into the machine tool, is the first workpiece, based on the measurement results received from the acquisition unit 194. More specifically, the determination unit 195 calculates the difference between the value indicated by the measurement results received from the acquisition unit 194 and the value indicated by the first workpiece height information. The determination unit 195 determines whether the calculated difference is within an allowable range. The allowable range is information stored in the storage unit 192 in advance, and the range is set appropriately. If the calculated difference is within the allowable range, the determination unit 195 determines that the carried-in workpiece is the first workpiece. If the calculated difference is outside the allowable range, the determination unit 195 determines that the carried-in workpiece is not the first workpiece. The determination unit 195 stores the determination result in the storage unit 192. The determination unit 195 transmits storage information indicating that the determination result has been stored in the storage unit 192 to the processing unit 196.

[0064] When processing unit 196 receives the stored information from determination unit 195, it acquires the determination result from memory unit 192. If the acquired determination result indicates that the workpiece is the first workpiece, processing unit 196 acquires work instruction information from memory unit 192 and causes machine tool 1 to perform a processing operation to process the workpiece. If the acquired determination result indicates that the workpiece is not the first workpiece, processing unit 196 acquires carry-out operation information from memory unit 192 and causes machine tool 1 to perform a carry-out operation to carry out the workpiece. The carry-out operation information is stored in memory unit 192 in advance.

[0065] As described above, in the machining system 100, the machine tool 1 is set to machine the first workpiece W1. The workpiece stocker 2, which stores workpieces that may be used by the machine tool 1, stores not only the first workpiece W1 but also the second to fourth workpieces W2-W4. Suppose that the first shelf 21 of the workpiece stocker 2, which is originally intended to store the first workpiece W1, mistakenly stores the second workpiece W2, which has the same height as the first workpiece W1. In this case, the robot device 4 loads the incorrect second workpiece W2. However, the machine tool 1 uses the measuring device 5 to measure the height of the loaded workpiece in the measurement direction from the reference plane before machining the workpiece. In this case, even though the second workpiece W2, which has the same height as the first workpiece W1, is loaded into the machine tool 1, the measurement result is height H2, which is different from the height H1 in the measurement direction from the reference plane specific to the first workpiece W1 to be machined. The control device 19 uses this measurement result to determine that the workpiece loaded into the machine tool 1 is not the first workpiece W1 to be machined. Therefore, according to the machining system 100, it is possible to prevent the machine tool 1 from machining a workpiece different from the first workpiece W1 to be machined.

[0066] Furthermore, in the processing system 100, the mounting mechanism 83 for mounting the second workpiece W2 to the second jig member 8 has a different configuration from the mounting mechanism 73 for mounting the first workpiece W1 to the first jig member 7. Only the first workpiece W1 can be mounted to the first jig member 7, and only the second workpiece W2 can be mounted to the second jig member 8. In other words, each jig member is configured so that only the corresponding type of workpiece can be mounted, and a different type of workpiece cannot be mounted. This prevents the wrong type of workpiece from being mounted on each jig member.

[0067] Furthermore, in the machining system 100, each jig member supports the bottom surface of the workpiece via an attachment mechanism, which leaves the top and side surfaces of the workpiece open. Therefore, the machining system 100 is suitable as a machining system for workpieces whose top and / or bottom surfaces are machined.

[0068] Furthermore, in the machining system 100, a measuring device 5 is attached to the spindle 16 of the machine tool 1. The position of the spindle 16 can be controlled in micrometer units, for example. Therefore, even if the height H1 of the first workpiece W1 in the measurement direction from the reference plane and the height H2 of the second workpiece W2 in the measurement direction from the reference plane are small, the control device can grasp the difference in height.

[0069] The above-described embodiments are illustrative in all respects and are not limiting. Modifications and variations are possible for those skilled in the art. The scope of the present invention is defined not by the above-described embodiments but by the claims. Furthermore, the scope of the present invention includes modifications from the embodiments within the scope of the claims and their equivalents.

[0070] For example, in the above embodiment, the case has been described where the work stocker 2 stores four types of workpieces, the first to fourth workpieces W1 to W4. However, the work stocker 2 does not have to store the third and fourth workpieces W3 and W4. In short, it is sufficient that the work stocker 2 stores at least two types of workpieces.

[0071] For example, in the above-described embodiment, the height H1 of the first workpiece and the height H2 of the second workpiece are made different by adjusting the heights of the height setting portions 72, 82 of the first and second jig members 7, 8 themselves. However, the means for making the height H1 of the first workpiece and the height H2 of the second workpiece different is not limited to this. For example, the heights of the clamped portions 71, 81 of the first and second jig members 7, 8 themselves may be adjusted.

[0072] For example, in the above-described embodiment, the first and second jig members 7 and 8 each include a clamped portion 71 and 81 and a height setting portion 72 and 82. However, the first and second jig members 7 and 8 may each have only the height setting portion 72 and 82. In this case, the height setting portion 72 and 82 are clamped by each fixator.

[0073] For example, in the above embodiment, the first and second jig members 7 and 8 are respectively housed in the work stocker 2 via the fixtures 6A and 6B. However, the first and second jig members 7 and 8 may also be respectively detachably attached directly to the work stocker 2. In short, the fixtures 6A and 6B may be provided as needed.

[0074] For example, in the above embodiment, the robot device 4 carries in the workpiece from the workpiece stocker 2 to the machine tool 1. However, a person may carry in the workpiece from the workpiece stocker 2 to the machine tool 1 instead of the robot device 4.

[0075] For example, in the above embodiment, the case has been described where the control device 19 that determines whether the workpiece is correct or not is provided in the machine tool 1. However, the control device 19 may be provided outside the machine tool 1. The control device 19 may be provided in the robot device 4, in the workpiece stocker 2, or in another location. For example, if the control device 19 is provided in the robot device 4, the arm of the robot device 4 may be used to measure the height of the workpiece. The control device 19 may determine whether the workpiece is correct or not before being carried into the machine tool 1 based on the measurement result. In other words, the control device 19 may determine whether the workpiece to be carried into the machine tool 1 is the first workpiece W1.

[0076] For example, in the above-described embodiment, the reference plane, which is the reference for measuring the height of the workpiece in the measurement direction, is the upper surface of the table of the machine tool. However, the reference plane is not limited to this. For example, when determining whether the workpiece is correct before being carried into the machine tool 1, the surface on which the workpiece stocker 2 is located may be set as the reference plane, and the correctness of the workpiece to be carried into the machine tool may be determined when it is stored in the workpiece stocker 2. In short, the reference plane may be set as appropriate.

[0077] For example, in the above-described embodiment, the control device 19 determines whether the work carried into the machine tool 1 is the first workpiece W1 to be machined. That is, the control device 19 determines whether the workpiece set as the workpiece to be machined in the machine tool 1 matches the carried-in workpiece. However, the control device 19 may also determine the type of the carried-in workpiece. In this case, if the control device 19 determines that the carried-in workpiece is not the first workpiece to be machined but the second workpiece, the machine tool 1 may switch settings so as to machine the second workpiece rather than unloading the second workpiece.

[0078] For example, in the above embodiment, the machine tool 1 is described as a vertical machining center. However, the machine tool 1 is not limited to this. The machine tool 1 may be a horizontal machining center, a turning center, or a multi-tasking machine having turning and milling functions. When the machine tool 1 is a turning center or a multi-tasking machine, the fixture is, for example, a chuck. In short, the machine tool 1 is not particularly limited as long as it is capable of machining multiple types of workpieces. [Explanation of symbols]

[0079] 100: Processing system 1: Machine tool 19: Control device 191: Communications Department 192: Storage section 193: Measurement processing section 194: Acquisition Department 195: Judgment section 196: Processing section 2,3: Work stocker 4: Robot device 5: Measuring instrument 6A-6D: Fixator 7: First jig member 71:First clamped part 72: First height setting unit 73: Mounting mechanism 8: Second jig member 81:Second clamped part 82: Second height setting unit 83: Mounting mechanism P1: Reference plane W1-W4: Work

Claims

1. A machining system configured to machine a plurality of types of workpieces, a machine tool that processes the carried-in workpiece; a fixture that fixes the workpiece at least within the machine tool; a jig member interposed between the fixture and the workpiece, to which the workpiece is attached; a measuring instrument that measures the height of the workpiece attached to the jig member in a normal direction from a reference plane inside or outside the machine tool; a determination unit that determines the type of the workpiece based on the measurement result of the measuring device, A machining system characterized in that the jig member is configured to vary the height of the workpiece attached to the jig member in the normal direction from the reference plane depending on the type of workpiece.

2. 2. The processing system according to claim 1, The jig member is a clamped portion that is clamped by the fixator; a height setting portion provided to protrude from the clamped portion and to which the workpiece is attached; A processing system characterized in that the height setting unit has a length that protrudes from the clamped portion that differs depending on the type of workpiece to be attached.

3. 3. The processing system according to claim 2, A processing system characterized in that the clamped portion has a common shape regardless of the type of workpiece.

4. 3. The processing system according to claim 2, The height setting unit is a mounting surface that is attached to the workpiece; a mounting mechanism formed between the mounting surface and the workpiece according to the type of the workpiece.

5. 3. The processing system according to claim 2, A machining system characterized in that the height setting unit has a mounting surface that is attached to the workpiece, and the mounting surface has a shape that corresponds to the type of workpiece to be attached.

6. 3. The processing system according to claim 2, The workpiece has a cylindrical shape, the height setting unit has an attachment surface attached to the underside of the workpiece, exposing a side surface of the workpiece; The machining system is characterized in that the machine tool machines a side surface of a workpiece attached to the attachment surface.

7. 2. The processing system according to claim 1, A machining system characterized in that the judgment unit determines whether the type of workpiece determined based on the measurement results of the measuring instrument matches the type of workpiece planned to be machined by the machine tool.

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