Processing System

Abstract

To enable the type of workpiece to be identified by simple measurement, to prevent a machine tool from machining a workpiece different from the workpiece to be machined, and to maintain high production efficiency. [Solution] The machining system comprises a machine tool on which an introduced workpiece is machined, a fixing device 6 that fixes the workpiece at least within the machine tool, fixture members 7, 8 that are interposed between the fixing device and the workpiece and on which the workpiece is attached, a measuring device that measures the normal height of the workpiece attached to the jig member from a reference plane P1 inside or outside the machine tool, and a judgment unit that judges the type of workpiece based on the measurement results of the measuring device, and the jig members 7, 8 are configured to make the normal heights H1, H2 of the workpieces W1, W2 attached to the jig member from the reference plane P1 different for each type.

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 that automatically machine workpieces. When machining multiple types of workpieces with this type of machine tool, first, a machining program that describes the type of workpiece to be machined and the machining content for that workpiece is input to the machine tool. Next, the workpiece to be machined is carried into the machine tool, and the machine tool machines the workpiece according to the input machining program.

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

[0004] While the workpiece is delivered to the machine tool by a robot device, the workpiece may be stored in the work stocker by a human being. Therefore, a workpiece of a different type from the workpiece originally stored in the predetermined position of the work stocker may be stored. Here, consider a case where the robot device takes out a workpiece based on position information indicating the position where the workpiece is stored. If an incorrect workpiece is stored in the predetermined position of the work stocker, the robot device will deliver a workpiece of a different type from the workpiece scheduled to be machined to the machine tool. In response to the problem that unscheduled machining may be performed on such a workpiece that has been delivered in error, resulting in a waste of the workpiece and machining time, it is possible to configure the system so that the dimensions of the workpiece are measured before machining to determine the type of the workpiece, and a corresponding machining program is selected according to the type of the workpiece that has been determined. For example, Patent Document 1 discloses a machining center capable of measuring the height of a workpiece in the machine.

[0005] In the machining center of Patent Document 1, a camera for photographing 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 in the machine as if looking down, 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 (amount of change in the number of pixels) in the image photographed 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 photographed by the camera is large. This machining system calculates the height of the workpiece based on the amount of movement in the photographed image. [Prior art documents] [Patent documents]

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

[0007] According to the workpiece height measuring mechanism of the machining center of Patent Document 1, since the height of the workpiece can be grasped, it is possible to determine that a workpiece having a different height from the workpiece to be machined, i.e., a workpiece different from the workpiece to be machined, has been carried into the machine tool. However, with this height measuring mechanism, it is difficult to distinguish a workpiece that has the same height as the workpiece to be machined, but is machined with a different machining program from the workpiece to be machined because of differences in material, dimensions other than height, etc., for example. In other words, even if such a height measuring mechanism is used, it is difficult to distinguish a workpiece that is different from the workpiece to be machined in elements other than height. That being said, if elements other than the height of the workpiece are measured, it may be possible to determine the type of workpiece, but the time required for measurement will be long, and the machining efficiency will decrease.

[0008] The present invention has an object to make it possible to identify the type of workpiece through simple measurement, prevent a machine tool from machining a workpiece different from the workpiece that is intended to be machined, 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 comprises a machine tool on which a workpiece is brought in and machined, a fixing device that fixes the workpiece at least within the machine tool, a fixture member interposed between the fixing device and the workpiece and on which the workpiece is attached, a measuring device that measures the normal height of the workpiece attached to the fixture 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 device, 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.

[0010] In the above processing system, there are multiple types of workpieces that may be machined by the machine tool. Therefore, there is a possibility that an incorrect workpiece that is not scheduled to be machined may be carried into the machine tool, and unscheduled processing may be performed on the workpiece. However, in the above processing system, the jig member on which the workpiece is attached is configured to make each of the multiple types of workpieces different. That is, each of the multiple types of workpieces has a unique height for each type by being attached to the jig member. The above processing 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 by simply measuring the height of the workpiece with a measuring device. Therefore, according to the above processing system, it is possible to determine the type of workpiece by simple measurement, prevent the machine tool from machining a workpiece different from the workpiece scheduled to be machined, and maintain high production efficiency.

[0011] (2) In the processing system of (1) above, the jig member includes 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 functions of the jig member in this way, it is possible to set different heights for multiple types of workpieces for each type, 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 the workpiece specific to each type.

[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, since the shape of the clamped portion is the same regardless of the type of workpiece, there is no need to change the fixture for each type of workpiece or to attach the workpiece 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 a mounting surface to be attached to the workpiece, and an attachment mechanism formed between the mounting surface and the workpiece according to the type of the workpiece.

[0016] In the machining system of (4) above, a workpiece other than the workpiece to be attached is prevented from being attached to the attachment surface (jig member). Therefore, the machining system prevents the wrong type of workpiece from being attached to 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 of (5) above, the mounting surface on which the workpiece is mounted has a shape corresponding to the type of workpiece. Therefore, it is possible to prevent a type of workpiece 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 machining system of (2) above, the workpiece may have a cylindrical shape, the height setting unit may have a mounting surface attached to an underside of the workpiece to expose a side surface of the workpiece, and the machine tool may machine the side surface of the workpiece attached to the mounting surface.

[0020] For example, when a cylindrical workpiece is clamped by a vice or the like, it is difficult to expose the entire side surface. In contrast, in the machining system of (6) above, 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 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, the height of a workpiece before machining by a machine tool is measured, and the type of the workpiece is determined, thereby making it 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 a workpiece that is not to be machined by the machine tool. Effect of the Invention

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

[0024] [Figure 1] FIG. 1 is a perspective view showing the overall configuration of the processing system. [Diagram 2] FIG. 2 is a diagram illustrating a schematic structure of a machine tool. [Diagram 3] FIG. 3 is a perspective view of the work stocker. [Figure 4] FIG. 4 is an exploded view that illustrates a schematic view of the work stocker, the fixture, the jig member, and the work. [Diagram 5] FIG. 5 is a diagram showing the heights from a 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 PREFERRED EMBODIMENTS

[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. 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 such that the robot device 4 carries in unmachined workpieces stored in the workpiece stockers 2 and 3 to the machine tool 1, 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, where a workpiece is machined, on the front side of machine tool 1, 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 side of machine tool 1.

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

[0029] 2 is a diagram showing a schematic 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 driving 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., to be movable in the Z direction. The spindle head 15 is driven by a driving device (not shown). The spindle head 15 supports the spindle 16. The spindle 16 is attached to the lower surface 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 driving device (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 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] The control device 19 is provided in the machine tool 1. The control device 19 is composed of a computer including a CPU, RAM, ROM, etc. The control device 19 executes a computer program stored in a recording medium to realize various controls of the machine tool 1. The details of the control device 19 will be described later.

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

[0035] A plurality of first fixtures 6A are arranged on the first shelf 21 along the X direction. As 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 that shows a schematic diagram of the first shelf, the first fixture, the first jig member, and the first work of the work stocker. The first shelf 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, 2112 provided on the first shelf 21 and two recesses 2113, 2114 provided on the first fixture 6A. The two protrusions 2111, 2112 are provided at a predetermined interval and protrude upward from the first shelf 21. The two recesses 2113, 2114 are provided to correspond to the two protrusions 2111, 2112, respectively. The two recesses 2113, 2114 are configured to allow the corresponding protrusions 2111, 2112 to be inserted therein.

[0037] The first fixing device 6A is a vice having a vice body and a pair of jaws provided on the vice body, at least one of the jaws being configured to be slidable on the vice body. The first fixing device 6A includes a first conveying held part 6A1 which is the vice body, and first clamping parts 6A2, 6A3 which are a pair of jaws. The first conveying held part 6A1 has a roughly rectangular parallelepiped shape, supports the first clamping parts 6A2, 6A3, and includes a mechanism (not shown) for driving the first clamping parts 6A2, 6A3 to move closer to or farther apart. The first conveying held part 6A1 is held and conveyed 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 fixing device 6A, and protrusions having shapes corresponding to the holes 611, 612, which are provided in two claws provided in a hand of a robot device (not shown). The two holes 611, 612 are provided on both side surfaces of the first transfer held part 6A1 of the first fixing device 6A. The two holes 611, 612 are provided at a predetermined interval. The two holes 611, 612 are provided at the end of the first transfer held part 6A1. The two holes 611, 612 are provided at positions closer to the end of the first transfer held part 6A1 than the center of the first transfer held part 6A1 in the relative movement direction of the first clamping part 6A2 and the first clamping part 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 held part for transfer 6A1 are configured so that protrusions provided on the hand of the robot device can be inserted. Specifically, the two claws of the robot device in a separated state are positioned on the outside of both sides of the first held part for transfer 6A1, and the two claws are brought close to each other, so that the two claws sandwich the first held part for transfer 6A1. At this time, the two protrusions provided on one claw are inserted into the two holes 611, 612 on one side of the first held part for transfer 6A1, and the two protrusions provided on the other claw are inserted into the two holes 611, 612 on the other side of the first held part for transfer 6A1. This allows the hand of the robot device to clamp the first transport held portion 6A1 (first fixing device 6A) and transport the first fixing device 6A.

[0039] Moreover, if the first fixing device 6A is provided on the first shelf 21 in the opposite direction (if the convex portion 2111 is inserted into the concave portion 2114 and the convex portion 2112 is inserted into the concave portion 2113), the two holes 611, 612 are provided at the end of the first conveying held portion 6A1 that is farther from the robot device. Since the robot device is programmed so that the state in which the two holes 611, 612 are provided at the end of the first conveying held portion 6A1 that is closer to the robot device is the correct orientation of the first conveying held portion 6A1, in this case, the convex portions of the robot device are not inserted into the two holes 611, 612, but hit the end of the side surface of the first conveying held portion 6A1 on the opposite side to the two holes 611, 612. Therefore, the stroke of the claws of the robot device when clamping the first conveying held portion 6A1 becomes shorter than usual. By detecting the change in the stroke of the claw portion, it is possible to detect whether the first fixing device 6A is placed in the correct orientation.

[0040] The first clamping portion 6A2 and the first clamping portion 6A3 are provided so as to face each other. The first clamping portion 6A2 and the first clamping portion 6A3 are configured so as to be able to approach and separate from each other. The approach and separation between the first clamping portion 6A2 and the first clamping portion 6A3 may be realized by moving the first clamping portion 6A2, may be realized by moving the first clamping portion 6A3, or may be realized by moving both the first clamping portions 6A2 and 6A3. With this configuration, the first clamping portions 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 by 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 a top view. The first clamped portion 71 is clamped by the first fixing device 6A by having its side surfaces clamped by 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 of the height setting portion 72 and the plurality of holes 732 of 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 multiple holes 731 of the height setting portion 72 and the multiple 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 portion 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 shows a schematic diagram of the second shelf, the second fixture, the second jig member, and the second work 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 the 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 fixture 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. In addition, 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 each of the plurality of holes 831, and a connection 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 its 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 product different from that of 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 its shape, but have the same material. The second workpiece W2 may differ from the first workpiece W1 in both its shape and material.

[0048] FIG. 5 is a diagram showing the height from the reference plane for each different type of workpiece. The height of the first workpiece W1 in the measurement direction (Z direction) from the reference plane P1 is set to H1. The reference plane P1 is defined by the position of the lower 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 upper surface of the table in the measurement direction. In addition, the height H1 of the first workpiece W1 in the measurement direction from the reference plane P1 is defined by 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 upper surface of the first workpiece W1. These measurement standards are the same for other workpieces.

[0049] On the other hand, the height of the second work 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 work 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 work W2 itself is the same as the height H12 of the first work W1 itself. However, the height H21 of the second height setting part 82 itself is different from the height H11 of the first height setting part 72 itself. As a result, the height H2 of the second work W2 in the measurement direction from the reference plane P1 is different from the height H1 of the first work W1 in the measurement direction from the reference plane P1. That is, the first jig member 7 and the second jig member 8 each set the height of the work they hold to a height specific to that work.

[0050] Similarly, the height of the third workpiece W3 and the fourth workpiece W4 in the measurement direction from the reference plane P1 is set to a unique height. The third workpiece W3 is a workpiece of a different type 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 that holds the third workpiece W3 makes 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 by appropriately adjusting the height H31 of the third height setting unit 92 itself. Similarly, the fourth jig member that holds the fourth workpiece W4 of a different type 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 carried into the machine tool, i.e., the multiple workpieces stored in the workpiece stocker, are different for each type of workpiece. These various workpieces are carried into the machine tool together with the respective 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 cart 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 a robot 42.

[0053] The robot 42 carries in the workpieces in the workpiece stocker 2 to the machine tool 1. The robot 42 includes a first arm 421 as 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 a multi-joint 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 for holding each workpiece (each fixture) is provided at the tip of the third arm 423. In addition, a camera 425 is 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 taken out, and the like. The camera 425 and the hand 424 are configured to be movable in a three-dimensional space based on an instruction from the management device 43.

[0054] The management device 43 is provided in the robot device 4. The management device 43 is composed of a computer including a CPU, RAM, ROM, etc. The management device 43 receives instructions inputted via an operation panel (not shown). The management device 43 may 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 correctness judgment process of the workpiece. First, the management device 43 receives a work instruction indicating that the first workpiece W1 is to be machined in 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 takes out the workpiece from a predetermined position in the workpiece stocker 2. This predetermined position is a position based on the position information described in the instruction from the management device 43, and is set in advance. That is, the robot 42 takes out 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 taken out 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 surface in the measurement direction (step S14). Specifically, the machine tool 1 attaches the measuring device 5 housed in the tool magazine 17 to the spindle 16.

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

[0058] Next, the machine tool (control device 19) determines whether or not the work measured by measuring device 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 apparatus 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 device 5 to execute a measurement operation to measure the height of the carried-in workpiece from a reference plane in the measurement direction. After the measurement operation is completed, the measurement processing unit 193 receives the measurement results from the measuring device 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 acquiring unit 194 receives the stored information from the measurement processing unit 193, it acquires the measurement results from the memory unit 192. The acquiring unit 194 also 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 acquiring unit 194 transmits the acquired measurement results and first workpiece height information to the determination unit 195.

[0063] The determination unit 195 determines whether or not the measured workpiece, i.e., the workpiece carried into the machine tool, is the first workpiece, based on the measurement result received from the acquisition unit 194. More specifically, the determination unit 195 calculates the difference between the value indicated by the measurement result received from the acquisition unit 194 and the value indicated by the first workpiece height information. The determination unit 195 determines whether or not 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 appropriately set. 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. When the acquired determination result indicates that the work is the first workpiece, processing unit 196 acquires work instruction information from memory unit 192, and causes machine tool 1 to execute a processing operation to process the workpiece. When the acquired determination result indicates that the workpiece is not the first workpiece, processing unit 196 acquires carrying-out operation information from memory unit 192, and causes machine tool 1 to execute a carrying-out operation to carry-out the workpiece. The carrying-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 second workpiece W2, whose height is the same as that of the first workpiece W1, is mistakenly stored on the first shelf 21 of the workpiece stocker 2, which is originally used to store the first workpiece W1. In this case, the wrong second workpiece W2 is carried in by the robot device 4. However, the machine tool 1 uses the measuring device 5 to measure the height of the workpiece carried in from the reference plane in the measurement direction before the workpiece is processed. In this case, although the second workpiece W2, whose height is the same as that of the first workpiece W1, is carried in 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 processed. The control device 19 uses this measurement result to determine that the workpiece carried in the machine tool 1 is not the first workpiece W1 to be processed. Therefore, according to the machining system 100, it is possible to prevent the machine tool 1 from machining a workpiece other than the first workpiece W1 to be machined.

[0066] Furthermore, in the machining 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 such that only the corresponding type of workpiece can be mounted, and a different type of workpiece cannot be mounted thereto. This prevents the wrong type of workpiece from being mounted on each jig member.

[0067] In the machining system 100, each jig member supports the bottom surface of the workpiece via an attachment mechanism. This leaves the top and side surfaces of the workpiece open. Therefore, the machining system 100 is suitable as a machining system for machining a workpiece whose top and / or bottom surface is 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 in the measurement direction from the reference plane of the first workpiece W1 and the height H2 in the measurement direction from the reference plane of the second workpiece W2 are small, the control device can grasp the difference in height.

[0069] The above-described embodiment is illustrative in all respects and is not restrictive. Modifications and changes are possible for those skilled in the art. The scope of the present invention is indicated by the claims, not the above-described embodiment. Furthermore, the scope of the present invention includes modifications from the embodiments within the scope of the claims and the equivalent scope.

[0070] For example, in the above embodiment, a case has been described in which four types of workpieces, the first to fourth workpieces W1 to W4, are stored in the workpiece stocker 2. However, the third and fourth workpieces W3 and W4 do not have to be stored in the workpiece stocker 2. In short, it is sufficient that the workpiece stocker 2 stores at least two types of workpieces.

[0071] For example, in the above embodiment, the height H1 of the first workpiece and the height H2 of the second workpiece are made different by adjusting the height of the height setting portion 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 height of the clamped portion 71, 81 of the first and second jig members 7, 8 themselves may be adjusted.

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

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

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

[0075] For example, in the above embodiment, the case where the control device 19 that judges whether the workpiece is correct or not has been described. 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 other locations. For example, when 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 judge whether the workpiece is correct or not before the workpiece is carried into the machine tool 1 based on the measurement result. That is, the control device 19 may judge whether the workpiece to be carried into the machine tool 1 is the first workpiece W1 or not.

[0076] For example, in the above embodiment, a case has been described in which the reference plane, which is the reference for measuring the height of the work in the measurement direction, is the table top surface of the machine tool. However, the reference plane is not limited to this. For example, when determining whether the work is correct before the work is carried into the machine tool 1, a surface of the work stocker 2 may be set as the reference plane, and the correctness of the work to be carried into the machine tool may be determined in a state in which the work is accommodated in the work stocker 2. In short, the reference plane may be set as appropriate.

[0077] For example, in the above embodiment, the control device 19 determines whether or not the work carried into the machine tool 1 is the first workpiece W1 to be machined. That is, the control device 19 determines whether or not the workpiece set as the processing target 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, when 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 the setting so as to machine the second workpiece rather than carrying out the second workpiece.

[0078] For example, in the above embodiment, the machine tool 1 is described as being 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 a turning function and a milling function. When the machine tool 1 is a turning center or a multi-tasking machine, the fixing device 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 section 73: Attachment mechanism 8: Second jig member 81:Second clamped part 82: Second height setting section 83: Attachment mechanism P1: Reference plane W1-W4: Work

Claims

1. A machining system configured to machine a plurality of types of workpieces, A machine tool for machining the workpiece carried in; a fixture that fixes the workpiece at least within the machine tool; A jig member interposed between the fixing device and the workpiece and to which the workpiece is attached; A measuring device 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 work based on the measurement result of the measuring device, The jig member is configured to vary the height of the workpiece attached to the jig member in a normal direction from the reference plane according to the type of the workpiece, and further The jig member is A clamped portion that is clamped by the fixing device; A height setting portion is provided so as 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 being attached.

2. 2. The processing system of claim 1, A machining system characterized in that the clamped portion has a common shape regardless of the type of the workpiece.

3. 2. The processing system of claim 1, The height setting unit is A mounting surface that is attached to the workpiece; and a mounting mechanism formed between the mounting surface and the workpiece according to the type of the workpiece.

4. 2. The processing system of claim 1, 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 corresponding to the type of workpiece to be attached.

5. 2. The processing system of claim 1, The workpiece has a cylindrical shape, The height setting unit has an attachment surface that is attached to a lower surface of the workpiece, and exposes 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 mounting surface.

6. 2. The processing system of 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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