Processing system and robot for machine tool

Abstract

To provide a processing system and a robot for a machine tool capable of reducing a work load of a user in the installation work of the robot.　The processing system is provided with a machine tool, and a robot that supplies a member to the machine tool. The machine tool is provided with a member attachment device to which the member can be attached. The robot has: an arm; a gripping part that is attached to the arm and is capable of gripping a member; a recognition device; and a control device that recognizes the surroundings of the robot by means of the recognition device, controls the arm on the basis of the recognition results, causes the gripping part to grip the member arranged in a member supply part, and causes the member to be conveyed to the member attachment device of the machine tool.

Description

Machining systems and robots for machine tools

[0001] The present disclosure relates to a machine tool robot that supplies members to a machine tool.

[0002] Patent Document 1 listed below describes a robot that supplies various components (such as unmachined workpieces and replacement chucks) to a machine tool. The robot described in Patent Document 1 is placed on a robot stand. This robot stand includes a fixed unit that is positioned and fixed to the machine tool, and a movable unit that is detachably attached to the fixed unit. The fixed unit is provided with a robot installation surface on which the robot can be installed.

[0003] International Publication No. WO2022 / 004766

[0004] The fixing unit of the robot stand described above is fixed at a predetermined position relative to the machine tool. Therefore, the position of the robot relative to the machine tool and the coordinates of the destination of the end effector are determined based on the predetermined fixed position. However, when attaching the robot to another machine tool, installation work is required. In order to properly control the robot, it is necessary to attach the robot to a predetermined position relative to the machine tool, which poses a problem of increasing the workload of the user during the installation work.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a processing system and a robot for a machine tool that can reduce the workload on the user when installing a robot.

[0006] In order to solve the above problems, this specification discloses a processing system comprising a machine tool and a robot that supplies members to the machine tool, wherein the machine tool has a member mounting device to which the members are mounted, and the robot has an arm, a gripping unit that is mounted to the arm and can grip the members, a recognition device, and a control device that recognizes the surroundings of the robot using the recognition device, controls the arm based on the recognition results, causes the gripping unit to grip the members placed in the member supply unit, and transports the members to the member mounting device of the machine tool.

[0007] Furthermore, the contents of the present disclosure are not limited to implementation as a machining system, but are also extremely effective when implemented as a machine tool robot that supplies members to a machine tool.

[0008] According to the machining system and machine tool robot disclosed herein, the arm can be controlled based on the results of recognition of the robot's surroundings by the recognition device. The robot can transport a component grasped by the gripper from the component supply unit to the component mounting device of the machine tool. This allows the robot to recognize its surroundings using the recognition device at the location where the user has installed the robot. Therefore, even if the user has not installed the robot at a predetermined location, the recognition device can recognize the location and structure of the component supply unit and the machine tool, and then transport the component. In other words, the range in which the user can install the robot can be expanded, thereby reducing the user's workload during robot installation work.

[0009] 1 is a perspective view of a machining system according to the present embodiment. A block diagram of the machining system. A perspective view of a drive unit. A perspective view showing the state of workpieces in a supply tray. A perspective view of a gripping unit. A perspective view of an engaging member. A plan view for explaining the position at which a monitoring sensor is installed. A diagram for explaining the detection range of a monitoring sensor. A diagram for explaining the detection range of a monitoring sensor in another embodiment. A flowchart showing variable setting processing. A diagram showing an arrangement reception screen for accepting the arrangement of each device. A diagram for explaining transport processing. A schematic plan view of a temporary placement unit. A schematic side view of the temporary placement unit.

[0010] (Regarding Machining System 10) An embodiment of a machining system according to the present disclosure will now be described with reference to the drawings. FIG. 1 shows a perspective view of the machining system 10 of this embodiment, and FIG. 2 shows a block diagram of the machining system 10. As shown in FIGS. 1 and 2, the machining system 10 includes a machine tool 11 and a robot 12. The machining system 10 is a system that supplies components required by the machine tool 11 using the robot 12. In the following description, as shown in FIG. 1, the directions as viewed from the front of the machine tool 11 will be used as the basis for the descriptions, with reference to up / down, left / right, and front / rear.

[0011] (Regarding the Machine Tool 11) First, the machine tool 11 will be described. The machine tool 11 is a turret-type lathe equipped with a workpiece spindle device 21 and a turret device 22, and is equipped with a slant-type bed. The configuration of the machine tool 11 shown in FIGS. 1 and 2 is an example. For example, the machine tool 11 may be a lathe equipped with multiple sets of workpiece spindle devices 21 and turret devices 22, or may be a so-called multi-tasking machine equipped with a tool spindle device in addition to the turret device 22. Therefore, the machine tool of the present disclosure is not limited to a lathe, and machine tools of various configurations such as a machining center, milling machine, and drilling machine can be used. The machine tool 11 may also be equipped with a loader for transporting a workpiece.

[0012] The machine tool 11 is provided with a sliding door 23 on the front side of the device. The sliding door 23 is capable of sliding left and right. A machine tool control device 25 (see FIG. 2) of the machine tool 11 can automatically open and close the sliding door 23 by driving a door motor 23A provided in the machine tool 11. A machining chamber 26 in which a workpiece is machined is provided behind the sliding door 23. The machining chamber 26 is provided with a workpiece spindle device 21 and a turret device 22.

[0013] The work spindle device 21 can be fitted with, for example, three chuck jaws 21A as a gripping mechanism for gripping a workpiece. The work spindle device 21 clamps the workpiece with the three chuck jaws 21A and rotates the workpiece around a work spindle 27 that is parallel to the left-right direction. The work spindle device 21 is equipped with a servo motor, encoder, etc. for rotating the workpiece, and the rotation operation of the motor is controlled by the machine tool side control device 25. Note that the gripping mechanism is not limited to the chuck jaws 21A, and other mechanisms capable of gripping a workpiece, such as a collet chuck, may also be used.

[0014] The turret device 22 includes, for example, a turret (not shown) to which multiple tools can be attached, and a servo motor (not shown) that rotates the turret. The turret device 22 performs machining of the workpiece held by the workpiece spindle device 21 using cutting tools (such as cutting tools and rotary tools) attached to the turret. The turret device 22 rotates the turret under the control of the machine tool control device 25, and switches the cutting tools (cutting tools indexed to the work position) used to machine the workpiece. The machine tool 11 also includes a slide device (not shown) that moves the turret device 22 left and right and in a direction along the guide surface of the slant-type bed, and controls the slide device to change the position of the turret device 22 (the cutting tools indexed to the work position).

[0015] An operation panel 29 is provided on the front of the machine tool 11. The operation panel 29 includes, for example, a touch panel and a plurality of operation switches, and displays information related to the machine tool 11 and receives operational instructions. As shown in FIG. 2 , the machine tool control device 25 includes a numerical control device 31 and a PLC 32. The numerical control device 31 includes a CPU 33 and a storage device 34. The storage device 34 includes, for example, RAM, ROM, flash memory, and HDD. The configuration of the storage device 34 is not limited to the above-described configuration, and it may include an SSD instead of an HDD, an external storage device such as a USB memory, or a storage medium such as a DVD-RAM, or a combination of these. The same applies to the configuration of the storage device 96 of the robot 12, which will be described later.

[0016] The machine tool 11 also includes a machine tool control device 25 and a plurality of drive circuits 30 that connect each of the above-mentioned devices (workpiece spindle device 21, turret device 22, door motor 23A, and operation panel 29). The numerical control device 31 is able to control each device via the drive circuits 30 by executing an NC program 35 stored in a storage device 34 with a CPU 33. The drive circuits 30 are, for example, driver circuits (servo amplifiers) or the like.

[0017] The PLC 32 is a programmable logic controller. The PLC 32 executes, for example, a ladder program and performs sequence processing of various signals using a ladder circuit. The various signals referred to here include, for example, output signals that drive elements such as various lamps provided in the machine tool 11, and input signals that are input from elements such as limit switches. The PLC 32 is connected to the numerical control device 31 via a communication bus 37 and performs input and output of signals to and from the numerical control device 31.

[0018] The machine tool 11 also has an external interface 38. The external interface 38 is, for example, a LAN interface, and is connected to an external interface 41 of the robot 12 via a LAN cable 40. The machine tool 11 is able to communicate with the robot 12 via the external interface 38. The communication standard connecting the machine tool 11 and the robot 12 is not limited to the LAN communication standard, and may be other communication standards such as the USB standard. Furthermore, the communication connecting the machine tool 11 and the robot 12 is not limited to wired communication, and may be wireless communication.

[0019] The storage device 34 also stores a linking program 39 for executing a linking operation with the robot 12. By executing the linking program 39 in the CPU 33, the machine tool side control device 25 can notify the robot 12 of the operating status of the machine tool 11 (opening / closing of the sliding door 23, completion of machining, etc.). In the following description, the execution of the NC program 35 or the linking program 39 in the CPU 33 by the machine tool side control device 25 to control each device may be described simply by the program name or device name. For example, the description "the machine tool 11 notifies the robot 12 that the sliding door 23 has been opened" means "the machine tool side control device 25 executes the linking program 39 in the CPU 33 and controls the external interface 38 to notify the robot 12 that the sliding door 23 has been opened." The same applies to the robot 12 (control device 47) described below.

[0020] (Regarding the Robot 12) Next, the robot 12 will be described. In addition to the external interface 41 described above, the robot 12 includes a base 43, a drive unit 45, a control device 47, and multiple monitoring sensors 49. In the installation state shown in FIG. 1 , the base 43 has a generally rectangular parallelepiped shape that is elongated in the left-right direction and includes the control device 47 therein. A drive unit 45 is attached to an upper surface 43A of the base 43. The drive unit 45 is an articulated robot, is provided on the right side of the upper surface 43A, and is fixed in position relative to the base 43. The base 43 is supported by multiple legs 43B (only one of which is shown in FIG. 1 ) provided on its lower surface, and its position is adjustable. Therefore, the position and orientation of the drive unit 45, together with the base 43, are adjustable. A user can relocate the robot 12 in front of or beside a machine tool different from the machine tool 11.

[0021] Therefore, the arrangement of the machine tool 11 and the robot 12 shown in Fig. 1 is one example. In the arrangement shown in Fig. 1, the robot 12 is arranged in front of the machine tool 11. The drive unit 45 is arranged in a position in front of the machining chamber 26. A carriage 51 is also arranged in front of the base 43. A plurality of casters 51A are attached to the carriage 51. The carriage 51 is also fixed to the installation surface 13 of the robot 12 by a plurality of bolts 51B. The position of the carriage 51 can be changed by removing the bolts 51B.

[0022] A supply tray 52 and a discharge tray 53 are installed on the carriage 51. As shown in FIG. 4 , the supply tray 52 stores pre-machined workpieces W (base materials), and stores multiple types of workpieces W. The multiple workpieces W are stored in different positions and orientations. The discharge tray 53 is located to the left of the supply tray 52 and is a tray for storing the processed workpieces W. A jig 55 is also provided on the left side of the upper surface 43A of the base 43. As shown in FIG. 4 , in this embodiment, a workpiece W having a hole is used. The jig 55 is a member for temporarily placing the workpieces W stored in the supply tray 52, and has a base extending in the vertical direction and a protrusion provided on the base. The protrusion of the jig 55 is formed to be large enough to be inserted into the hole in the workpiece W. The robot 12 drives the drive unit 45 under the control of the control device 47, grips the workpiece W stored in the supply tray 52, inserts the holes in the workpiece W into the protrusions of the jig 55, and temporarily places the workpiece W on the jig 55. This positions the workpiece W with its axial direction in the up-down direction. The robot 12 again grips the workpiece W temporarily placed on the jig 55 and attaches it to the workpiece spindle device 21 of the machine tool 11. The machine tool 11 performs machining on the workpiece W using the turret device 22. The robot 12 receives the machined workpiece W from the workpiece spindle device 21 and stores it in the discharge tray 53. A tray stand 44 for placing a spare discharge tray 53A is provided on the left side of the jig 55 on the upper surface 43A. A plurality of discharge trays 53A are stacked vertically on the tray stand 44. When the discharge tray 53 is filled with the processed workpieces W, the robot 12 lifts up a new discharge tray 53A and places it on the discharge tray 53 to use it as the discharge tray 53.

[0023] The workpiece W is an example of a component of the present disclosure. Note that the component supplied by the robot 12 to the machine tool 11 is not limited to the workpiece W, and may be another component. Specifically, the component may be, for example, the chuck jaws 21A, a cutting tool of the turret device 22, or other jigs. Furthermore, the robot 12 may not only supply these components, but also remove and replace them from the machine tool 11. The chuck jaws 21A may be detachable without using fastening members such as bolts, such as the small jaws (chuck jaws) described in International Publication No. WO 2023 / 286109. The jig may be, for example, a pusher attached to the turret of the turret device 22 and pressing the workpiece W of the workpiece spindle device 21 against a stopper. Therefore, various components that can be transported by the robot 12 and used in the machine tool 11 may be used as components of the present disclosure. The robot 12 of the present disclosure is not limited to an articulated robot, and may be, for example, an Cartesian robot that moves a gripper along a slide axis.

[0024] Fig. 3 shows a perspective view of the drive unit 45. As shown in Figs. 1 to 3, the drive unit 45 has a base 61, an arm 63, a gripping unit (end effector) 65, etc. The base 61 is fixed to the upper surface 43A of the base 43 with bolts or the like, and supports a support unit 63A of the arm 63. The arm 63 has a first arm rotating unit 67 (see Fig. 2), three joint driving units 68, 69, and 70, a second arm rotating unit 71 (see Fig. 2), and a hand rotating unit 72.

[0025] The arm 63 is connected in this order from the support portion 63A to the tip thereof: a first arm portion 74, a second arm portion 75, a joint drive portion 69, a third arm portion 77, a joint drive portion 70, a hand rotation portion 72, and a gripper portion 65. The support portion 63A is attached to the upper surface of the base portion 61. The first arm rotation portion 67 is provided within the base portion 61 and includes a servo motor 67A as a drive source and an encoder 67B that outputs rotational position information of the servo motor 67A. The first arm rotation portion 67 rotates the servo motor 67A under the control of the control device 47, thereby rotating the support portion 63A (arm 63) around a rotation axis parallel to the vertical direction. The control device 47 feedback-controls the servo motor 67A based on rotational position information (encoder information) output from the encoder 67B and a target rotational position, etc. This allows the arm 63 to rotate to any rotational position. In the following description of the joint drive units 68, 69, 70, the second arm rotation unit 71, and the hand rotation unit 72, the description of the same contents as those of the first arm rotation unit 67 will be omitted as appropriate.

[0026] The first arm 74 has, for example, a pair of plate-like members having the same shape. The base end of the first arm 74 is attached to the support 63A, and the joint driver 68 is attached to the tip end. The pair of plate-like members are attached in positions facing each other with the support 63A and the joint driver 68 sandwiched between them.

[0027] The second arm unit 75 is a member that extends in one direction, and has a joint driver 68 attached to its base end. The joint driver 68 includes a servo motor 68A and an encoder 68B, and rotates the servo motor 68A under the control of the control device 47 to rotate the second arm unit 75 relative to the first arm unit 74. The joint driver 68 drives the second arm unit 75 to rotate, for example, around a rotation axis that is parallel to the left-right direction, thereby changing the rotational position of the second arm unit 75 relative to the first arm unit 74.

[0028] The base end of a third arm unit 77 is attached to the tip end of the second arm unit 75 via a joint driver 69. The third arm unit 77 is a member that extends in one direction. Like the joint driver 68, the joint driver 69 includes a servo motor and an encoder, and rotates the third arm unit 77 relative to the second arm unit 75 around a rotation axis that is parallel to the left-right direction. In addition, a hand rotation unit 72 is attached to the tip end of the third arm unit 77 via a joint driver 70. Like the joint driver 68, the joint driver 70 includes a servo motor and an encoder, and rotates the hand rotation unit 72 relative to the third arm unit 77 around a rotation axis that is parallel to the left-right direction.

[0029] Further, the second arm rotation unit 71 (see FIG. 2 ) is provided within the joint drive unit 69, and rotates the third arm unit 77 relative to the joint drive unit 69. Similar to the first arm rotation unit 67 and the joint drive unit 68, the second arm rotation unit 71 includes a servo motor 71A and an encoder 71B, and rotates (spins) the third arm unit 77 in the direction in which the third arm unit 77 protrudes from the joint drive unit 69, i.e., around a rotation axis parallel to the longitudinal direction of the third arm unit 77.

[0030] The hand rotation unit 72 has the joint drive unit 70 attached to its base end and the gripper 65 attached to its tip end. Like the second arm rotation unit 71, the hand rotation unit 72 is equipped with a servo motor 72A and an encoder 72B, and rotates the gripper 65 around a rotation axis that is parallel to the direction in which the hand rotation unit 72 protrudes from the joint drive unit 70. By rotationally driving the first arm rotation unit 67, the joint drive units 68 to 70, the second arm rotation unit 71, and the hand rotation unit 72, the robot 12 can move the gripper 65 to any position up and down, left and right, or front and back, and can also change the orientation and posture of the gripper 65.

[0031] Fig. 5 shows a perspective view of the gripping portion 65. As shown in Figs. 2, 3, and 5, the gripping portion 65 has a fixed claw 81, a movable claw 82, a pocket portion 83, an imaging device 85, and an engaging member 86. The fixed claw 81 and the movable claw 82 are metal members and are arranged in positions facing each other. The fixed claw 81 is fixed in position in the gripping portion 65, and a plurality of claw portions 81A for gripping the workpiece W are provided on the inner surface facing the movable claw 82.

[0032] The movable claw 82 is slidable relative to the fixed claw 81, and slides toward the fixed claw 81 (to the left in FIG. 5 ) or away from the fixed claw 81 (to the right in FIG. 5 ). FIG. 5 shows the fixed claw 81 and the movable claw 82 in an open state. The robot 12 also includes, for example, an air cylinder 87 (see FIG. 2 ) and an air supply device 88 (see FIG. 2 ) as drive sources for opening and closing the fixed claw 81 and the movable claw 82. The air cylinder 87 is provided in the gripper 65, and the movable claw 82 is attached to its output shaft. The air supply device 88 is provided in the base 43 and connected to the air cylinder 87 via multiple tubes 89. Note that FIG. 3 shows only a portion of the tubes 89. The control device 47 changes the movement direction of the movable claw 82 by, for example, controlling a switching valve (not shown) to change the direction of air supplied from the air supply device 88 to the air cylinder 87 via the tube 89. This opens and closes the fixed claw 81 and the movable claw 82. The drive source for sliding the movable claw 82 is not limited to the air cylinder 87, but may be another type of drive source such as a hydraulic cylinder.

[0033] The bag portion 83 is attached to the movable claw 82, and is attached to the inner surface of the movable claw 82 facing the fixed claw 81. The rigidity of the bag portion 83 can be changed based on the control of the control device 47. As described in JP 2021-065977 A, for example, the bag portion 83 can be configured to have a bag-shaped internal space filled with contents whose rigidity can be changed. When the bag portion 83 is pressed against a target member (such as a workpiece W) while in a soft state, it changes shape to match (fit) the outer shape of the member, and then maintains the shape that encases the member by switching the interior to a hard state while in that state.

[0034] Specifically, the bag portion 83 has, for example, a cylindrical shape with its base end fixed to the base of the movable claw 82 and extending in the same direction as the claw portion of the movable claw 82 (the up-and-down direction in FIG. 5 ). The tip of the bag portion 83 has a rounded spherical surface. The bag portion 83 is sealed to maintain airtightness and is filled with powder and air. The bag portion 83 is flexible and can flexibly conform to the shape of the workpiece W when pressed against the workpiece W. Examples of powder that can be used include polystyrene foam, glass beads, roasted beans, and crushed dried wood chips. Furthermore, the shape of the powder can be, for example, spherical particles to facilitate flow when the bag portion 83 is conformed to the shape of the workpiece W (the object to be gripped), or multifaceted particles to increase surface friction.

[0035] The robot 12 also has a curing device 91 (see FIG. 2 ) that hardens the bag portion 83. The curing device 91 is, for example, a vacuum pump that is provided inside the base 43 and connected to the bag portion 83 via a plurality of tubes 92. Note that FIGS. 3 and 5 only show a portion of the tubes 92. The control device 47 drives the air cylinder 87 to slide the movable claws 82, press the bag portion 83 against the workpiece W, and tightly seal the bag portion 83 so that it conforms to the workpiece W and encloses it. Then, the hardening device 91 sucks out the air from inside the bag portion 83. The bag portion 83 hardens due to the principle of jamming transition as the air inside is sucked out and the bulk density of the powder increases.

[0036] Therefore, the control device 47 slides the movable claw 82 with the workpiece W placed between the fixed claw 81 and the movable claw 82, pressing the bag portion 83 against the workpiece W and deforming the bag portion 83 to conform to the shape of the workpiece W. The control device 47 grips the workpiece W with the fixed claw 81 and the movable claw 82 in a deformed state of the bag portion 83. This allows the bag portion 83 to be deformed and workpieces W of various shapes to be gripped by the fixed claw 81 and the bag portion 83. On the other hand, if the workpiece W is gripped from both sides with two bag portions 83, a sufficient gripping force may not be secured depending on the weight of the workpiece W, and the position of the workpiece W may shift or the workpiece W may fall off the gripping portion 65. In contrast, by clamping the workpiece W between the bag portion 83 and the metal fixed claw 81 having the claw portion 81A without the bag portion 83, the gripping force (clamping force) can be secured to hold the workpiece W.

[0037] The above-described configuration of the bag portion 83 is merely an example. For example, the bag portion 83 is not limited to a configuration in which the entire internal space is filled with powder, but may have a double structure in which powder is sealed only in the outer peripheral portion (surface portion) and an internal space is formed. The bag portion 83 may be configured to shrink and deform when air in the internal space is sucked in, thereby increasing the bulk density of the powder in the outer peripheral portion and hardening. The contents of the bag portion 83 are not limited to air, but may also be a fluid (water or oil). In this case, hardening may be achieved by suction using a liquid pump. Furthermore, for example, although the bag portion 83 is configured to harden by reducing pressure in the above example, it may also be configured to harden by applying pressure. For example, the bag portion 83 may have a double structure, and the bag containing no powder may be pressurized to expand it, thereby reducing the volume of the portion containing powder, thereby hardening the bag portion 83. Alternatively, a magnetic fluid (MR fluid (Magneto Rheological Fluid)) in which magnetic particles (granules) are dispersed in a liquid (fluid) may be filled into the bag portion 83 instead of the powder and air, and a magnetic field may be applied to the magnetic fluid by a permanent magnet or an electromagnet to increase the viscosity of the magnetic fluid, thereby hardening the bag portion 83. Also, an electrorheological fluid (ER fluid (Electrorheological Fluid)) in which insulating fine particles (granules) are dispersed in an insulating liquid (fluid) may be filled into the bag portion 83 instead of the powder and air, and an electric field may be applied to the electrorheological fluid to increase the viscosity of the electrorheological fluid, thereby hardening the bag portion 83.

[0038] The bag portion 83 may also be provided on both the fixed claw 81 and the movable claw 82. The bag portion 83 may also be provided on only the fixed claw 81. The gripping unit 65 may also have three or more claws, and at least one of the multiple claws may have the bag portion 83. The robot 12 may also be configured without the curing device 91. For example, the bag portion 83 may be filled with a predetermined amount of powder or air and sealed, and the fluidity may be adjusted. The gripping unit 65 may also be configured without the bag portion 83.

[0039] The imaging device 85 is, for example, a stereo 3D camera, and is provided above the fixed claws 81 and the movable claws 82. The imaging device 85 is fixed with the imaging direction aligned with the direction in which the fixed claws 81 and the movable claws 82 extend (the up and down direction in FIG. 5 ). The control device 47 captures images of the surroundings of the robot 12 using the imaging device 85, acquires point cloud data (spatial position information) of surrounding objects (such as the machine tool 11 and the supply tray 52) based on the captured image data, recognizes the shapes of the objects, and sets a movement path for the robot 12 according to the recognized shape.

[0040] The imaging device 85 is an example of a recognition device of the present disclosure. The imaging device 85 is not limited to a stereo 3D camera, and other types of 3D cameras, such as a Time of Flight (ToF) camera, can be used. The recognition device of the present disclosure is not limited to a 3D camera, and may be a Light Detection and Ranging (LiDAR) (which may also be called a laser scanner). In this case, the control device 47 may acquire point cloud data of an object, such as the machine tool 11, using a laser emitted from the LiDAR. Alternatively, the recognition device may be configured by combining a LiDAR with a 2D camera or a 3D camera.

[0041] The engaging member 86 is a member for moving the spare discharge tray 53A. The engaging member 86 is provided at a position outside the fixed claw 81 in the direction in which the fixed claw 81 and the movable claw 82 face each other (the left-right direction in FIG. 5 ). FIG. 6 is a perspective view of the engaging member 86, showing the engaging member 86 as viewed from the outside. As shown in FIG. 6 , the engaging member 86 has a plate-shaped mounting portion 86A, a main body portion 86B, and a pair of engaging portions 86C. The mounting portion 86A has, for example, two through holes 86D. The engaging member 86 is fixed to the base end of the fixed claw 81 by bolts inserted into the two through holes 86D.

[0042] The main body portion 86B is provided on the lower part of the front surface (the left surface in FIG. 6 ) of the mounting portion 86A. The main body portion 86B is thicker than the mounting portion 86A and has a generally plate-like shape with its longitudinal direction perpendicular to the mounting portion 86A. The pair of engaging portions 86C are provided on both ends of the main body portion 86B in the longitudinal direction. Each of the pair of engaging portions 86C is provided on the front end portion (the left end portion in FIG. 6 ) of the main body portion 86B. Each of the pair of engaging portions 86C has the same shape and forms a quadrangular prism. Each of the pair of engaging portions 86C extends in a direction perpendicular to the longitudinal direction of the main body portion 86B.

[0043] As shown in FIG. 1 , the discharge trays 53 and 53A are box-shaped containers. The discharge trays 53 and 53A have hand-held recesses 57 formed on each of two opposing sides. The robot 12 inserts engagement members 86 into the recesses 57 and carries the spare discharge tray 53A over the discharge tray 53. For example, the robot 12 inserts the engagement members 86 into the recesses 57 and lifts the discharge tray 53A by engaging the upper and front surfaces of the pair of engagement members 86C and the front surface of the main body 86B with the recesses 57.

[0044] Next, the monitoring sensors 49 will be described. FIG. 7 is a plan view showing the locations where the monitoring sensors 49 are installed. Each of the multiple monitoring sensors 49 is, for example, a radar-type sensor, and detects intrusion into an area 48 in which the robot 12 and the carriage 51 shown in FIG. 7 are installed. Each of the multiple monitoring sensors 49 is arranged on the installation surface 13 of the machine tool 11 and connected to the control device 47. The area 48 is, for example, a rectangular area surrounding the robot 12 and the carriage 51 in a plan view. A total of six of the multiple monitoring sensors 49 are installed: two on the right side of the robot 12 and the carriage 51, two in front of the carriage 51, and two on the left side of the robot 12 and the carriage 51. Two monitoring sensors 49 are arranged in each direction, at positions that are opposite ends of the area 48. In other words, each of the six monitoring sensors 49 is arranged at each of the right, front, and left corners of the area 48.

[0045] FIG. 8 schematically illustrates the detection range 50 of the monitoring sensor 49. As shown in FIG. 8, the detection range 50 (radar spread angle) of the monitoring sensor 49 is set to, for example, a 90-degree range. Each of the multiple monitoring sensors 49 is installed with one side of the detection range 50 parallel to the installation surface 13 and the other side aligned vertically. Two monitoring sensors 49 are installed in each direction so that their detection ranges 50 face each other. The two monitoring sensors 49 are arranged so that their detection ranges 50 overlap with each other when the detection ranges 50 are vertically aligned with the installation surface 13. This allows the two detection ranges 50 to be expanded like a light curtain and set like a wall surrounding the area 48. Note that FIG. 8 does not illustrate the detection range 50 on the left side of the cart 51.

[0046] The control device 47 restricts the movement of the robot 12 when at least one of the multiple monitoring sensors 49 detects an intrusion into the area 48 where the robot 12 is located. The method of restricting the movement may be to stop the movement of the robot 12 or to slow down the movement speed of the robot 12. In this way, the monitoring sensor 49 can detect an intrusion into the area 48, and it is possible to eliminate fences or walls surrounding the robot 12. As a result, the workload of relocating the robot 12 can be reduced.

[0047] The above-described types of monitoring sensors 49, installation positions, detection ranges 50, etc. are merely examples. For example, the monitoring sensors 49 are not limited to radar-type sensors, and other sensors such as infrared sensors may be used. Furthermore, a fence or wall may be provided surrounding the robot 12 or the cart 51, and the monitoring sensors 49 may be installed on the fence or wall. Furthermore, the angle of the detection range 50 is not limited to 90 degrees, and may be other angles such as 45 degrees or 180 degrees. Furthermore, the detection range 50 may be a range that spreads radially from the monitoring sensor 49 as the center.

[0048] FIG. 9 also shows a detection range 50A of a monitoring sensor 49 in another embodiment. As shown in FIG. 9, the detection range 50A may be set in a direction parallel to the installation surface 13. Specifically, two monitoring sensors 49 are arranged in each direction, and are positioned at the center of one side of the area 48. Furthermore, the two monitoring sensors 49 are arranged so that one side of the detection range 50A is aligned with one side of the area 48, and the other sides of the detection range 50A are aligned parallel to each other (along a direction perpendicular to the side of the area 48). This allows a person approaching the area 48 to be detected from a longer distance. The monitoring sensor 49 with the detection range 50 shown in FIGS. 7 and 8 may be combined with the monitoring sensor 49 with the detection range 50A shown in FIG. 9. That is, a detection range 50 perpendicular to the installation surface 13 and a detection range 50A parallel to the installation surface 13 may be combined.

[0049] 2, the robot 12 is equipped with a touch panel 93 as a user interface. The control device 47 displays information about the robot 12 and receives instructions from the user via the touch panel 93. The touch panel 93 is attached to, for example, any surface of the base 43. If the robot 12 and the cart 51 are surrounded by a fence, the touch panel 93 may be installed on the fence. The user interface of the robot 12 may be a portable device such as a teaching pendant. The user interface may also be a tablet or the like that is connected to the control device 47 via wireless communication.

[0050] 2, the robot 12 includes a control device 47 and a plurality of drive circuits 94 connecting the above-described devices (first arm rotation unit 67, joint drive units 68-70, second arm rotation unit 71, hand rotation unit 72, air cylinder 87, air supply unit 88, hardening device 91, imaging device 85, monitoring sensor 49, and touch panel 93). The control device 47 includes a CPU 95 and a storage device 96. The control device 47 controls the devices via the drive circuits 94 by executing a control program 97 stored in the storage device 96 with the CPU 95. The control program 97 also includes a transport program 98. The transport program 98 is a program for supplying and discharging the workpiece W shown in FIG. 12, which will be described later. The transport program 98 may be a program separate from the control program 97.

[0051] (Regarding Variable Setting Process) Next, the variable setting process for setting variables of the transport program 98 will be described with reference to Fig. 10. By executing the variable setting process, the control device 47 captures an image of the surroundings of the robot 12 using the imaging device 85 and sets coordinates for variables in the transport program 98 based on the captured image. The control program 97 starts the process shown in Fig. 10 in response to, for example, a predetermined operational input on the touch panel 93.

[0052] When the control program 97 starts the variable setting process, first, in step (hereinafter simply referred to as S) 1 shown in Fig. 10, it receives information on the arrangement of the machine tool 11, supply tray 52, etc. In the next step S3, the control program 97 takes images of the periphery of the robot 12, the machine tool 11, supply tray 52, discharge trays 53, 53A, etc., and sets a movement path for transporting the workpiece W. In S1, it receives information indicating the orientation of the machine tool 11, supply tray 52, and discharge tray 53 (hereinafter referred to as the image target), which are objects to be imaged around the robot 12, relative to the robot 12.

[0053] The control program 97 displays an arrangement reception screen 101 shown in FIG. 11 on the touch panel 93 and accepts arrangement information (S1). As shown in FIG. 11, the control program 97 displays an imaging target selection section 102 on the right side of the arrangement reception screen 101 and an imaging target placement section 103 to the left of the imaging target selection section 102. The control program 97 displays an imaging target 105 representing the machine tool 11, supply tray 52, and discharge tray 53 that are arranged around the robot 12 in the imaging target selection section 102. The control program 97 displays an image of the robot 12 in the center of the imaging target placement section 103 and places the imaging target 105 in the imaging target placement section 103 in response to a user operation. For example, the control program 97 accepts an operation to place the imaging target 105 displayed in the imaging target selection section 102 in the imaging target placement section 103 by a drag-and-drop operation. When the setting button 107 displayed on the placement acceptance screen 101 is operated, the control program 97 accepts the placement information received by the imaging target placement unit 103 as information on the orientation of each imaging target 105 relative to the robot 12. This acceptance process only requires receiving information indicating the orientation of the imaging targets 105, such as the machine tool 11, relative to the robot 12, and does not necessarily require receiving information on the exact position at which the imaging targets 105 are placed. Therefore, in addition to the method of accepting the information on the placement acceptance screen 101 described above, the control program 97 may, for example, display buttons indicating directions such as the front, rear, right, left, diagonally forward right, and diagonally forward left of the robot 12, and accept the selection of a button indicating the orientation from among the displayed buttons. Alternatively, the control program 97 may accept coordinates in the left-right or up-down directions as placement information.

[0054] Furthermore, for example, the control program 97 may accept placement information in three-dimensional form. Therefore, in addition to information on the front-rear and left-right directions, information on the up-down direction may also be accepted. Furthermore, the control program 97 may accept information other than the direction relative to the robot 12. For example, the control program 97 may accept information indicating the front of the machine tool 11 (the side on which the sliding door 23 is provided). Specifically, the control program 97 may illustrate the sliding door 23 on the imaging target 105 of the machine tool 11, and accept a rotation operation of the imaging target 105 in the imaging target placement unit 103 to accept the positional relationship between the robot 12 and the sliding door 23. Alternatively, members other than trays may be used as members for supplying and discharging the workpieces W. For example, a box for storing loose workpieces W in a pile may be used as a member supply unit for supplying the workpieces W. For this reason, the control program 97 may accept information indicating the type of member supply unit in addition to placement information. The control program 97 may adjust the position where the image is captured in S3, which will be described later, according to the information indicating the front side and the information indicating the type of material supply unit.

[0055] When the setting button 107 on the placement reception screen 101 is operated to receive direction information, the control program 97 causes the imaging device 85 to capture images of the surroundings of the robot 12 (S3). The control program 97 controls the robot 12 based on the direction received in S1, and changes the position and imaging direction of the imaging device 85 to capture images of the surroundings of the robot 12.

[0056] The control program 97 generates point cloud data from image data of the surroundings of the robot 12 captured by the imaging device 85, which is a 3D camera, and creates 3D data of objects (such as the imaged object) surrounding the robot 12 (S5). The control program 97, for example, detects three-dimensional coordinate data of the imaged object from the three-dimensional image data as point cloud data. The control program 97 generates 3D data indicating the shape of the imaged object based on the detected point cloud data. Examples of the generated 3D data include mesh data (polygon data) in which each point in the point cloud data is a vertex and the vertices are connected by edges and surfaces, and surface data (geometry data) represented by a curved surface using mathematical and geometrical representation methods. One method for generating 3D data from point cloud data is to use the functions of Fuji Corporation's "e-Sys."

[0057] Based on the generated 3D data, the control program 97 sets a movement path (see FIG. 12 ) for the robot 12 to transport the workpiece W from the supply tray 52 to the workpiece spindle device 21 while avoiding interference with the imaging target, etc. (S5). The movement path here refers to, for example, information on the XYZ coordinates (start position, intermediate point, end position) and movement direction for moving the robot 12. Furthermore, a method for determining interference between the robot 12 and the imaging target (e.g., the machine tool 11 or the supply tray 52) or surrounding objects based on the generated 3D data can be, for example, a simulation method in a virtual space. Specifically, the control program 97 recreates 3D data of the imaging target, etc. and the robot 12 in the virtual space, moves the robot 12 along the movement path in the virtual space, and checks whether interference occurs between the robot 12 (drive unit 45) and the imaging target, etc. If interference occurs along the set movement path, the control program 97 corrects the movement path. This allows a movement path that avoids interference to be set based on 3D information obtained by capturing images of the actual surroundings of the robot 12. If an unexpected component is placed, an error can be reported and interference can be avoided. 3D data of the drive unit 45, base 43, jig 55, tray stand 44, etc. provided in the robot 12 may be stored in advance in the storage device 96 of the robot 12 and used to determine interference. For this reason, the robot 12 does not need to capture images of its own device.

[0058] As will be described later, the control program 97 controls the robot 12 based on this set movement path to transport the workpiece W. As a result, even if the user does not install the robot 12 at a predetermined position as in the prior art, the positions and structures of the supply tray 52 and the machine tool 11 can be captured and recognized by the imaging device 85, and a movement path that avoids interference can be set to transport the workpiece W. This allows the user to widen the range of positions allowed for installing the robot 12. By recognizing the surroundings with the imaging device 85, the robot 12 can reduce or eliminate the effects of misalignment of the installation position.

[0059] After executing S5, the control program 97 determines whether all movement paths have been set (S7). The current transport of the workpiece W includes transport for supplying the unmachined workpiece W from the supply tray 52 to the workpiece spindle device 21 via the jig 55, transport for discharging the machined workpiece W from the workpiece spindle device 21 to the discharge tray 53, and transport for placing a spare discharge tray 53A on top of the full discharge tray 53. The control program 97 determines whether all movement paths required for these transports have been set (S7). If all movement paths have not been set (S7: NO), the control program 97 executes the process again from S3.

[0060] In setting the movement path described above, for example, the control program 97 first sets the robot 12 to a predetermined initial state and captures an image of the surroundings using the imaging device 85 (S3). For example, the control program 97 sets the robot 12 to the state shown in FIG. 3 as the initial state and captures an image of the surroundings within a minimum range of motion. The control program 97 drives the joint drive unit 70 to rotate the gripper 65 forward by 90 degrees, and drives the first arm rotation unit 67 to rotate the drive unit 45 360 degrees to capture an image of the surroundings using the imaging device 85. Note that the robot 12 may also include a LiDAR that captures an image of the surroundings of the robot 12, separate from the imaging device 85. The control program 97 sets an imaging position for the supply tray 52 and a movement path for moving to the imaging position while avoiding interference, based on the 3D data of the surroundings generated by the imaging and the orientation of the supply tray 52 (an example of placement information) received in S1 (S5). If only the supply tray 52 is arranged in the direction received in S1, the control program 97 can set a movement path for moving toward the object arranged in that direction, i.e., the supply tray 52. ​​Furthermore, if an object other than the supply tray 52 is also arranged in the received direction, the control program 97 may execute detection of the supply tray 52. ​​For example, if a tray with a predetermined shape is used as the supply tray 52, information on the shape of the tray may be stored in the storage device 96. Then, the control program 97 may detect an object that matches the shape of the supply tray 52 as the supply tray 52 from image data captured in the direction received in S1.

[0061] Next, the control program 97 moves the gripper 65 to the set imaging position, for example, a position above the supply tray 52, then images the supply tray 52 with the imaging device 85 (S3), and sets a movement path for moving from the initial position to a position for removing the workpieces W from the supply tray 52 (S5). Similarly, the control program 97 sets a movement path for moving from the supply tray 52 to the jig 55 based on 3D data of the periphery of the supply tray 52 captured by the imaging device 85 and 3D data and position information of the jig 55 stored in advance in the storage device 96 (S3, S5).

[0062] The control program 97 also moves the gripper 65 to the jig 55 based on the set movement path, and then captures an image of the surroundings with the imaging device 85 (S3). The control program 97 sets an imaging position for capturing an image of the exterior of the machine tool 11 and a movement path for moving to the imaging position based on the captured 3D data and the information on the placement (orientation) of the machine tool 11 received in S1 (S5). The control program 97 moves the gripper 65 to the imaging position based on the set movement path, then captures an image of the machine tool 11 with the imaging device 85, and sets a movement path for moving from the jig 55 to the machine tool 11 (S3, S5). The position for capturing an image of the machine tool 11 can be a position a predetermined distance away from the machine tool 11, a position where the entire machine tool 11 can be captured, or the like. The control program 97 adjusts the distance and imaging range based on the imaging data, and moves the gripper 65 to the above-mentioned imaging position.

[0063] The control program 97 repeatedly executes the steps of taking images (S3) and setting a movement path (S5) to set a movement path from the jig 55 to the workpiece spindle device 21 of the machine tool 11. For example, the control program 97 sets a movement path from the imaging position of the machine tool 11 to the entrance of the sliding door 23 and moves the gripper 65 along that path. Next, the control program 97 moves the gripper 65 to the entrance of the sliding door 23, images the interior of the machining chamber 26 with the imaging device 85, and sets a movement path from the entrance to the machining chamber 26. When moving from outside the machine tool 11 into the machining chamber 26, the control program 97 notifies the machine tool 11 via the LAN cable 40 of an instruction to open the sliding door 23. The control program 97 moves the gripper 65 into the machining chamber 26 along the set movement path and images the interior of the machining chamber 26. The control program 97 sets a movement path for moving the gripping portion 65 from the jig 55 to the work spindle device 21 while avoiding interference, based on 3D data generated by imaging the area from the jig 55 to the work spindle device 21.

[0064] As a method for detecting the entrance of the sliding door 23 or the workpiece spindle device 21, which are the destination objects, from the image data, the control program 97 may detect them by determining whether their shapes match, as in the case of the above-described supply tray 52. ​​For example, 3D data and the like of various machine tools 11 may be stored in the storage device 96. Then, the control program 97 may detect 3D data of the machine tool 11 whose shape and the like match from the image data captured by the imaging device 85, and detect the positions of the entrance of the sliding door 23 and the workpiece spindle device 21 from the detected 3D data.

[0065] Alternatively, the target object at the destination may be operated to detect it from the image data. For example, the robot 12 sends an instruction to the machine tool 11 to operate the sliding door 23 or the workpiece spindle unit 21 via the LAN cable 40. The control program 97 may detect a moving object from among the objects captured in the image data, and detect the entrance to the sliding door 23 or the workpiece spindle unit 21. The control program 97 may also detect the target object from the shape, color, position, etc. of the sliding door 23, the machining chamber 26, the workpiece spindle unit 21, etc. Therefore, the method for detecting the target object is not limited.

[0066] Similarly, the control program 97 sets the imaging position of the discharge tray 53 and a movement path for transporting the machined workpiece W to the discharge tray 53 based on 3D data generated by imaging the periphery of the machine tool 11 and the orientation of the discharge tray 53 received in S1 (S3, S5). The control program 97 also sets a movement path for picking up the discharge tray 53A based on 3D data and position information of the tray table 44 previously stored in the storage device 96 (S3, S5). The control program 97 also images the periphery of the tray table 44 and sets a movement path for transporting the discharge tray 53A above the discharge tray 53 (S3, S5). In this way, the control program 97 sets movement paths for transporting the workpiece W before and after machining and the discharge tray 53A.

[0067] As described above, the control program 97 receives information on the arrangement of the machine tool 11 relative to the robot 12 and the arrangement of the supply tray 52 relative to the robot 12 via the arrangement reception screen 101 displayed on the touch panel 93. The control program 97 determines the position at which the imaging device 85 will capture images of the machine tool 11 and the supply tray 52 based on the received arrangement information. This makes it possible to instruct the control program 97 in which direction the imaging target 105, which is arranged around the robot 12, is oriented. The control program 97 can set an appropriate position as the position at which to capture the imaging target 105 based on the received arrangement information (direction, etc.).

[0068] If the control program 97 determines in S7 that all movement paths have been set (S7: YES), it executes S9. In S9, the control program 97 sets variables for the transfer program 98 based on the movement paths set in S1 to S7 (S9). The control device 47 controls the arm 63 and the gripper 65 based on the transfer program 98 when transferring the workpiece W or the discharge tray 53A. This transfer program 98 has multiple variables that can set coordinates to which the robot 12 will move when transferring the workpiece W or the discharge tray 53A. For example, the transfer program 98 has a command (code) instructing movement and a variable indicating the coordinates of the destination as an argument to the command, set for each destination. Specifically, for example, the transfer program 98 has variables that set the coordinates of the multiple relay points in a program for moving the robot 12 from its initial position to the supply tray 52 via multiple relay points, and a variable that sets the coordinates of the final destination (such as the supply tray 52). Based on the coordinates of the movement path set in the above-described processes of S3 to S7, the control program 97 sets coordinates in variables of the program that moves from the initial state position to the supply tray 52. ​​Note that the control program 97 may change the number of relay points and the number of commands that move to the relay points depending on the movement path.

[0069] Similarly, the control program 97 sets coordinates for variables representing the start position, intermediate points, and end position of the movement path from the supply tray 52 to the jig 55, from the jig 55 to the workpiece spindle unit 21, and from the workpiece spindle unit 21 to the discharge tray 53. The control program 97 also sets coordinates for variables representing the start position, intermediate points, and end position of the movement path for transporting the discharge tray 53A. Therefore, the control program 97 sets a movement path for the robot 12 that avoids interference with the imaging target 105 based on the 3D data (S3 to S7). The control program 97 sets coordinates for the transport program 98 based on the set movement path, and controls the arm 63 and the gripper 65 based on the set transport program 98 when transporting the workpiece W or the discharge tray 53A, which will be described later. This allows the program for transporting the workpiece W, etc., to be standardized, and the transport program 98 can be changed to suit the arrangement of the machine tool 11 and the supply tray 52 simply by changing the variables (coordinates). The transport program 98 can be generalized and can accommodate various arrangements by changing the intermediate points, etc. When the control program 97 has completed setting the variables of the transport program 98, it ends the processing shown in FIG.

[0070] Note that the content and order of the processing in the flowchart shown in FIG. 10 are merely examples and can be changed as appropriate. For example, the control program 97 may not execute S1. For example, 3D data and images of the machine tool 11, etc., of the imaging target 105 may be stored in the storage device 96 in advance, and the control program 97 may detect the direction and position of the machine tool 11, etc., by detecting an object that matches the 3D data of the machine tool 11 from imaging data captured around the robot 12. Also, the colors and shapes of the supply tray 52 and the discharge tray 53 may be determined in advance, and the control program 97 may detect the positions of the supply tray 52, etc., from the imaging data. This eliminates the need to receive information on the position of the machine tool 11, etc.

[0071] The control program 97 may also notify an error if the distance between the robot 12 and the imaging target 105 is greater than a predetermined reference distance. This allows the user to be prompted to change the placement of the machine tool 11 or the supply tray 52 if they are farther away from the robot 12 than the robot's movable range. The robot 12 may also be equipped with a LiDAR on the upper surface of the base 43, and the LiDAR may first be used to capture images of the robot 12's surroundings and create 3D data. This allows the surrounding conditions to be confirmed in the initial state without operating the drive unit 45. The control program 97 may also receive correction instructions from the user for the transport program 98 in which variables have been set. The control program 97 may also set variables for the transport program 98 while setting the movement paths S3 to S7.

[0072] (Regarding the Transfer Process) Next, the transfer process according to the transfer program 98 set by the variable setting process described above will be described. Fig. 12 shows the operation of the robot 12 in the transfer process. The robot 12 executes the transfer program 98 in which the variables have been set by the control device 47, thereby performing the transfer process of the workpiece W shown in Fig. 12. When the robot 12 starts transferring the workpiece W, it moves the gripper 65 from the initial state in S21 shown in the upper left diagram of Fig. 12 to the position of the supply tray 52 in the next S23.

[0073] After the workpieces W are moved to the supply tray 52, the control device 47 determines which of the multiple workpieces W stored in the supply tray 52 to grasp. The control device 47 also determines the position (coordinates) at which the workpieces W will be grasped by the gripper 65 and the orientation of the gripper 65 (the fixed claws 81 and the movable claws 82) when grasping the workpieces W (S23). The method for determining the workpieces W to be grasped, the gripping position, and the orientation of the gripper 65 can be, for example, a method using image processing. Specifically, for example, the control device 47 analyzes image data obtained by capturing images of multiple objects to be grasped from one direction, and performs image processing to determine which of the multiple objects to grasp based on the analysis results. The control device 47 also performs image processing to determine the position (coordinates) at which the objects will be grasped and the orientation of the gripper 65 based on the analysis results of the image data. As a program for executing this image processing, for example, DeepSpace (https: / / voaige.com / homepage-2 / ) from Voaige Inc. (https: / / voaige.com / ) can be adopted. For example, the transport program 98 includes a program capable of executing such image processing.

[0074] After moving the gripper 65 to the supply tray 52, the control device 47 captures an image of the interior of the supply tray 52 using the imaging device 85 and processes the captured image data. As indicated by the dashed line in FIG. 4 , the control device 47 determines the workpiece W to be gripped based on the results of the image processing. Furthermore, based on the results of the image processing, the control device 47 determines the position (coordinates) 111 at which the gripper 65 will be placed and the orientation of the gripper 65 when gripping (the orientation of the fixed claws 81 and the movable claws 82). The control device 47 controls the robot 12 based on the determined position 111 and orientation, and grips the workpiece W with the gripper 65. This allows the control device 47 to determine and grip a workpiece W from among multiple workpieces W arranged with different shapes and orientations based on the image data captured by the imaging device 85. Furthermore, in this embodiment, gripping the workpiece W with the gripper 65 including the bag portion 83 widens the range of acceptable gripping positions and orientations. Therefore, workpieces W with various orientations can be more stably grasped by using the image processing described above in combination with the bag portion 83. Furthermore, since no matching process for the shape of the workpiece W is performed, there is no need to register the shape and orientation of the workpiece W in advance, which reduces the workload on the user.

[0075] The method for determining the workpiece W to be gripped, the gripping position 111, and the orientation of the gripping unit 65 is not limited to the method using image processing. For example, the workpiece W to be gripped, the position 111, and the orientation of the gripping unit 65 may be determined using a sensor. Alternatively, they may be determined by using both image processing and a sensor.

[0076] Next, the control device 47 controls the robot 12 to place the workpiece W gripped in S23 on the jig 55 (S25). As shown in FIG. 4, the workpiece W in this embodiment has a hole formed along the axial direction. For example, before gripping the workpiece W with the gripper 65 in the supply tray 52, the control device 47 detects the position of the hole opening based on the image data from the imaging device 85. The control device 47 controls the robot 12 to transport the workpiece W to the jig 55, aligns the position of the protrusion of the jig 55 with the position of the hole in the workpiece W detected in advance, inserts the protrusion into the hole, and temporarily places the workpiece W on the jig 55. This positions the workpiece W with its axial direction as the up-down direction.

[0077] Next, the control device 47 uses the imaging device 85 to capture an image of the workpiece W temporarily placed in S25, and processes the image data to determine the position at which the workpiece W will be gripped, the orientation of the gripper 65 when gripping, and other information. The control device 47 controls the robot 12 based on the determined position and other information, and grips the workpiece W placed on the jig 55 with the gripper 65 (S27). Here, when transferring the workpiece W to the workpiece spindle device 21, it is preferable that the workpiece W be gripped in the same orientation and position relative to the gripper 65. Furthermore, when detecting the orientation of the workpiece W by image processing, image processing of image data captured from a single workpiece W is significantly easier and the orientation detection accuracy is significantly improved compared to image processing of image data captured from multiple workpieces W. Furthermore, when multiple workpieces W are arranged randomly, as in the supply tray 52, adjacent workpieces W may interfere with the gripper 65, making it impossible to grip the workpiece W in the desired orientation. Therefore, the control device 47 temporarily places the workpiece W removed from the supply tray 52 on the jig 55, performs image processing again to accurately detect the posture of the workpiece W, and then grips it with the gripping unit 65. This allows the workpiece W to be gripped by the gripping unit 65 in the desired posture, i.e., in a posture more appropriate for handing over to the workpiece spindle device 21. Note that, in the image processing when gripping the workpiece W from the jig 55, the control device 47 does not need to perform the same type of image processing as the image processing when gripping the workpiece W from the supply tray 52 described above. Furthermore, the control device 47 may directly transport the workpiece W from the supply tray 52 to the workpiece spindle device 21 without temporarily placing the workpiece W on the jig 55.

[0078] When the control device 47 grips the workpiece W on the jig 55 with the gripping portion 65, it communicates with the machine tool 11 via the LAN cable 40 and issues an instruction to the machine tool 11 to open the sliding door 23. The machine tool side control device 25 of the machine tool 11 drives the door motor 23A to open the sliding door 23 and notifies the control device 47 that the sliding door 23 has been opened. When the control device 47 receives the notification from the machine tool 11 that the sliding door 23 has been opened, it transports the gripped workpiece W to the workpiece spindle device 21 and attaches it to the workpiece spindle device 21 (S29). This allows the workpiece W to be delivered to the workpiece spindle device 21 in a desired attitude.

[0079] The control device 47 performs position correction and compliance control based on the imaging data when transferring the workpiece W to the workpiece spindle device 21 (S29). The control device 47 images the multiple chuck jaws 21A using the imaging device 85 in the machining chamber 26. The control device 47 detects the position of the workpiece spindle 27 (see FIG. 1) based on the imaging data and corrects the position at which the workpiece W is transferred based on the detected position of the workpiece spindle 27. The type of chuck jaws 21A is changed depending on the type and shape of the workpiece W. On the other hand, in the workpiece spindle device 21 of this embodiment, the chuck jaws 21A are evenly positioned at a predetermined rotation angle regardless of the type of chuck jaws 21A. Therefore, the control device 47 images the multiple chuck jaws 21A using the imaging device 85, detects the center of rotation from each of the chuck jaws 21A in the imaging data, and sets the straight line passing through the center of rotation as the workpiece spindle 27.

[0080] For example, in a three-jaw chuck 21A, the chuck jaws 21A are arranged at 120-degree intervals in the rotational direction. The control device 47 detects the components arranged at 120-degree intervals on the workpiece spindle device 21 as the chuck jaws 21A and detects the outer shapes of the three chuck jaws 21A. The control device 47 sets the center position of each of the three chuck jaws 21A based on the outer shape. If the chuck jaws 21A have the same shape, the center positions of all three chuck jaws 21A will be the same. The control device 47 detects positions equidistant from the three center positions as the rotation center. Furthermore, the extension direction of the workpiece spindle 27, i.e., the direction parallel to the left-right direction, can be detected as, for example, the direction along the side of the chuck jaws 21A or the direction along the side of the backing plate. The control device 47 detects a straight line passing through the detected rotation center and parallel to the side, etc., as the workpiece spindle 27. The method for detecting the workpiece spindle 27 from the image data is not limited to the above-described method. For example, the control device 47 may detect the edges of the three chuck jaws 21A along the radial direction and detect the intersection of the straight lines along the detected three edges as the center of rotation. The center of rotation may also be detected from the position of a bolt or the like used to secure the chuck jaws 21A. Furthermore, the direction of the workpiece spindle 27 may also be detected from the direction of movement of the slider of the turret device 22 or the direction of the rails, for example.

[0081] The control device 47 corrects the position of the workpiece W gripped by the gripping unit 65 based on the detected position and direction of the workpiece spindle 27. For example, the control device 47 temporarily places the workpiece W on the jig 55, processes the image, and grips it again, allowing the gripping unit 65 to grip the workpiece W in the same predetermined orientation. When the workpiece W is inserted into the jig 55, the center of the hole is positioned at a predetermined position (such as on the central axis of the protrusion of the jig 55). Therefore, the center of the hole of the workpiece W gripped by the gripping unit 65 from the temporary placement table is positioned at a constant position on the gripping unit 65. The control device 47 corrects the position so that the center of the hole coincides with the detected workpiece spindle 27, and positions the workpiece W so that the axial direction of the workpiece W is parallel to the workpiece spindle 27. The control device 47 transfers the workpiece W from the gripping unit 65 to the workpiece spindle device 21 at the corrected position (S29). This allows the workpiece W to be transferred from the gripper 65 to the workpiece spindle device 21 at the same position and in the same posture every time. The workpiece W can be transferred stably. The method of correcting the position of the workpiece W based on the position of the workpiece spindle 27 is not limited to the above-described method of aligning the center of the hole with the workpiece spindle 27. For example, a predetermined position on the gripper 65 may be aligned with the position of the workpiece spindle 27.

[0082] Furthermore, the control device 47 performs compliance control in controlling the transfer of the workpiece W, ensuring smooth transfer of the workpiece W from the gripper 65 to the workpiece spindle device 21. The control device 47 performs compliance control based on the torque of the motors (servo motors 67A, 68A, 71A, 72A, etc.) that rotate the arm 63, for example. The control device 47 detects the torque generated in the motors of each rotation axis of the robot 12 and controls the rotation of the motors to adjust the magnitude of the torque, thereby controlling the movement of the arm 63 to be flexible. As a result, even if the insertion position of the workpiece W into the chuck jaws 21A is shifted and contact occurs between the workpiece W and the chuck jaws 21A, the pushing force and the attitude of the robot 12 can be adjusted to insert the workpiece W smoothly without load. In this embodiment, the movement path and the position of the workpiece spindle device 21 are detected based on image data from the imaging device 85. Therefore, depending on the detection accuracy, there is a risk of an error occurring between the insertion position of the workpiece W and the position of the chuck jaws 21A. In contrast, by performing compliance control during insertion, it becomes possible to allow a certain amount of deviation as the deviation between the insertion position and the chuck jaws 21A.

[0083] The method of performing compliance control is not limited to detecting the torque of the motor that drives the robot 12. For example, a sensor that detects an external force acting on the gripper 65 (workpiece W) may be provided, and compliance control may be performed by controlling the motor based on the magnitude of the external force detected by the sensor. Furthermore, the process of correcting the position of the gripper 65 based on the image data and compliance control may be performed in processes other than the transfer of the workpiece W. For example, the process of correcting the position of the gripper 65 and compliance control may be performed in the control of placing the workpiece W on the jig 55 or the control of removing the workpiece W from the jig 55. For example, the control device 47 may capture an image of the jig 55 and correct the position of the hole in the workpiece W relative to the jig 55. Therefore, in the control of moving the gripper 65, position correction and compliance control based on the image data may be performed, which is a control that requires high precision.

[0084] When the control device 47 has positioned the workpiece W gripped by the gripping unit 65 at a position where it can be gripped by the chuck jaws 21A, it notifies the machine tool side control device 25 via the LAN cable 40 that positioning of the workpiece W has been completed. The machine tool side control device 25 controls the workpiece spindle device 21 to close the chuck jaws 21A, and notifies the control device 47 that gripping by the chuck jaws 21A has been completed. Upon receiving the notification, the control device 47 ejects the gripping unit 65 from the machining chamber 26 to the outside, and upon completion of the ejection, notifies the machine tool side control device 25 of the completion. Upon receiving the notification, the machine tool side control device 25 closes the sliding door 23, and controls the workpiece spindle device 21 and turret device 22 to perform machining on the workpiece W.

[0085] When the machining of the workpiece W is completed, the machine tool side control device 25 opens the sliding door 23 and notifies the control device 47 that the machining is complete. Upon receiving the notification, the control device 47 moves the gripper 65 to the workpiece spindle device 21, as in the case of supplying the workpiece W, and receives the machined workpiece W from the workpiece spindle device 21 and transfers it to the gripper 65. At this time, as in the case of transferring the workpiece W, position correction and compliance control may be performed based on image data of the chuck jaws 21A. The control device 47 transports the workpiece W received by the gripper 65 to the discharge tray 53 and places the workpiece W in the discharge tray 53 (S31). In this way, the control device 47 can supply the workpiece W and discharge the machined workpiece W.

[0086] Furthermore, the control device 47 may transport the workpiece W to be used for the next processing from the supply tray 52 to the jig 55 while the workpiece W is being processed. Furthermore, the control device 47 may take an image of the discharge tray 53 using the imaging device 85, and when the discharge tray 53 is filled with the processed workpieces W, the control device 47 may lift the discharge tray 53A from the tray base 44 using the engagement member 86 and stack it on the discharge tray 53. After stacking the new discharge tray 53A, the control device 47 may set the movement path to the stacked discharge tray 53A as a new movement path to move to the discharge tray 53.

[0087] (Regarding the Temporary Placement Section) In the above embodiment, the jig 55 is used as a member for temporarily placing the workpiece W, but this is not limited to this. For example, a flat member may be used as a member for temporarily placing the workpiece W taken out from the supply tray 52. ​​For example, the robot 12 may temporarily place (flatly place) the workpiece W on the upper surface 43A of the base 43.

[0088] The robot 12 may also include a temporary placement unit that corrects the posture of the workpiece W. FIG. 13 shows a schematic plan view of the temporary placement unit 121. FIG. 14 shows a schematic side view of the temporary placement unit 121. As shown in FIGS. 13 and 14 , the temporary placement unit 121 includes, for example, a base 123, a pair of movable walls 125, and a pair of side walls 127. Note that FIG. 14 omits the illustration of the movable walls 125 to avoid cluttering the drawing. The base 123 is, for example, a metal plate, and is placed on the base 43 and fixed in position. The pair of movable walls 125 are provided on the base 123, are walls that are long in the vertical and horizontal directions, and are positioned opposite each other in the front-to-rear direction. The pair of movable walls 125 slide forward and backward based on the drive of a drive source (e.g., a servo motor) (not shown), and move toward or away from each other in synchronous movement.

[0089] The pair of side walls 127 are provided on the base 123, are elongated walls extending in the vertical and front-to-rear directions, and are positioned opposite each other in the left-right direction and are fixed in position. The pair of side walls 127 are provided with a plurality of support members 129 that slide in the left-right direction. Each of the support members 129 is, for example, a metal rod with an elastic member such as rubber attached to the tip. The support members 129 are held in one side wall 127 with their rod-shaped portions parallel to the left-right direction and are arranged at equal intervals in the up-down direction. The support members 129 provided on each of the pair of side walls 127 are arranged so that the elastic members at the tips of the support members 129 face each other in the left-right direction. Each of the support members 129 can slide in the left-right direction independently based on the drive of a drive source (e.g., an air cylinder) (not shown).

[0090] The pair of movable walls 125 are provided at positions facing each other in the front-to-rear direction, sandwiching a portion for temporarily placing the workpiece W therebetween. The pair of side walls 127 are also provided at positions facing each other in the left-to-right direction, sandwiching a portion for temporarily placing the workpiece W therebetween. A recess 131 into which the workpiece W can be inserted is formed in the area surrounded by the pair of movable walls 125 and the pair of side walls 127.

[0091] As shown in the top diagrams of FIGS. 13 and 14 , the control device 47 removes the workpiece W from the supply tray 52 using the gripping unit 65, inserts the workpiece W into a recess 131 surrounded by these four walls, releases the gripping, and temporarily places the workpiece W (S41). The workpiece W leans against one of the four walls and is inclined. Next, as shown in S43, after inserting the workpiece W into the recess 131, the control device 47 controls the drive source of the temporary placement unit 121 to move the pair of movable walls 125 toward each other. The support members 129 provided on each of the pair of side walls 127 are positioned at a center position between the pair of movable walls 125 in the front-to-rear direction. Furthermore, the pair of movable walls 125 slide in the front-to-rear direction at the same speed. Therefore, the control device 47 moves the pair of movable walls 125 by the same distance in the front-to-rear direction to sandwich the workpiece W, thereby placing the workpiece W at the position where the support members 129 are located and sandwiching it between the pair of movable walls 125.

[0092] The control device 47 sandwiches the workpiece W on both the front-rear and rear-rear sides with the plurality of support members 129 (S45). As shown in the lower diagram of FIG. 14 , the control device 47 arranges the support members 129 according to the shape of the workpiece W. For example, the control device 47 supplies air of the same pressure to the air cylinders that drive each of the plurality of support members 129. The plurality of support members 129 move toward each other in the left-right direction and are arranged at offset positions in the left-right direction according to the outer shape of the workpiece W. In other words, the plurality of support members 129 are arranged at positions that follow the outer shape of the workpiece W. Furthermore, the plurality of support members 129 are arranged with the same configuration on each of the pair of side walls 127. Therefore, if the workpiece W has a symmetrical shape, the workpiece W is sandwiched between the pair of movable walls 125 in the front-rear direction and is supported with the same force in the left-right direction by the support members 129 of the same configuration, so that the axial direction is held in the up-down direction. That is, the workpiece W is corrected to a predetermined posture.

[0093] For example, when the control device 47 drives the support member 129 for a certain period of time, it moves the pair of movable walls 125 away from the workpiece W while driving the air cylinder. The control device 47 then controls the robot 12 to grip the workpiece W held by the support member 129 with the gripper 65. This allows the workpiece W placed on the temporary storage section 121 to be corrected to a predetermined orientation before being supplied. When placing the workpiece W from the gripper 65 on the temporary storage section 121, simply placing it in a specific position (recess 131) allows the orientation to be corrected on the temporary storage section 121 side. This simplifies the control of the gripper 65 when placing the workpiece W on the temporary storage section 121. Furthermore, because the workpiece W can be supplied in the same orientation each time, image processing for checking the orientation and direction of the workpiece W when receiving it from the temporary storage section 121 to the gripper 65 can be simplified or eliminated. Furthermore, since a dedicated tool such as a jig 55 is not required, a wider variety of workpieces W can be handled.

[0094] The above-described configuration of the temporary placement section 121 is an example. For example, the pair of movable walls 125 may be provided with support members 129. Furthermore, a mechanism other than the support members 129, such as the bag portion 83 of the gripping section 65, may be used as a mechanism that deforms to match the external shape of the workpiece W.

[0095] Incidentally, the correspondence between the terms used in this embodiment and those described in the claims will be explained below. The robot 12 is an example of a machine tool robot. The workpiece spindle device 21 is an example of a member mounting device. The supply tray 52 is an example of a member supply unit. The jig 55 is an example of a temporary placement unit. The servo motors 67A, 68A, 71A, and 72A are examples of motors. The imaging device 85 is an example of a recognition device. The touch panel 93 is an example of a user interface. The processing of S23 is an example of a first gripping process. The processing of S25 and S41 are examples of a temporary placement process. The processing of S27 is an example of a second gripping process. The processing of S29 is an example of a mounting process.

[0096] As described above, the present embodiment provides the following advantages. The control device 47 of the robot 12, which is one aspect of the present embodiment, recognizes the surroundings of the robot 12 using the imaging device 85 (S3), and controls the arm 63 based on the recognition results to cause the gripper 65 to grip the workpiece W placed on the supply tray 52 and transport the workpiece W to the workpiece spindle device 21 of the machine tool 11 (S21-S29). As a result, even if the user does not install the robot 12 at a predetermined position, the position and structure of the supply tray 52 and the machine tool 11 can be recognized by the imaging device 85, and the workpiece W can be transported. In other words, the range in which the user can install the robot 12 can be widened, and the workload on the user in installing the robot 12 can be reduced.

[0097] The present disclosure is not limited to the above-described embodiments, and various improvements and modifications are possible within the spirit and scope of the present disclosure. For example, in the above-described embodiments, a workpiece W is used as the component of the present disclosure, but this is not limited thereto. Components of the present disclosure may include jigs such as replaceable cutting tools, replaceable chuck jaws 21A, and pushers. Therefore, the component mounting device of the present disclosure is not limited to the workpiece spindle device 21, but may also be a turret device 22, a loader, a reversing device, a tailstock, etc. Furthermore, the arrangement and configuration of the machine tool 11 and the robot 12 in the above-described embodiments are merely examples. For example, the robot 12 is configured to extend upward from the base 43, but may also be configured to extend left and right. The gripper 65 is not limited to a configuration including a fixed jaw 81 and a movable jaw 82, but may also be configured to include three or more jaws. Furthermore, the gripper 65 may be configured to include only a bag portion 83. Furthermore, identification information (such as a barcode or a two-dimensional code) indicating information about the machine tool 11, the supply tray 52, the discharge tray 53, the workpieces W, etc. may be used. For example, the control program 97 may detect the position of the supply tray 52 and the shape of the workpieces W based on a two-dimensional code of the supply tray 52 captured by the imaging device 85. The robot 12 may also be configured without the monitoring sensor 49. The recognition device of the present disclosure is not limited to the imaging device 85, but may also be a LiDAR (laser scanner). The imaging device 85 may also be attached to a position other than the gripper 65, for example, the third arm 77. The member supply unit of the present disclosure is not limited to a tray-type member such as the supply tray 52, but may also be a box on which the workpieces W can be piled, a workpiece stocker, or the machine tool 11 in a previous process.

[0098] The scope of the present disclosure is not limited to the dependent relationships described in the claims. For example, this specification also discloses a technical idea in claim 5 where "the processing system according to claim 3" is changed to "the processing system according to claim 3 or claim 4." It also discloses a technical idea in claim 6 where "the processing system according to claim 1 or claim 2" is changed to "the processing system according to any one of claims 1 to 5." It also discloses a technical idea in claim 7 where "the processing system according to claim 1 or claim 2" is changed to "the processing system according to any one of claims 1 to 6." It also discloses a technical idea in claim 10 where "the processing system according to claim 1 or claim 2" is changed to "the processing system according to any one of claims 1 to 9."

[0099] 10 Machining system, 11 Machine tool, 12 Robot, 21 Work spindle device (member mounting device), 21A Chuck jaws, 27 Work spindle, 47 Control device, 49 Monitoring sensor, 52 Supply tray (member supply section), 55 Jig (temporary placement section), 63 Arm, 65 Grip section, 67A, 68A, 71A, 72A Servo motor (motor), 81 Fixed jaws, 82 Movable jaws, 85 Imaging device (recognition device), 93 Touch panel (user interface), 83 Bag section, 98 Conveyance program, 105 Imaging target, 121 Temporary placement section, 129 Support member, W Work (member).

Claims

1. A processing system comprising: a machine tool; and a robot that supplies parts to the machine tool, wherein the machine tool has a part mounting device to which the part is mounted, and the robot has an arm, a gripping unit that is attached to the arm and capable of gripping the part, and a recognition device that recognizes the surroundings of the robot using the recognition device, controls the arm based on the recognition results, causes the gripping unit to grip the part placed in the part supply unit, and transports the part to the part mounting device of the machine tool.

2. The processing system described in claim 1, wherein the recognition device has an imaging device attached to the gripping unit, and the control device analyzes imaging data captured by the imaging device of the member placed in the member supply unit, determines a position at which the member is to be gripped by the gripping unit and an orientation of the gripping unit when gripping the member based on the analysis results, and controls the arm and the gripping unit based on the determined position and orientation to grip the member by the gripping unit in the member supply unit.

3. The processing system according to claim 1 or claim 2, wherein the recognition device has at least one of a 3D camera and a laser scanner, and the control device creates 3D data of the imaged objects around the robot from point cloud data generated by the recognition device by imaging the surroundings of the robot, sets a movement path for the robot to transport the parts from the part supply unit to the part mounting device while avoiding interference with the imaged objects based on the created 3D data, and controls the robot based on the set movement path.

4. The processing system of claim 3, wherein the control device controls the arm and the gripping unit based on a transport program, the transport program having a plurality of variables capable of setting coordinates along which the robot moves, the control device sets the movement path of the robot that avoids interference with the imaging subject based on the 3D data, sets the coordinates of the transport program based on the set movement path, and controls the arm and the gripping unit based on the set transport program.

5. A machining system as described in claim 3, further comprising a user interface, wherein the control device receives information regarding the positioning of the machine tool relative to the robot and the positioning of the part supply unit relative to the robot via the user interface, and determines positions for imaging the machine tool and the part supply unit by the recognition device based on the received positioning information.

6. The machining system according to claim 1 or 2, wherein: the member is a workpiece to be machined by the machine tool; the member mounting device is a workpiece spindle device capable of mounting a plurality of chuck jaws for clamping the workpiece and which clamps the workpiece with the plurality of chuck jaws and rotates it around the workpiece spindle; the recognition device has an imaging device attached to the gripping unit; the robot is a multi-joint robot having a motor for rotating the arm at each joint; and the control device images the plurality of chuck jaws with the imaging device, detects the position of the workpiece spindle based on the captured imaging data, corrects the position of the workpiece gripped by the gripping unit based on the detected position of the workpiece spindle, and executes control to transfer the workpiece from the gripping unit to the workpiece spindle device at the corrected position, and in the control to transfer the workpiece, executes compliance control based on the torque of the motor.

7. The processing system described in claim 1 or claim 2, wherein the gripping section has: a fixed claw; a movable claw that slides toward or away from the fixed claw; and a bag-shaped bag portion provided on either the fixed claw or the movable claw; and the control device slides the movable claw while the member is positioned between the fixed claw and the movable claw, and presses the bag portion against the member to deform the bag portion to conform to the shape of the member, and then grips the member with the fixed claw and the movable claw.

8. The processing system described in claim 7, wherein the control device controls the arm to execute the following: a first gripping process in which the gripping unit grips any one of the plurality of members placed in the member supply section; a temporary placement process in which the member gripped by the gripping unit in the first gripping process is placed in a temporary placement section; a second gripping process in which the member placed in the temporary placement process is gripped by the gripping unit; and an attachment process in which the member gripped by the gripping unit in the second gripping process is transported to the member mounting device and attached to the member mounting device.

9. The processing system described in claim 8, wherein the temporary placement section has a support member that is driven based on the control of the control device, and the control device, after executing the temporary placement process, drives the support member to position the support member according to the shape of the member placed by the gripping section in the temporary placement process, corrects the posture of the member by supporting the member with the support member, and executes the second gripping process after the correction.

10. A processing system as described in claim 1 or claim 2, comprising a plurality of monitoring sensors for detecting intrusion into an area in which the robot is placed, and wherein the control device restricts the operation of the robot when at least one of the plurality of monitoring sensors detects intrusion into the area in which the robot is placed.

11. A robot for use with a machine tool which supplies parts to a machine tool, the machine tool having a part mounting device to which the part is mounted, the robot for use with a machine tool having: an arm; a gripping section attached to the arm and capable of gripping the part; a recognition device; and a control device which recognizes the surroundings of the robot for use with the machine tool using the recognition device, controls the arm based on the recognition results, causes the gripping section to grip the part placed in the part supply section, and transports the part to the part mounting device of the machine tool.

Images