Machining system having function of restricting operations of robot and machine tool

Patent metadata

Field	Value
Publication number	US-10048674-B2
Application number	US-201615013087-A
Country	US
Kind code	B2
Filing date	Feb 2, 2016
Priority date	Feb 3, 2015
Publication date	Aug 14, 2018
Grant date	Aug 14, 2018

Abstract

When a machining system that includes a machine tool and a robot detects that an operator is present in a dangerous area in the system, a robot controller that controls the robot determines an operation restriction on the machine tool and notifies a numerical controller that controls the machine tool of the determined operation restriction. The numerical controller restricts the operation of the machine tool in accordance with the notified operation restriction.

First claim

The invention claimed is:

1. A machining system, comprising:
a machine tool;
a numerical controller configured to control the machine tool;
a robot;
a robot controller configured to control the robot to perform operations; and
an operator detecting device configured to detect whether or not an operator is present in an area in which the operator in the machining system is exposed to danger, wherein
the robot controller includes
an operation determining portion configured to determine an operation restriction on the machine tool based on a detection result obtained by the operator detecting device, and
a notifying portion configured to notify the numerical controller of the operation restriction determined by the operation determining portion, and

the numerical controller is configured to restrict an operation of the machine tool in accordance with the operation restriction notified by the notifying portion.

2. The machining system according to claim 1 , wherein
the operation determining portion comprises an operator's position calculating portion configured to calculate a distance between the machine tool and the operator from the detection result obtained by the operator detecting device, and
the operation determining portion is configured to determine, based on an operator's position calculation result obtained by the operator's position calculating portion, the operation restriction on the machine tool.

3. The machining system according to claim 1 , wherein the operation determining portion
has at least two operation restriction levels,
includes a memory that stores contents and settings of operation restrictions corresponding to the operation restriction levels, and
is configured to set one of the operation restrictions stored in the memory as the operation restriction to be imposed on the machine tool, in response to a selection of a corresponding operation restriction level among the at least two operation restriction levels.

4. The machining system according to claim 1 , wherein the operator detecting device is a single operator detecting device that covers the entire machining system.

5. The machining system according to claim 1 , wherein the operator detecting device comprises
a first sensor which is set in advance so as to determine a first operation restriction level, and
a second sensor which is set in advance so as to determine a second operation restriction level different from the first operation restriction level.

6. A machining system, comprising:
a machine tool;
a numerical controller configured to control the machine tool;
a robot;
a robot controller configured to control the robot to perform operations; and
an operator detecting device configured to detect whether or not an operator is present in an area in which the operator in the machining system is exposed to danger, wherein
the numerical controller includes
an operation determining portion configured to determine an operation restriction on the robot based on a detection result obtained by the operator detecting device, and
a notifying portion configured to notify the robot controller of the operation restriction determined by the operation determining portion, and

the robot controller is configured to restrict an operation of the robot in accordance with the operation restriction notified by the notifying portion.

7. The machining system according to claim 6 , wherein
the operation determining portion comprises an operator's position calculating device configured to calculate a distance between the robot and the operator from the detection result obtained by the operator detecting device, and
the operation determining portion is configured to determine, based on an operator's position calculation result obtained by the operator's position calculating device, the operation restriction on the robot.

8. The machining system according to claim 6 , wherein the operation determining portion
has at least two operation restriction levels,
includes a memory that stores contents and settings of operation restrictions corresponding to the operation restriction levels, and
is configured to set one of the operation restrictions stored in the memory as the operation restriction to be imposed on the machine tool, in response to a selection of a corresponding operation restriction level among the at least two operation restriction levels.

9. The machining system according to claim 4 , wherein the single operator detecting device comprises a sensor originally provided for safety measures against the robot.

10. The machining system according to claim 6 , wherein the operator detecting device is a single operator detecting device that covers the entire machining system.

11. The machining system according to claim 10 , wherein the single operator detecting device comprises a sensor originally provided for safety measures against the robot.

12. The machining system according to claim 6 , wherein the operator detecting device comprises
a first sensor which is set in advance so as to determine a first operation restriction level, and
a second sensor which is set in advance so as to determine a second operation restriction level different from the first operation restriction level.

Assignees

• Fanuc Corp

Inventors

• Endou Takahiro

Classifications

• G05B9/02

  electric · CPC title

• G05B2219/50193

  Safety in general · CPC title

• G05B2219/40317

  For collision avoidance and detection · CPC title

• B23Q11/0082 Primary

  by determining whether the operator is in a dangerous position (B23Q17/2438 takes precedence) · CPC title

• G05B19/4061 Primary

  Avoiding collision or forbidden zones · CPC title