Processing machine system capable of removing chips produced from machining

Patent metadata

Field	Value
Publication number	US-9943966-B2
Application number	US-201615066059-A
Country	US
Kind code	B2
Filing date	Mar 10, 2016
Priority date	Mar 13, 2015
Publication date	Apr 17, 2018
Grant date	Apr 17, 2018

Abstract

A processing machine system includes a processing machine having a machining table, a robot that removes chips produced from processing of the work, a chip collecting hand attached to a distal end portion of the robot to collect the chips, and a robot control unit. The robot control unit acquires a deposition amount of the chips deposited on the machining table, decides whether it is necessary to collect the chips on the basis of the acquired deposition amount. When the chip collection is necessary, the robot control unit operates the robot so as to collect the chips with the chip collecting hand, after the processing is finished.

First claim

The invention claimed is:

1. A processing machine system comprising:
a processing machine configured to process a work and including a machining table that holds the work;
a robot including a chip collecting hand that collects chips deposited on the machining table; and
a control unit that controls movement and operation of the chip collecting hand,
wherein the control unit is configured to: acquire a deposition amount and a deposition region of the chips produced from the processing of the work and deposited on the machining table; decide whether it is necessary to collect the chips on a basis of the acquired deposition amount; and cause the robot, upon deciding that chip collection is necessary, to operate according to the deposition region so as to collect the chips with the chip collecting hand, after the processing is finished.

2. The processing machine system according to claim 1 ,
wherein the control unit is configured to acquire the deposition amount and the deposition region of the chips deposited on the machining table on a basis of information in a processing program utilized for processing the work.

3. The processing machine system according to claim 1 , further comprising a visual sensor,
wherein the control unit is configured to: acquire, using the visual sensor, the deposition amount and the deposition region of the chips deposited on the machining table; and cause the robot, upon deciding that the chip collection is necessary, to collect the chips in the acquired deposition region with the chip collecting hand, after the processing is finished.

4. The processing machine system according to claim 3 ,
wherein the control unit is configured to: acquire, using the visual sensor, the deposition amount and the deposition region of the chips deposited on the machining table after collecting the chips in the acquired deposition region with the chip collecting hand; decide whether it is necessary to collect the chips on a basis of the acquired deposition amount; and collect, upon deciding that chip collection is necessary, the chips in the deposition region with the chip collecting hand.

5. The processing machine system according to claim 3 ,
wherein the visual sensor is attached to the robot, the robot being located outside a casing of the processing machine, and
the control unit is configured to cause the robot to acquire the deposition amount and the deposition region of the chips deposited on the machining table, so as to introduce the visual sensor into inside of the casing from outside after the processing is finished.

6. The processing machine system according to claim 1 , further comprising:
a fixing jig that maintains the work, the fixing jig being mounted on the machining table; and
a cleaning brush movably attached to a distal end portion of the robot,
wherein the control unit is configured to cause the robot to remove the work from the fixing jig and configured to clean the fixing jig with the cleaning brush, after collecting the chips with the chip collecting hand.

Assignees

• Fanuc Corp

Inventors

• Shirahata Toru

Classifications

• Y02P70/171

  Cross-Sectional Technologies · mapped topic

• G05B2219/39543

  Recognize object and plan hand shapes in grasping movements · CPC title

• B25J11/00

  Manipulators not otherwise provided for · CPC title

• Y10S901/47

  Optical · CPC title

• B23Q11/0053

  using the gravity force · CPC title