TWI507267B - Machining machine - Google Patents

Description

Processing machine

The invention relates to a machine tool, in particular to a CNC machining machine using an in-line robot arm for loading and unloading.

The machine tool is an automated processing equipment such as a CNC milling machine, a CNC lathe, and the like. Since the machine tool automatically processes the program code by programming the predetermined program code, it is widely used in the processing industry.

When the general machine tool is used for loading or unloading, most of them need to be operated. When multiple processing machines are installed in a processing plant, the operators must move to each processing machine to load them one by one. Or the action of cutting. When the number of processing machine tools is large, the operator moves between the various machining machine tools, which causes waste of time and manpower.

As described above, the inventors of the present invention have thought about and designed a processing machine tool, and after years of painstaking research, to improve the lack of the prior art, thereby enhancing the implementation and utilization of the industry.

In view of the above-mentioned problems of the prior art, it is an object of the present invention to provide a machining machine that solves the waste of time and labor costs incurred by conventional techniques for loading or unloading by hand.

In accordance with the purpose of the present invention, a machining tool machine is provided that includes a machining module, a workpiece placement base, a robot arm, a camera module, and a controller. The processing module processes a workpiece. The workpiece placement base is used to place the workpiece. The robotic arm grasps the workpiece to directly transport the workpiece to a predetermined position on the workpiece placement seat by the robot arm, or directly removes the workpiece from the predetermined position by the robot arm. The camera module captures an image of the workpiece on the workpiece placement base. The controller is electrically connected to the processing module, the robot arm and the camera module. The controller compares the image with the predetermined position to determine the position of the workpiece relative to the predetermined position. When the workpiece is not at the predetermined position, the controller controls the robot to transport the workpiece to the predetermined position. When the workpiece is at the predetermined position, the controller A predetermined code control processing module performs a machining process on the workpiece. After the machining process is completed, the controller controls the robot arm to remove the workpiece from the predetermined position.

Preferably, the controller may include a first control module; the first control module controls the robot to place the workpiece at a predetermined position according to the image control mechanism.

Preferably, the first control module compares the image with a predetermined template to determine the position of the workpiece relative to the predetermined position to control the robot to adjust the workpiece to the predetermined position.

Preferably, the first control module can generate a delivery completion signal when the workpiece is located at the predetermined position according to the image.

Preferably, the controller may include a second control module; the second control module may control the processing module to perform a machining process according to the delivery completion signal, and generate an end signal at the end of the machining process.

Preferably, the first control module can control the robot to remove the workpiece from the predetermined position according to the end signal.

Preferably, the first control module can include a transport control interface; the transport control interface can generate a transport control signal via operation, and the first control module can control the transport module to transport the workpiece to a predetermined position according to the transport control signal.

Preferably, the controller can include a second control module having a processing control interface; the processing control interface generates a second control signal via operation, and the second control module can control the processing module according to the second control signal. The program generates an end signal at the end of the machining program.

Preferably, the controller can generate an end message according to the end signal.

Preferably, the image may comprise a surface image or a shape image of the workpiece.

Preferably, the display unit further includes a display unit; the controller displays the image on the display unit.

Preferably, the controller is electrically coupled to a distal end for manipulation by the distal end.

As described above, the processing machine according to the present invention can assist the rapid loading or unloading process by the in-line robot arm, can greatly reduce the labor cost, and can control the controller of each machining machine. Electrically coupled to a distal end, so that the operator can directly operate or control each tool at the distal end, thereby effectively saving the time cost for the operator to move between the processing machines.

In order to make the above-mentioned objects, technical features, and gains after actual implementation more obvious, a more detailed description will be given below with reference to the corresponding drawings in the preferred embodiments.

1‧‧‧Processing machine

10‧‧‧Processing module

20‧‧‧Workpiece placement

21‧‧‧Predetermined location

30‧‧‧ Robotic arm

40‧‧‧ camera module

41‧‧‧Image

50‧‧‧ Controller

51‧‧‧Scheduled code

52‧‧‧First Control Module

521‧‧‧Transport Control Interface

522‧‧‧Predetermined template

53‧‧‧Second control module

531‧‧‧Processing Control Interface

60‧‧‧ display unit

70‧‧‧ distal

Figure 1 is a block diagram of a processing machine tool of the present invention.

Figure 2 is a block diagram of a first embodiment of the machine tool of the present invention.

Figure 3 is a block diagram of a second embodiment of the machine tool of the present invention.

The technical features, contents, and advantages of the present invention, as well as the advantages thereof, can be understood by the present inventors, and the present invention will be described in detail with reference to the accompanying drawings. The subject matter is only for the purpose of illustration and description, and is not necessarily the true proportion and precise configuration after the implementation of the present invention. Therefore, the scope and configuration relationship of the attached drawings should not be interpreted or limited. First described.

The embodiments of the machine tool according to the present invention will be described with reference to the accompanying drawings, and the same elements in the following embodiments are denoted by the same reference numerals for the sake of understanding.

Please refer to FIG. 1, which is a block diagram of the processing machine of the present invention. As shown in the figure, the machining machine 1 of the present invention can be a CNC milling machine, a CNC lathe, and the like, and includes a machining module 10, a workpiece placement base 20, a robot arm 30, and a camera module 40. And a controller 50. The processing module 10 can be a three-axis or four-axis machining mandrel for processing a workpiece. The workpiece placement base 20 is for placing the workpiece. The robotic arm 30 grasps the workpiece to transport the workpiece directly from the robot arm 30 to a predetermined position 21 on the workpiece placement base 20, or directly removes the workpiece from the predetermined position 21 by the robot arm 30. The camera module 40 captures an image 41 of the workpiece on the workpiece placement base 20; incidentally, the camera module 40 can include components such as a lens, an image sensor, and the like, which are not well known in the art. Narration. The controller 50 is electrically connected to the processing module 10, the robot arm 30 and the camera module 40; the controller 50 compares the image 41 with the predetermined position 21 to determine the position of the workpiece relative to the predetermined position 21. The controller 50 controls the robot arm 30 to transport the workpiece to the predetermined position 21 when the workpiece is not at the predetermined position 21. When the workpiece is at the predetermined position 21, the controller 50 controls the processing module 10 according to a predetermined code 51. The workpiece is subjected to a machining program, and after the machining program is completed, the controller 50 controls the robot arm 30 to remove the workpiece from the predetermined position 21.

Please refer to FIG. 2, which is a block diagram of a first embodiment of the machine tool of the present invention. The connection relationship and the operation of each component in the present embodiment are similar to the foregoing, and the similarities are not described herein.

Further, the controller 50 can include a first control module 52 and a second control module 53. The first control module 52 has a transport control interface 521, and the transport control interface 521 can be a physical input interface such as a keyboard, a mouse, a joystick, etc., which can be one of the foregoing or a combination thereof. The transport control interface 521 generates a transport control signal and transmits it to the first control module 52, and the first control module 52 controls the robot arm 30 to transport the workpiece to the predetermined position 21 or from the predetermined position 21 according to the transport control signal. Remove. A display unit 60 can be further included to display the image 41. That is to say, the operator views the workpiece inside the processing machine tool 1 by the image 41 displayed by the display unit 60, and controls the robot arm to perform the workpiece loading or unloading operation by using the conveying control interface 521.

On the other hand, the second control module 53 has a processing control interface 531. The processing control interface 531 can be a physical input interface such as a keyboard, a mouse, a joystick, and the like, and is integrated with the transport control interface 521. The processing control interface 531 generates a second control signal by operation, and the second control module 53 controls the processing module 10 to perform a processing procedure according to the second control signal, and the second control module 53 generates an end signal at the end of the processing program. . At this point, control The device 50 generates an end message according to the end signal, so that the operator can then use the transport control interface 521 to perform the blanking action.

It is worth mentioning that the controller 50 can be electrically connected to a remote end 70 in a wireless (such as WIFI) or wired (such as TCP/IP) manner. At this time, the operator can directly control the controller 50 by using the distal end 70, thereby controlling the processing module 10 to perform processing or the robot arm 30 to perform loading or unloading operations.

Please refer to FIG. 3, which is a block diagram of a second embodiment of the machine tool of the present invention. The connection relationship and the operation of each component in the present embodiment are similar to the foregoing, and the similarities are not described herein.

As shown, the first control module 52 controls the robot arm 30 to place the workpiece at the predetermined position 21 based on the image 41. In detail, the first control module 52 includes a predetermined template 522. The first control module 52 compares the image 41 with the predetermined template 522 to determine the position of the workpiece relative to the predetermined position 21 to control the adjustment of the robot arm 30. The workpiece is to a predetermined position 21. For example, the predetermined template 522 can complete the image of the workpiece to the predetermined position 21, but not limited thereto, and the first control module 52 uses the image 41 captured by the current camera module 40 and the predetermined template 522. The relative position difference between the workpiece in the image 41 and the workpiece in the predetermined template 522 is compared, and the robot arm 30 is controlled to adjust the position of the workpiece. When the workpiece in the image 41 does overlap with the workpiece in the predetermined template 522, it means that the workpiece has been placed at the predetermined position 21 on the workpiece placement base 20. Incidentally, the workpiece placement base 20 may include a clamping module (not shown), which may be a magnetic or automated clamp fixture, but is not limited thereto. When the workpiece is placed at the predetermined position 21, the first control module 52 further controls the movement of the clamping module to securely fix the workpiece to the predetermined position 21 on the workpiece placement base 20.

When the workpiece is placed at the predetermined position 21 on the workpiece placement base 20, the first control module 52 generates a delivery completion signal and transmits it to the second control module 53. After receiving the delivery completion signal, the second control module 53 controls the processing module 10 to perform a processing procedure according to the delivery completion signal. When the machining program is completed, the second control module 53 generates an end signal and transmits it to the first control module 52. At this time, the first control module 53 controls the robot arm 30 to perform the blanking operation according to the end signal, that is, the first control module 52 first controls the clamping module to release the workpiece, and then controls the robot arm 30 to reserve the workpiece. Location 21 is removed.

It should be noted that since the image 41 includes the surface image or the shape image of the workpiece, the operator can use the image 41 displayed by the display unit 60 to perform the good judgment of the finished workpiece.

The above is intended to be illustrative only and not limiting. Any equivalent modifications or alterations to the spirit and scope of the invention are intended to be included in the scope of the appended claims.

1‧‧‧Processing machine

10‧‧‧Processing module

20‧‧‧Workpiece placement

21‧‧‧Predetermined location

30‧‧‧ Robotic arm

40‧‧‧ camera module

41‧‧‧Image

50‧‧‧ Controller

51‧‧‧Scheduled code

Claims (12)

A machining machine comprising: a machining module for machining a workpiece; a workpiece placement seat for placing the workpiece; and a mechanical arm for grasping the workpiece to directly feed the workpiece by the robot arm Delivered to a predetermined position on the workpiece placement seat, or directly removed by the mechanical arm from the predetermined position; a camera module captures an image of the workpiece on the workpiece placement seat; and a control Electrically connecting the processing module, the robot arm and the camera module, the controller comparing the image with the predetermined position to determine the position of the workpiece relative to the predetermined position, when the workpiece is not located In the predetermined position, the controller controls the robot arm to transport the workpiece to the predetermined position, and when the workpiece is located at the predetermined position, the controller controls the processing module to perform processing on the workpiece according to a predetermined code. The program, after completing the machining program, controls the robot to remove the workpiece from the predetermined position. The processing machine of claim 1, wherein the controller comprises a first control module, and the first control module controls the mechanical arm to position the workpiece at the predetermined position according to the image. The processing tool of claim 2, wherein the first control module compares the image with a predetermined template to determine a position of the workpiece relative to the predetermined position to control the robot to adjust the workpiece To the predetermined location. The processing tool machine of claim 3, wherein the first control mode The group determines, according to the image, that the workpiece is in the predetermined position to generate a delivery completion signal. The processing tool of claim 4, wherein the controller comprises a second control module, and the second control module controls the processing module to perform the processing procedure according to the conveying completion signal, and An end signal is generated at the end of the machining program. The processing machine of claim 5, wherein the first control module controls the robot arm to remove the workpiece from the predetermined position according to the end signal. The processing tool of claim 2, wherein the first control module comprises a transport control interface, and the transport control interface generates a transport control signal via operation, the first control module according to the transport control signal The robot arm is controlled to transport the workpiece to the predetermined position. The processing tool of claim 7, wherein the controller comprises a second control module having a processing control interface, the processing control interface generates a second control signal via operation, the second control mode The group controls the processing module to perform the processing procedure according to the second control signal, and generates an end signal at the end of the processing program. The processing machine of claim 8, wherein the controller generates an end message based on the end signal. The processing machine of claim 1, wherein the image system comprises a surface image or a shape image of the workpiece. The processing machine tool according to claim 10, further comprising a display list The controller displays the image on the display unit. The processing machine of claim 1, wherein the controller is electrically coupled to a distal end for manipulation by the distal end.