JP2017144534A - Work holder and processing system of using this work holder holding tool - Google Patents

Work holder and processing system of using this work holder holding tool Download PDF

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JP2017144534A
JP2017144534A JP2016029954A JP2016029954A JP2017144534A JP 2017144534 A JP2017144534 A JP 2017144534A JP 2016029954 A JP2016029954 A JP 2016029954A JP 2016029954 A JP2016029954 A JP 2016029954A JP 2017144534 A JP2017144534 A JP 2017144534A
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workpiece
shape
marker
work
frame
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JP6694643B2 (en
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恒雄 栗田
Tsuneo Kurita
恒雄 栗田
古川　慈之
Shigeyuki Furukawa
慈之 古川
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National Institute of Advanced Industrial Science and Technology AIST
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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Abstract

PROBLEM TO BE SOLVED: To realize cost reduction, reduction in an operator burden and an increase in an operation rate of a processing machine, by automatically replacing only an exclusive shape part, even when executing large item small scale production.SOLUTION: A work holder 1 for positioning a work to a processing machine is constituted of a frame part 2 and an exclusive shape part 3 fitted to this. The frame part 2 is movable to a work fixing position and a removal position by a driving device, and the exclusive shape part 3 comprises a common engaging structure engaged with the frame part 2 and a special shape part adjusted to a three-dimensional shape of a work holding position, and the frame part 2 is attached with an attitude marker for specifying its three-dimensional position and an ID marker for individually discriminating the frame part 2.SELECTED DRAWING: Figure 1

Description

本発明は、コンピュータ制御の工作機械（一軸工作機械、多軸工作機械、マシニングセンタ、放電加工機、レーザ加工機等）、組立機械（ロボットアーム含む）等（以下、これらを総称して「加工装置」という。）でワークを加工する際に用いるワークホルダ、及び、このワークホルダを用いた加工システムに関する。   The present invention relates to computer-controlled machine tools (single-axis machine tools, multi-axis machine tools, machining centers, electric discharge machines, laser machines, etc.), assembly machines (including robot arms), etc. It is related with the workpiece | work holder used when processing a workpiece | work, and the processing system using this workpiece holder.

本技術分野の背景技術として、特許文献１が知られており、固定治具を、基準面を有する受け部材と、この基準面で姿勢を矯正される専用の保持ブロックとで構成し、保持ブロックの交換のみでサイズの異なるコアピンを固定することが記載されている。
また、特許文献２には、多種類の受けゴマを選択して、形状が異なるワークを位置決めすることが記載されている。 Patent Document 1 is known as background art in this technical field, and the fixing jig is constituted by a receiving member having a reference surface and a dedicated holding block whose posture is corrected by the reference surface, and the holding block It is described that core pins of different sizes are fixed only by exchanging.
Japanese Patent Application Laid-Open No. H10-228561 describes that a workpiece having a different shape is positioned by selecting various types of sesame seeds.

特許第４４７０５１４号公報Japanese Patent No. 4470514 特開２０００−１９０１５７号公報JP 2000-190157 A

近年、消費者ニーズの多様化、インターネットショッピングの広がりにより、多品種少量生産を行う製品分野が大きな広がりを見せている。
例えば、コンピュータにより、各種工具の経路が制御される多軸工作機械などの工作機械、さらには、複数の工程毎に個別の工作機械を使用する生産システムにおいては、ＣＡＤ等の設計データを入力すれば、ワークを切断加工、切削加工、研磨工程に到るまで自動的に加工を行うことができる（ＣＡＤ／ＣＡＭ）。 In recent years, with the diversification of consumer needs and the spread of Internet shopping, the product field that performs high-mix low-volume production has expanded greatly.
For example, in a machine tool such as a multi-axis machine tool whose path of various tools is controlled by a computer, or in a production system that uses individual machine tools for each of a plurality of processes, design data such as CAD is input. For example, the workpiece can be automatically processed until it reaches a cutting process, a cutting process, and a polishing process (CAD / CAM).

しかし、こうした工作機械においては、選択したワークの基準位置に基づいて各工具の経路が定められることから、設計データどおりの精度で加工を行うためには、様々な形態のワークを確実に保持し、あるいは、持ち換えを行い、その都度、加工工程に応じた工作機械に対し、正確な基準位置情報を特定させる必要がある。   However, in such a machine tool, the path of each tool is determined based on the selected reference position of the workpiece. Therefore, in order to perform machining with the accuracy of the design data, various forms of workpieces are securely held. Alternatively, it is necessary to change the holding position and specify accurate reference position information for the machine tool corresponding to the machining process each time.

そのため、こうした工作機械により様々な製品を加工する場合に、その都度ワークに合わせた、高精度の保持具を用意し、保持後に加工物保持誤差を計測し、その誤差に基づいて工作機械補正プログラムを作成し、加工を行う必要があった。
このため、専用保持具を製作するために多額なコストを要するばかりでなく、加工する製品が変更になるたびに、専用工具の交換作業が必要となることから、熟練作業者の専従が必要となり、さらに、専用保持具交換作業に伴って、工作機械の稼働率の低下を招いていた。これが加工工程における自動化のボトルネックの一つの大きな要因ともなっている。 For this reason, when machining various products with such machine tools, a high-precision holding tool is prepared for each workpiece, the workpiece holding error is measured after holding, and the machine tool correction program is based on the error. It was necessary to create and process.
For this reason, not only does it require a large amount of cost to manufacture the dedicated holder, but also the replacement of the dedicated tool is required every time the product to be processed is changed, so that a dedicated worker is required. Furthermore, the operation rate of the machine tool has been lowered due to the replacement work of the dedicated holder. This is one major factor in automation bottlenecks in the machining process.

そこで、本発明の目的は、多品種少量生産を行う場合でも、専用形状部のみを自動的に交換できるようにするとともに、保持した際に発生する位置や姿勢の誤差を、ワークホルダに保持されている期間中、加工機械の工具経路に反映できるようにすることで、生産ラインの自動化、コスト低減、作業者負担の低減、工作機械の稼働率上昇を実現することにある。   Accordingly, an object of the present invention is to allow only a dedicated shape portion to be automatically replaced even in the case of multi-product / small-volume production, and to hold position and orientation errors that occur when held in the work holder. It is intended to realize automation of the production line, cost reduction, reduction of operator burden, and increase in the operating rate of the machine tool by enabling reflection in the tool path of the processing machine during the period.

上記の課題を解決するため、本発明の加工機械に対しワークの位置決めを行うワークホルダは、フレーム部とこのフレーム部に嵌着される専用形状部とからなり、フレーム部は駆動装置により、ワーク固定位置と取り外し位置に移動可能となっており、専用形状部は、フレーム部に係合される共通の係合構造と、ワーク保持位置の形状に合わせた特殊形状部を備え、フレーム部には、その３次元位置を特定するための姿勢マーカと、フレーム部を個別に識別するためのＩＤマーカを装着するようにした。   In order to solve the above problems, a work holder for positioning a work with respect to the processing machine of the present invention includes a frame part and a dedicated shape part fitted to the frame part. It can be moved to a fixed position and a removal position, and the dedicated shape part has a common engagement structure that is engaged with the frame part and a special shape part that matches the shape of the work holding position. The posture marker for specifying the three-dimensional position and the ID marker for individually identifying the frame portion are attached.

また、このワークホルダを用いた加工システムは、前記専用形状部に保持されたワークの、前記フレーム部に対する位置、姿勢を計測する計測装置と、その計測結果を、前記ＩＤマーカにより識別されたワークのＩＤ毎に記録する加工物状態格納媒体とを備えるようにした。   Further, the machining system using the work holder includes a measuring device that measures the position and orientation of the work held by the dedicated shape part with respect to the frame part, and the measurement result of the work identified by the ID marker. And a workpiece state storage medium for recording for each ID.

本発明によれば、専用形状部を３Ｄプリンタなどで作成することで、種々の形態のワークに対し、任意の保持位置で確実に保持することができ、しかも、姿勢マーカとＩＤマーカを読み取り、保持した際に発生する位置や姿勢の誤差を加工機械の工具経路に反映することにより、保持されたワーク毎に位置決め誤差を解消することができる。
また、専用形状部を種々変更して、工具に対する保持位置を変更することにより、例えば、少数軸工作機械を用いても、多軸工作機械の動作に近い加工を実現することができる。
さらに、加工装置変更に伴う加工装置設置の段取りを、搬送ロボットやロボットアームと組み合わせて使用することにより、生産工程の自動化を最大限に高めることが可能となる。 According to the present invention, by creating a dedicated shape portion with a 3D printer or the like, it is possible to reliably hold a workpiece in various forms at an arbitrary holding position, and to read a posture marker and an ID marker, By reflecting the error in the position and orientation generated when held in the tool path of the processing machine, it is possible to eliminate the positioning error for each held workpiece.
Further, by changing the dedicated shape portion in various ways and changing the holding position with respect to the tool, for example, machining close to the operation of the multi-axis machine tool can be realized even if a small-axis machine tool is used.
Furthermore, by using the setup of the processing device installation accompanying the change of the processing device in combination with the transfer robot and the robot arm, it becomes possible to maximize the automation of the production process.

図１は、本実施例のワーク保持部の全体構成を示す図である。FIG. 1 is a diagram illustrating an overall configuration of a work holding unit according to the present embodiment.

図１は、本発明によるワークホルダ１の全体図を示す。
ワークホルダ１は、フレーム部２と専用形状部３とからなり、フレーム部２は、例えばステンレスのように、高剛性、高精度の材料で製作される。
そして、例えば、１対のフレーム部２の左右を２本のボールねじ４に螺合させ、これを回転駆動することで、対向面が互いに接近したり、離隔するように組み合わせる。また、両フレーム部２の対向面には凹凸部が形成されている。 FIG. 1 shows an overall view of a work holder 1 according to the present invention.
The work holder 1 includes a frame portion 2 and a dedicated shape portion 3, and the frame portion 2 is made of a material having high rigidity and high accuracy, such as stainless steel.
Then, for example, the left and right sides of the pair of frame parts 2 are screwed into the two ball screws 4 and are rotated so that the opposing surfaces approach each other or are separated from each other. Further, an uneven portion is formed on the opposing surfaces of both frame portions 2.

専用形状部３の反対向面には、フレーム部２の凹凸部に係合するよう、ピッチが反対となった凹凸部が形成されている。なお、すべての専用形状部３に関し、反対向面の形状は、フレーム部２の対向面に形成した凹凸に係合するよう共通している。
一方、専用形状部３の対向面は、加工時にワークＷの保持位置が変動しないよう、ワークＷとの接触面の形状に合わせた専用設計とする。
専用形状部３の両側面には、それぞれガイド５が水平方向に延出するように形成され、各裏面に形成された凹部が両ボールねじ４の上面にそれぞれ摺動可能に支持されるようになっている。
なお、専用形状部３は、後述するように、３Ｄプリンタによりワーク保持位置の立体形状に合わせて製造するもので、必ずしも高い精度は要求されないが、３Ｄプリンタに使用可能な造形素材のうち、強度、剛性の高いものが好ましい。 On the opposite surface of the dedicated shape portion 3, a concavo-convex portion having a pitch opposite to that of the concavo-convex portion of the frame portion 2 is formed. In addition, regarding all the exclusive shape parts 3, the shape of a counter-facing surface is common so that it may engage with the unevenness | corrugation formed in the opposing surface of the frame part 2. FIG.
On the other hand, the facing surface of the dedicated shape portion 3 is designed exclusively for the shape of the contact surface with the workpiece W so that the holding position of the workpiece W does not fluctuate during processing.
Guides 5 are formed on both side surfaces of the exclusive shape portion 3 so as to extend in the horizontal direction, and concave portions formed on the back surfaces are slidably supported on the upper surfaces of both ball screws 4. It has become.
As will be described later, the dedicated shape portion 3 is manufactured by a 3D printer according to the three-dimensional shape of the workpiece holding position, and does not necessarily require high accuracy, but among the modeling materials that can be used for the 3D printer, Those having high rigidity are preferred.

ワークＷを保持する際は、フレーム部２の対向面間が拡がるよう、ボールねじ４を駆動し、加工するワークＷの形態に合わせて選定した専用形状部３の両ガイド５をそれぞれボールねじ４の上面に載置し、フレーム部２の対向面に形成した凹凸部と、専用形状部３の反対向面側に形成した凹凸部とを係合させる。
そして、ワークＷを、一方の専用形状部３から他方の専用形状部３の対向面に向けて延びる支持部６に載置し、対向面間に支持させる。 When holding the workpiece W, the ball screw 4 is driven so that the space between the opposing surfaces of the frame portion 2 is widened. The concavo-convex part formed on the opposing surface of the frame part 2 and the concavo-convex part formed on the opposite side of the dedicated shape part 3 are engaged with each other.
Then, the workpiece W is placed on the support portion 6 that extends from one dedicated shape portion 3 toward the facing surface of the other dedicated shape portion 3, and is supported between the facing surfaces.

この状態で、ボールねじ４を駆動し、専用形状部３の対向面を互いに接近させることで、ワークＷは、専用形状部３の対向面間で位置決めされる。なお、ワークＷを持ち替えて保持位置を変更する際は、その都度、ロボットアームなどにより、変更された接触面に合わせた専用形状部３に自動交換することで、少数軸工作機械を用いても、加工軸に対するワークＷの姿勢を種々変更することで多軸工作機械の動作に近い加工が可能となる。   In this state, the ball screw 4 is driven to bring the opposed surfaces of the dedicated shape portion 3 closer to each other, whereby the workpiece W is positioned between the opposed surfaces of the dedicated shape portion 3. When holding the workpiece W and changing the holding position, it is possible to use a small-axis machine tool by automatically replacing the dedicated shape portion 3 according to the changed contact surface with a robot arm or the like each time. By changing the posture of the workpiece W with respect to the machining axis, machining close to the operation of the multi-axis machine tool can be performed.

両フレーム部２には、その３次元位置を特定するためのＡＲマーカ等の姿勢マーカ７と、ＱＲコード（登録商標）など、ワーク毎に設定されたＩＤマーカ８が装着されている。
なお、姿勢マーカ７、ＩＤマーカ８は、専用の読み取り機、あるいは、後述するワークＷの姿勢、位置を計測するカメラによって、読み取られる。
このＩＤ毎に、ワークＷの向き、表裏、加工の進行度等の加工物状態データを記録媒体に記録する。なお、ＩＤマーカ８は、一対のフレーム部毎にユニークなものであり、その保持位置での加工がすべて終了した際にリセットされる。
なお、記録媒体は、工作機械を制御する制御装置に接続されたものでもよいし、制御装置にネットワーク上で接続された別個の記録媒体でもよい。
さらに、ＩＤマーカ８自体をデータの書き換えが可能なＲＦＩＤ素子としてもよい。
加工物状態データを格納する記録媒体には、ワークＷのフレーム部２に対する位置、姿勢に加え、材質、形状、加工工程、工具経路、最終加工形状など加工に必要な情報が格納され、各工程が終了した段階で、データ更新が行われる。 Both frame portions 2 are equipped with an orientation marker 7 such as an AR marker for specifying the three-dimensional position, and an ID marker 8 set for each work such as a QR code (registered trademark).
The posture marker 7 and the ID marker 8 are read by a dedicated reader or a camera that measures the posture and position of the workpiece W described later.
For each ID, workpiece state data such as the orientation of the workpiece W, the front and back sides, and the progress of the machining are recorded on the recording medium. The ID marker 8 is unique for each pair of frame portions, and is reset when processing at the holding position is completed.
The recording medium may be connected to a control device that controls the machine tool, or may be a separate recording medium connected to the control device over a network.
Further, the ID marker 8 itself may be an RFID element capable of rewriting data.
In the recording medium for storing the workpiece state data, in addition to the position and orientation of the workpiece W with respect to the frame portion 2, information necessary for machining such as material, shape, machining process, tool path, and final machining shape is stored. The data update is performed at the stage when the process is completed.

フレーム部２と専用形状部３により、ワークホルダ１にワークＷを固定し、一体とした後には、位置、姿勢などの保持誤差を計測する。すなわち、カメラ、接触式あるいは非接触式のプローブ等の３次元測定用センサを搭載した位置、姿勢計測装置により、姿勢マーカ７などで定義されたフレーム部２の基準面に対する、保持後のワークの相対姿勢、位置を計測する。その計測結果のデータを、ＩＤマーカ８から読み取ったフレーム部２のＩＤと関連づけて、加工物状態データ格納媒体に格納する。
このデータと各工作機械による加工データ（工具経路）を用いて、新たに補正された工具経路を算出し加工することで、専用形状部３によるワーク保持誤差を補正する。これにより、専用形状部３の精度、剛性に起因する保持誤差が解消される。 After the work W is fixed to the work holder 1 by the frame part 2 and the exclusive shape part 3 and integrated, the holding error such as the position and the posture is measured. That is, the position of the workpiece after being held with respect to the reference surface of the frame unit 2 defined by the posture marker 7 or the like by the position and posture measuring device equipped with a three-dimensional measuring sensor such as a camera or a contact or non-contact type probe. Measure relative posture and position. The measurement result data is stored in the workpiece state data storage medium in association with the ID of the frame unit 2 read from the ID marker 8.
Using this data and machining data (tool path) by each machine tool, a newly corrected tool path is calculated and processed to correct the workpiece holding error due to the dedicated shape portion 3. Thereby, the holding | maintenance error resulting from the precision and rigidity of the exclusive shape part 3 is eliminated.

位置、姿勢の計測に関しては、例えば、ワークホルダ１と一体となったワークＷに対し、必要に応じて複数に設置され、あるいは、移動機構を持つカメラにより撮影を行う。
フレーム部２に設置されているＡＲマーカ等の姿勢マーカ７やエッジなどの特徴点を画像処理することにより、位置や姿勢を測定する。
一方、ワークＷはカメラによる計測結果、及び、必要に応じて加工物状態格納媒体から読み出したワークＷの形状等の設計データと比較することで、ワークＷの位置姿勢を算出する。両位置姿勢の差を導出し、位置、姿勢の位置決め誤差を加工物状態格納媒体に格納する。 Regarding the measurement of the position and orientation, for example, a plurality of works W integrated with the work holder 1 are installed as necessary, or photographing is performed with a camera having a moving mechanism.
The position and orientation are measured by performing image processing on orientation markers 7 such as AR markers installed in the frame unit 2 and feature points such as edges.
On the other hand, the position and orientation of the workpiece W are calculated by comparing the measurement result by the camera and design data such as the shape of the workpiece W read from the workpiece state storage medium as necessary. A difference between both positions and orientations is derived, and positioning errors between the positions and orientations are stored in the workpiece state storage medium.

こうして位置、姿勢が計測された、ワークホルダ１と一体となったワークＷは、任意の工作機械に搬送される。工作機械上で、ワークホルダ１を精度良く保持できる保持具またはカメラなどの計測機器などによって、ワークホルダ１の位置姿勢を把握する。
そして、加工物状態格納媒体から得た位置決め誤差から、工作機械で想定されている座標系に対する加工物の位置姿勢を導出し、導出した位置姿勢と加工物状態格納媒体から得た工具経路を用いて、保持誤差を解消した工具経路を導出し、加工を実行する。 The workpiece W integrated with the workpiece holder 1 whose position and orientation are thus measured is conveyed to an arbitrary machine tool. On the machine tool, the position and orientation of the work holder 1 are grasped by a holder that can hold the work holder 1 with high accuracy or a measuring device such as a camera.
Then, the position and orientation of the workpiece with respect to the coordinate system assumed by the machine tool is derived from the positioning error obtained from the workpiece state storage medium, and the derived position and orientation and the tool path obtained from the workpiece state storage medium are used. Then, a tool path that eliminates the holding error is derived, and machining is performed.

以下、本実施例に基づくワークホルダ１を用いて、特定の形状に加工を行う際のフローを説明する。
（ステップ１）
発注された加工製品の種類、数量、生産タイミングなどの加工発注データベースに基づいて、加工データベースから、今回加工を行うワークＷの種類、加工形状・寸法（ＣＡＤデータ）、加工工程などの加工データを決定する。 Hereinafter, the flow at the time of processing to a specific shape using the work holder 1 based on a present Example is demonstrated.
(Step 1)
Based on the processing order database such as the type, quantity, and production timing of the ordered processed products, the processing data such as the type of workpiece W to be processed this time, processing shape / dimension (CAD data), processing process, etc. are obtained from the processing database. decide.

（ステップ２）
ロボットアームなどにより、ワークストッカから加工対象のワークを選択し、ワーク形状と加工データに基づいて、工具の経路に対し、ワークを最適位置に保持するためのワーク保持位置の立体形状、保持断面を決定する。 (Step 2)
Select the workpiece to be machined from the workpiece stocker with a robot arm, etc., and based on the workpiece shape and machining data, the solid shape and holding section of the workpiece holding position for holding the workpiece at the optimum position with respect to the tool path decide.

（ステップ３）
ステップ２で決定した、ワーク保持位置の立体形状、保持断面に合わせて、例えば、ＣＡＤデータから３次元プリンタで専用形状部３を製作する。
ただし、既に作成済みの専用形状部３については、専用形状部３に付与されたＩＤ等により、ロボットアームなどにより、専用形状部ストッカから対応する専用形状部３を抽出する。 (Step 3)
In accordance with the three-dimensional shape and holding section of the workpiece holding position determined in step 2, for example, the dedicated shape portion 3 is manufactured from CAD data by a three-dimensional printer.
However, for the dedicated shape portion 3 that has already been created, the corresponding dedicated shape portion 3 is extracted from the dedicated shape portion stocker by the robot arm or the like based on the ID assigned to the dedicated shape portion 3 or the like.

（ステップ４）
フレーム部２と専用形状部３の形状データを関連付け、ワークホルダ１としての統合データを作成した上で、フレーム部２を駆動してワークを固定し、ワークホルダ１と一体化する。
なお、ステップ２で決定した保持部での加工がすべて終了し、ワークＷの持ち替えを行うまで、ワークＷは、ワークホルダ１と一体化した状態のまま、同一保持部での加工がすべて終了するまで、順次、次の工作機械に搬送される。 (Step 4)
After the shape data of the frame portion 2 and the dedicated shape portion 3 are associated to create integrated data as the work holder 1, the work is fixed by driving the frame portion 2 and integrated with the work holder 1.
In addition, all the processes in the same holding | maintenance part complete | finish the work W with the state integrated with the work holder 1 until all the processes in the holding | maintenance part determined in step 2 are complete | finished and the work W is changed. Until the next machine tool.

（ステップ５）
専用形状部３に対する位置決め誤差を姿勢計測装置により測定し、フレーム部基準面（姿勢マーカ）に対するワークＷの相対位置を測定し、記録する。 (Step 5)
The positioning error with respect to the dedicated shape portion 3 is measured by the posture measuring device, and the relative position of the workpiece W with respect to the frame portion reference surface (posture marker) is measured and recorded.

（ステップ７）
今回の工作機械による加工データ（工具経路）を、記録したワークＷの相対位置により補正した上で、加工を行う。
ステップ５で計測したワークＷの相対位置は、ワークＷの持ち替えを行うまで、各加工機で共通して使用することができる。
なお、ひとつの工作機械での加工が終了したら、加工物状態データ格納媒体８のデータを更新し、次の工作機械に引き渡される。 (Step 7)
Machining data (tool path) by the current machine tool is corrected by correcting the recorded relative position of the workpiece W, and then machining is performed.
The relative position of the workpiece W measured in step 5 can be used in common by each processing machine until the workpiece W is changed.
When the machining with one machine tool is completed, the data in the workpiece state data storage medium 8 is updated and delivered to the next machine tool.

ワークホルダ１を持ち替えて、次工程の加工を行う場合には、ステップ（２）からの工程を繰り返すが、ワークを最適位置に保持するためワークの保持部を決定する際には、前工程までの加工による形状変化を反映させる。
ただし、持ち替え前後のワーク保持部、保持位置の関係が予め分かっている場合には、（２）の工程を省略できる。 When the workpiece holder 1 is changed and the next process is performed, the process from step (2) is repeated. However, when the work holding part is determined in order to hold the work in the optimum position, the previous process is performed. Reflects the shape change caused by machining.
However, when the relationship between the workpiece holding part and the holding position before and after the change is known in advance, the step (2) can be omitted.

以上、本発明のワーク保持具を、切削、切断、研磨等を行う工作機械に適用した実施例について説明したが、本発明のワーク保持具は、放電加工機、レーザ加工機、組立機械等、加工機に対しワークを正確な位置決めを必要とする加工装置全般に適用することができる。   As mentioned above, although the example which applied the work holder of the present invention to the machine tool which performs cutting, cutting, grinding, etc. was explained, the work holder of the present invention is an electric discharge machine, a laser processing machine, an assembly machine, etc. The present invention can be applied to all processing apparatuses that require accurate positioning of a workpiece with respect to a processing machine.

以上説明したように、本発明によれば、低コストで、しかも、稼働率を低下させることなく、種々の形態のワークに対し、任意の保持位置で確実に保持することができ、しかも、姿勢マーカとＩＤマーカを読み取ることで、保持されたワーク毎に位置決め誤差を解消することができるので、自動化された多品種少量生産システムに広く採用されることが期待できる。   As described above, according to the present invention, it is possible to reliably hold a workpiece in various forms at an arbitrary holding position at a low cost and without reducing the operation rate, and the posture. By reading the marker and the ID marker, the positioning error can be eliminated for each held work, so that it can be expected to be widely adopted in an automated multi-product low-volume production system.

１：ワークホルダ
２：フレーム部
３：専用形状部
４：ボールねじ
５：ガイド
６：支持部
７：姿勢マーカ
８：ＩＤマーカ 1: Work holder 2: Frame part 3: Dedicated shape part 4: Ball screw 5: Guide 6: Support part 7: Posture marker 8: ID marker

Claims (4)

加工機械に対しワークの位置決めを行うワークホルダであって、
フレーム部と、このフレーム部に嵌着される専用形状部からなり、
前記フレーム部は駆動装置により、ワーク固定位置と取り外し位置に移動可能となっており、
前記専用形状部は、前記フレーム部に係合される共通の係合構造と、ワーク保持位置の立体形状に合わせた特殊形状部を備え、
前記フレーム部には、その３次元位置を特定するための姿勢マーカと、前記フレーム部を個別に識別するためのＩＤマーカが装着されていることを特徴とするワーク保持具。 A workpiece holder for positioning a workpiece with respect to a processing machine,
Consists of a frame part and a specially shaped part fitted to this frame part,
The frame part can be moved to a workpiece fixing position and a removal position by a driving device,
The dedicated shape portion includes a common engagement structure that is engaged with the frame portion, and a special shape portion that matches the three-dimensional shape of the work holding position,
A workpiece holder, wherein a posture marker for specifying a three-dimensional position of the frame portion and an ID marker for individually identifying the frame portion are attached to the frame portion. 前記専用形状部に保持されたワークの、前記フレーム部に対する位置、姿勢を計測する計測装置と、その計測結果を、前記ＩＤマーカにより識別された前記フレーム部のＩＤ毎に記録する加工物状態格納媒体とを備えた、請求項１に記載されたワーク保持具を用いた加工システム。   A measuring device for measuring the position and orientation of the work held in the dedicated shape portion with respect to the frame portion, and a workpiece state storage for recording the measurement result for each ID of the frame portion identified by the ID marker A processing system using the workpiece holder according to claim 1, comprising a medium. 前記加工物状態格納媒体には、ワークの材質、形状、加工工程、工具経路、最終加工形状が合わせて記録されていることを特徴とする請求項２に記載された加工システム。   The machining system according to claim 2, wherein the workpiece state storage medium is recorded with a workpiece material, shape, machining process, tool path, and final machining shape. 前記ＩＤマーカをＲＦＩＤ素子とし、前記加工物状態格納媒体を兼用させたことを特徴とする請求項２または３に記載された加工システム。
The processing system according to claim 2, wherein the ID marker is an RFID element, and the workpiece state storage medium is also used.
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