JP2015104782A - Tool magazine device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To measure a tool having an outer diameter or a length which gets beyond an imaging range of tool imaging means in a tool magazine device.SOLUTION: Multiple tools are stored in a tool magazine device, and the tool magazine device includes a camera 34 which images a tool T and a lighting device 36; measurement means which measures an external dimension of the tool T on the basis of an image of the tool T, i.e. a measurement object, which is obtained by the camera 34; and tool image position adjustment means which adjusts an imaging position of the tool T according to a measurement result.

Description

  The present invention relates to a tool magazine having an imaging type tool dimension measuring means.

  A tool magazine is generally placed adjacent to a machine tool and contains a number of tools. The tool stored in the tool magazine is supplied to the machine tool by the tool changer, and the tool is received from the machine tool to the tool magazine. In order to perform complicated machining with one machining center, a tool magazine has been developed that can store tools of different tool diameters and tool lengths with high efficiency.

  Japanese Patent Application Laid-Open No. 2004-133830 discloses an imaging device for capturing an image of a tool mounted on a tool magazine, an image processing unit for processing image information of the tool, and master data about each tool mounted on the tool magazine. A master data registration unit for registering the image data, and a collation recognition unit for collating the image data and the master data. There is described an automatic tool for recognizing and recognizing a tool that recognizes a photographed tool by collation.

  Further, in Patent Document 2, when the diameter of the tool attached to the holding portion input from the input unit is at least large enough that the tool cannot be attached to the holding portion unless the adjacent holding portion is made empty, A machine tool is disclosed that notifies the holder that a tool should not be mounted.

JP-A-6-134638 JP-A-11-42533

  In the invention of Patent Document 1, a tool selected from the tools stored in the holding unit in the tool magazine for use in the processing of the tool in the tool magazine is captured, and the master data is taken. The tool used is confirmed to be surely matched with the tool described in the program. However, since the entire tool is imaged, the apparatus becomes large. In addition, when trying to measure the diameter and length of the tool, the image pickup device with a high pixel and high resolution is required for the wide image pickup range, which increases the cost.

  In the invention of Patent Document 2, since the operator inputs information on the tool to be stored through the input means and does not actually measure the dimensions of the tool, an operator input error causes a large diameter, for example. A tool or a long tool hits another already stored tool in the tool magazine or a rack in the tool magazine, which not only prevents the tool from being stored, but also the tool that is about to be stored Problems arise such as dropping or damaging the tool or damaging the tool magazine.

  An object of the present invention is to solve such a problem of the prior art, and an object is to measure a tool having an outer diameter or a length that exceeds the imaging range of the tool imaging means.

  In order to achieve the above-described object of the present invention, according to the present invention, a tool imaging means for imaging a tool in a tool magazine apparatus that includes a rack having a plurality of tool storage portions and stores a plurality of tools therein. Measuring means for measuring the outer dimension of the tool based on the tool image obtained by the tool imaging means, and tool imaging for adjusting the imaging position of the tool according to the measurement result of the tool A tool magazine apparatus comprising position adjusting means is provided.

  According to the present invention, since the imaging position of the tool is adjusted according to the measurement result of the tool by the tool position adjusting means, the outer dimension of the measurement target tool is large, and the measurement target tool is positioned at a predetermined imaging position. Even if the imaging range is exceeded, by adjusting the imaging position of the measurement target tool, a large or long tool can be imaged and measured without using a large imaging device. A compact tool magazine can be obtained.

  Further, according to the present invention, it is possible to reliably prevent the interference between the tool and the rack or the interference between the tools arranged adjacent to each other in the tool magazine using the above measurement result.

1 is a schematic front view of a tool magazine apparatus according to a preferred embodiment of the present invention. FIG. 2 is a schematic side view showing a rack and a tool transfer position of the tool magazine apparatus in FIG. 1. FIG. 2 is a schematic perspective view showing a rack and a tool transfer position of the tool magazine apparatus in FIG. 1. It is a schematic front view which shows the tool replacement station of FIG. FIG. 2 is a schematic side view of a tool replacement station shown together with a rack and a tool transfer position of the tool magazine apparatus of FIG. 1. It is a flowchart which shows return operation | movement of the tool to a tool replacement station. It is a flowchart which shows the imaging of a tool in a tool replacement station, and a measurement process. It is a schematic front view of the tool replacement station showing the positioning process to the tool imaging position. It is a schematic side view of the tool replacement station showing the positioning process to the tool imaging position. FIG. 8B is a schematic front view of a tool replacement station similar to FIG. 8A, showing a state in which the outer diameter of the tool positioned at the tool imaging position exceeds the imaging range. FIG. 8B is a schematic front view of a tool replacement station similar to FIG. 8A, illustrating a state where the tool is repositioned when the outer diameter of the tool exceeds the imaging range. FIG. 9 is a schematic side view of a tool replacement station similar to FIG. 8B, showing a state in which the length of the tool positioned at the tool imaging position exceeds the imaging range. FIG. 8B is a schematic side view of a tool replacement station similar to FIG. 8B, showing how the tool is repositioned when the tool length exceeds the imaging range.

Hereinafter, a tool magazine according to a preferred embodiment of the present invention will be described with reference to FIGS.
1 to 4, a tool magazine 10 is disposed adjacent to a machine tool (not shown), and a tool necessary for machining is supplied to the machine tool by a tool changer 100, and a tool used in the machine tool. Receive and store. In the present specification, the tool T is referred to as including a rod-shaped shank extending along the central axis, a cutter unit coupled to one end of the shank, and a tool holder attached to the shank. The tool holder has a tapered portion TH that is fitted into a tool mounting hole formed at the tip end portion of the spindle of the machine tool, and a circumferential groove V that engages with the tool changer 100.

  The tool magazine 10 includes an upper rack 14 housed in a cover 12, a lower rack 20, a tool replacement station 30 disposed between the upper and lower racks 14, 20 adjacent to one side surface of the cover 12, and upper and lower racks. 14 and 20 and a tool changer 50 for transferring the tool between the tool changer 100 and the tool changer 100. In the present embodiment, the upper and lower racks 14 and 20 are formed of flat plate-like members disposed in a vertical plane common within the cover 12. In the present specification, the vertical plane formed by the upper and lower racks 14 and 20 is defined as an XY plane, and the X axis in the horizontal direction, the Y axis in the vertical direction, and the Z axis in the horizontal direction perpendicular to the XY plane are defined. The tool T is stored in the upper and lower racks 14 and 20 so that the center axis of the tool T is parallel to the Z axis, and the tool holder side of the stored tool T is defined as the rear of the tool magazine 10.

  In the present embodiment, the upper and lower racks 14 and 20 are formed with tool receiving holes 16 and 22 each having a plurality of openings for passing the tool T in the Z-axis direction and engaging and holding the peripheral groove V of the tool T. ing. The tool receiving holes 16 and 22 are arranged in a matrix, that is, a matrix of 6 rows and 10 columns in the example of FIG. Further, the upper edge portions of the upper and lower racks 14 and 20 are engaged with the circumferential groove V of the tool T oriented in the Z-axis direction, and the tool receiving recesses 18 and 24 are formed by notches opened upward for holding the tool T. Is formed. Each of the tool receiving holes 16, 22 and the tool receiving recesses 18, 24 forms a tool storage portion of the tool magazine 10.

  The tool receiving holes 16 and 22 hold a relatively small diameter tool T having a diameter through which the tool receiving holes 16 and 22 can be inserted. On the other hand, by forming the tool receiving recesses 18 and 24 by notches opened upward, the tool receiving recesses 18 and 24 have a limit that does not interfere with the tool T held in the uppermost tool receiving holes 16 and 22. Thus, a tool T having a relatively large diameter can be stored. The tool receiving recesses 18 and 24 are arranged in the X-axis direction at an interval that allows the maximum diameter tool T stored in the tool magazine 10 to be held. Alternatively, every other tool T may be mounted in the tool receiving recesses 18 and 24 in order to prevent interference with the adjacent tool T. The space between the upper rack 14 and the top plate of the cover 12 and the space between the upper rack 14 and the lower rack 20 are in the Y-axis direction that allows the tool T having the maximum diameter to move in the Z-axis direction. Needless to say, it has the following dimensions.

  A tool conveying device 50 that conveys a tool between the tool upper and lower racks 14 and 20 and the tool changer 100 includes a carriage 52 that detachably holds the tool T, an upper rail 54 that extends in the X-axis direction, and The carriage 52 is provided so as to be reciprocable in the X-axis direction along the lower rail 56 and the upper and lower rails 54, 56, and the carriage 52 is reciprocated in the Y-axis direction along the movable pillar 58. It is mounted movably. For example, ball screws (not shown) are extended in the upper and lower rails 54, 56, and nuts (not shown) that engage with the ball screws are attached to the upper and lower ends of the moving column 58, and the upper and lower rails 54, 56 are attached. By rotating the ball screws synchronously, the movable support column 58 can be reciprocated in the X-axis direction along the upper and lower rails 54 and 56.

  The carriage 52 is composed of a plate-like member extending in the Z-axis direction, and includes a base portion 60 attached to the movable support column 58 so as to reciprocate in the Y-axis direction. A ball screw 62 extending in the Z-axis direction and a motor 64 that rotationally drives the ball screw 62 are attached to the upper surface of the base portion 60. The lower surface of the base portion 60 is attached in the Z-axis direction. An extended first guide rail 66 is fixed. A first slider 68 is attached to the first guide rail 66 so as to be capable of reciprocating along the first guide rail 66, and a nut that engages with the ball screw 62 is attached to the first slider 68. 70 is attached. A second guide rail 72 is fixed to the first slider 68, and the second guide rail 72 can reciprocate in the Z-axis direction together with the first slider 68. A second slider 74 is attached to the second guide rail 72 so as to reciprocate along the second guide rail 72 as the first slider 68 moves. The arm 76 is fixed. A tool gripping means 78 is fixed to the tip of the arm 76 so as to have a tapered hole that fits into the tool holder of the tool T and grips the tool T in a detachable manner. In the present embodiment, the movement of the tool conveying device 50 in the X, Y, and Z-axis directions and the tool gripping operation are controlled by an NC device (not shown) of the machine tool.

  4 and 5, the tool replacement station 30 includes a support base 32 for placing the tool T, a camera 34 for imaging the tool T, and the tool T for imaging by the camera 34. An image pickup unit including an illuminating device 36 that projects light is provided. A door 12 a is provided on one side of the cover 12 so that the operator can access the tool replacement station 30.

Hereinafter, the operation of the present embodiment will be described.
First, referring to FIG. 6, the operator opens and closes the door 12 a, places the tool T on the support base 32, and the tool T is moved from the operation panel (not shown) of the tool magazine 10 into the tool magazine 10. A return operation is performed (step S100). Thereby, the control device of the tool magazine 10 starts the positioning, imaging, and measurement operations of the tool T composed of Steps S10 to S24 in FIG. 7 (Step S200). Then, the upper and lower racks 14 and 20 are already held in the tool receiving holes 16 and 22 or the tool receiving recesses 18 and 24 adjacent to the tool receiving holes 16 and 22 or the tool receiving recesses 18 and 24 in which the tool T is to be stored. Compared with the data of the tool T that is present or scheduled to be held, an interference check is performed to determine whether or not the tool T and the measured tool T interfere (step S300). As described above, a tool to be measured (referred to as a measurement target tool) is a tool newly placed in the tool replacement station 30 by the operator.

  If it is determined as a result of the interference check in step S300 that there is no interference (Yes in step S400), the tool T is mounted in the predetermined tool receiving holes 16 and 22 or the tool receiving recesses 18 and 24 of the tool magazine 10, It is held (step S500). As a result of the interference check in step S300, when it is determined that interference occurs (in the case of No in step S400), the return operation of the tool T is interrupted, the tool T is placed on the support base 32, and the operator is An announcement or warning that interference will occur is made (step S600).

  Next, the process of positioning, imaging, and measuring the tool T in step S200 of FIG. 6 will be described with reference to FIG. When the imaging process is started (step S10), the measurement target tool T placed on the support base 32 by the operator is used as a tool imaging position adjusting means in the tapered portion TH of the tool holder, as shown in FIG. Is gripped by the tool gripping means 78 of the tool transporting device 50 and then positioned at the imaging position by the tool transporting device 50 (step S12). Thus, as shown in FIGS. 8A and 8B, the imaging position is a position moved upward in the Y-axis direction from the support base 32.

  Next, light is projected from the illumination device 36 toward the measurement target tool T positioned at the imaging position, and the camera 34 images a shadow (silhouette) of the measurement target tool T caused by the light from the illumination device 36 (step). S14). The control device of the tool magazine 10 performs processing such as binarization on the image data from the camera 34, and measures the outer shape of the measurement target tool T, in particular its length and diameter. In this manner, by imaging the tool T by shading, the contour of the measurement target tool T can be clearly imaged without performing an expensive camera as the camera 34 or complicated image processing.

  From the measurement result, it is determined whether or not the contour of the outermost edge portion in the diameter direction of the measurement target tool T exceeds the imaging range (step S16). For example, in the determination of whether or not the contour of the outermost edge portion in the diameter direction of the measurement target tool T exceeds the imaging range, the value of each pixel is set in the direction perpendicular to the Z axis in the binarized imaging data. When the values of all the pixels are 0 or 1 when sequentially checked, it can be determined that the contour of the outermost edge portion in the diameter direction of the measurement target tool T exceeds the imaging range. As a result of the determination in step S16, when it is determined that the measurement target tool T is a large-diameter tool and the dimension exceeds the imaging range in the diameter direction as shown in FIG. 9A (Yes in step S16). ), The measurement target tool T is repositioned by the tool conveying device 50 to an imaging position where the measurement target tool T can be measured (step S18). As shown in FIG. 9B, this repositioning is performed until pixels including 0 and 1 appear in the direction perpendicular to the Z axis in the binarized imaging data, that is, until the outermost edge of the measurement target tool T appears. It can be performed by moving the tool conveying device 50 downward in the Y-axis direction, that is, by bringing the measurement target tool T closer to the illumination device 36 (steps S14 to S18). The coordinate value of the Y axis of the tool transport device 50 when the outer shape of the measurement target tool T appears on the imaging data and the binarized data of the image obtained by imaging the measurement target tool T are viewed in the direction perpendicular to the Z axis. The diameter of the tool T can be obtained by calculation from the pixel position where the pixel value sometimes changes from 0 to 1. This calculation can be performed in the control device of the tool magazine 10. Alternatively, imaging and measurement are performed in advance using a calibration tool whose outer dimensions are accurately known in advance, and the measurement result is stored in the control device of the tool magazine 10 together with the coordinate value of the tool conveying device 50. Also good. Since the diameter of the measurement target tool T is calculated from the coordinate value of the tool conveying device 50 and the pixel position, it is not necessary to put the entire image in the diameter direction of the tool T in the imaging range. It is only necessary that the contour of the outermost edge part falls within the imaging range.

  If it is determined in step S16 that the contour of the outermost edge portion in the diameter direction of the measurement target tool T does not exceed the imaging range (No in step S16), the length direction of the measurement target tool T is determined in step S20. It is determined whether or not the contour of the tip exceeds the imaging range. The determination of whether or not the contour of the tip of the measurement target tool T in the length direction exceeds the imaging range is a determination of whether or not the contour of the outermost edge portion in the diameter direction of the measurement target tool T exceeds the imaging range. Similarly to the case, for example, when the value of each pixel is sequentially checked in the Z-axis direction in the binarized imaging data, and the value of all the pixels is 0 or 1, the length of the measurement target tool T It can be determined that the contour of the tip in the vertical direction exceeds the imaging range. When it is determined that the contour of the tip in the length direction of the measurement target tool T exceeds the imaging range as shown in FIG. 10A (Yes in step S20), the measurement target tool T is a tool transfer device. 50, the measurement target tool T is repositioned to an imaging position where measurement is possible (step S22). This repositioning is performed as shown in FIG. 10B until pixels including 0 and 1 appear in the Z-axis direction in the binarized imaging data, that is, until the tip of the measurement target tool T enters the field of view of the camera 34. Moreover, it can carry out by retracting the tool conveying apparatus 50 to a Z-axis direction (step S14-step S22). The length of the measurement target tool T can be obtained from the coordinate value of the Z axis of the tool conveying device 50 when the tip of the measurement target tool T appears on the imaging data. This calculation can be performed in the control device of the tool magazine 10. As in the case of the diameter, since the length of the measurement target tool T is calculated from the coordinate value of the tool conveying device 50 and the position of the pixel, it is not necessary to put the entire image in the length direction of the tool T in the imaging range. The outline of the tip of the measurement target tool T in the length direction only needs to fall within the imaging range.

  As described above, the measurement target tool T is positioned between the camera 34 and the illumination device 36 by the tool conveying device 50 as the tool position adjusting means, and the outer shape of the measurement target tool T is imaged, thereby measuring the measurement target. The dimension of the tool T can be measured. The measurement of such a tool is performed in the tool replacement station 30, and based on the measurement result of the external dimension of the measurement target tool T, the tool storage portion designated by the machining program, that is, the tool receiving holes 16 and 22 or the tool receiving recess 18. 24, it is determined whether or not the tool can be stored. Therefore, it is possible to prevent a situation where the operator stores the wrong tool as in Patent Documents 1 and 2.

  Further, even if the outer dimension of the measurement target tool T is large and exceeds the imaging range when the measurement target tool T is positioned at a predetermined imaging position, by repositioning the measurement target tool T as described above, A large or long tool can be imaged and measured without using a large imaging device.

  Thus, the diameter and length of all the tools stored in the tool magazine 10 are measured, and the data is stored in the control device of the tool magazine 10. For example, a certain tool in the tool magazine 10 is processed. When measuring the length of the tool on a machine tool, make sure that the tool does not interfere with the precision measuring instrument, and fast-forward the tool toward the precision measuring instrument. It is possible to make them approach, and it is possible to shorten the precision measurement of the tool, particularly the length measurement time.

  By sending the measured outer dimensions to, for example, a collision prevention apparatus between a tool and a workpiece provided in a machine tool, it can be used to generate a model of the collision prevention apparatus. Further, the operator can easily perform the tool management work by displaying the measured outer shape of the tool together with the tool data of the tool management apparatus on the screen.

DESCRIPTION OF SYMBOLS 10 Tool magazine 14 Upper rack 16 Tool receiving hole 18 Tool receiving recessed part 20 Lower rack 22 Tool receiving hole 24 Tool receiving recessed part 30 Tool replacement station 32 Support stand 34 Camera 36 Illuminating device 50 Tool conveying apparatus 78 Tool holding means 100 Tool changing apparatus

In order to achieve the above-described object of the present invention, according to the present invention, a tool imaging means for imaging a tool in a tool magazine apparatus that includes a rack having a plurality of tool storage portions and stores a plurality of tools therein. Measuring means for measuring the external dimensions of the tool based on an image of the tool to be measured and an image obtained by capturing in advance a calibration tool whose external dimensions are known , obtained by the tool imaging means, There is provided a tool magazine apparatus comprising tool imaging position adjusting means for adjusting the imaging position of the tool when the outer dimension exceeds the imaging range of the tool imaging means .

Claims (5)

In a tool magazine apparatus that includes a rack having a plurality of tool storage units and stores a plurality of tools therein,
Tool imaging means for imaging a tool;
Measuring means for measuring the outer dimension of the tool based on the image of the tool to be measured, obtained by the tool imaging means;
Tool imaging position adjusting means for adjusting the imaging position of the tool according to the measurement result of the tool;
A tool magazine apparatus comprising: The imaging means includes a camera and a lighting device facing the camera,
2. The tool magazine according to claim 1, wherein the tool imaging position adjusting unit arranges a tool to be measured between the camera and an illumination device, and images a shadow of the tool to be measured by the camera. apparatus.   3. The tool magazine apparatus according to claim 1, wherein the tool imaging position adjusting unit is a tool transfer device that transfers a tool between the rack and a tool changer.   The imaging position adjustment unit moves the measurement target tool in a direction approaching the illumination device and positions the measurement target tool at a new imaging position when the diameter of the measurement target tool exceeds the imaging range of the tool imaging unit. The tool magazine apparatus according to 2 or 3.   When the length of the measurement target tool exceeds the imaging range of the tool imaging means, the imaging position adjustment means sets the measurement target tool to the central axis so that the tip of the measurement target tool falls within the imaging range. The tool magazine device according to any one of claims 2 to 4, wherein the tool magazine device is moved along the position and positioned at a new imaging position.

Images