JP2016060008A - Machine tool - Google Patents

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JP2016060008A
JP2016060008A JP2014190855A JP2014190855A JP2016060008A JP 2016060008 A JP2016060008 A JP 2016060008A JP 2014190855 A JP2014190855 A JP 2014190855A JP 2014190855 A JP2014190855 A JP 2014190855A JP 2016060008 A JP2016060008 A JP 2016060008A
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camera
chuck
machine tool
cutting
camera control
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JP6313687B2 (en
Inventor
岡本　洋一
Yoichi Okamoto
洋一 岡本
英一郎 五味
Eiichiro Gomi
英一郎 五味
大樹 中尾
Hiroki Nakao
大樹 中尾
豊 齊藤
Yutaka Saito
豊 齊藤
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DMG Mori Co Ltd
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DMG Mori Seiki Co Ltd
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Abstract

PROBLEM TO BE SOLVED: To confirm a shape of a chuck claw during cutting, and improve processing efficiency of the chuck claw, without stopping a main shaft.SOLUTION: A machine tool comprises a camera on a chuck and for imaging a chuck claw during cutting molding, for improving processing efficiency of the chuck claw and confirming a shape of the chuck claw during cutting, without stopping a main shaft. The machine tool further comprises a camera control part for controlling an imaging timing of the camera, according to a rotation position of the chuck.SELECTED DRAWING: Figure 1

Description

本発明は、工作機械に関する。   The present invention relates to a machine tool.

上記技術分野において、特許文献１には、回転加工中の対象物の撮像タイミングを制御する技術が開示されている。   In the above technical field, Patent Document 1 discloses a technique for controlling the imaging timing of an object being rotated.

特開昭６２−２１９３１２号公報JP-A-62-219312

しかしながら、上記文献に記載の技術は、あくまでビデオヘッドの研磨状態を観察するためのものであった。切削中のチャック爪の形状を確認するという課題は認識されておらず、チャック爪の成形時には、主軸を停止させて、チャックを特定の角度まで手で回した上で、爪の形状や寸法を確認し、再度主軸を回転させて、爪の成形を行うようにしていた。これによりチャック爪の加工効率を十分に上げることができなかった。   However, the technique described in the above document is only for observing the polishing state of the video head. The problem of checking the shape of the chuck jaws during cutting is not recognized, and when forming the chuck jaws, the spindle is stopped and the chuck is turned to a specific angle by hand, then the shape and dimensions of the jaws are adjusted. After confirming, the main shaft was rotated again to mold the nail. As a result, the processing efficiency of the chuck claw could not be sufficiently increased.

本発明の目的は、上述の課題を解決する技術を提供することにある。   The objective of this invention is providing the technique which solves the above-mentioned subject.

上記目的を達成するため、本発明に係る工作機械にあっては、
チャックに設けられ切削成形中のチャック爪を撮像するカメラと、
前記チャックの回転位置に応じて前記カメラの撮像タイミングを制御するカメラ制御部と、
を備えた。 In order to achieve the above object, in the machine tool according to the present invention,
A camera that is provided on the chuck and images the chuck jaws during cutting molding;
A camera control unit for controlling the imaging timing of the camera according to the rotation position of the chuck;
Equipped with.

本発明によれば、主軸を停止させることなく、切削中のチャック爪の形状を確認することができ、チャック爪の加工効率を向上させることができる。   According to the present invention, the shape of the chuck claw during cutting can be confirmed without stopping the main shaft, and the machining efficiency of the chuck claw can be improved.

本発明の第１実施形態に係る工作機械の構成を示す図である。It is a figure showing composition of a machine tool concerning a 1st embodiment of the present invention. 本発明の第１実施形態に係る工作機械の動作を説明する図である。It is a figure explaining operation | movement of the machine tool which concerns on 1st Embodiment of this invention. 本発明の第１実施形態に係る工作機械の動作を説明する図である。It is a figure explaining operation | movement of the machine tool which concerns on 1st Embodiment of this invention. 本発明の第１実施形態に係る工作機械の表示画面例を示す図である。It is a figure which shows the example of a display screen of the machine tool which concerns on 1st Embodiment of this invention. 本発明の第１実施形態に係る工作機械の表示画面例を示す図である。It is a figure which shows the example of a display screen of the machine tool which concerns on 1st Embodiment of this invention. 本発明の第２実施形態に係る工作機械の構成を示す図である。It is a figure which shows the structure of the machine tool which concerns on 2nd Embodiment of this invention. 本発明の第３実施形態に係る工作機械の構成を示す図である。It is a figure which shows the structure of the machine tool which concerns on 3rd Embodiment of this invention. 本発明の第４実施形態に係る工作機械の構成を示す図である。It is a figure which shows the structure of the machine tool which concerns on 4th Embodiment of this invention.

以下に、図面を参照して、本発明の実施の形態について例示的に詳しく説明する。ただし、以下の実施の形態に記載されている構成要素はあくまで例示であり、本発明の技術範囲をそれらのみに限定する趣旨のものではない。   Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. However, the components described in the following embodiments are merely examples, and are not intended to limit the technical scope of the present invention only to them.

［第１実施形態］
本発明の第１実施形態としての工作機械１００の構成について、図１を用いて説明する。図１に示すように、工作機械１００は、少なくともカメラ１０１とカメラ制御部１０２とを含む。 [First Embodiment]
The configuration of the machine tool 100 as the first embodiment of the present invention will be described with reference to FIG. As shown in FIG. 1, the machine tool 100 includes at least a camera 101 and a camera control unit 102.

チャック１１０は、爪１２０の開閉駆動機構を持ち、チャック１１０後方に延びた円筒形の主軸１４０によって回転制御される。カメラ１０１は、切削成形中のチャック爪としての生爪１２０を撮像する。一方、カメラ制御部１０２は、チャック１１０の回転位置に応じてカメラ１０１の撮像タイミングを制御する。   The chuck 110 has an opening / closing drive mechanism for the pawl 120 and is controlled to rotate by a cylindrical main shaft 140 extending rearward of the chuck 110. The camera 101 images the raw nail 120 as a chuck nail during cutting molding. On the other hand, the camera control unit 102 controls the imaging timing of the camera 101 according to the rotational position of the chuck 110.

表示部１３０は、カメラによって撮像された画像を順次更新しながら表示する。さらに、工作機械１００は、チャック１１０の回転速度を検出する検出部１０３を含む。   The display unit 130 displays images captured by the camera while sequentially updating them. Furthermore, the machine tool 100 includes a detection unit 103 that detects the rotation speed of the chuck 110.

カメラ制御部１０２は、検出部１０３からの信号を入力し、チャック１１０が特定の回転位置となったタイミングで、生爪１２０を撮影する。   The camera control unit 102 inputs a signal from the detection unit 103 and images the raw nail 120 at a timing when the chuck 110 reaches a specific rotation position.

さらに、工作機械１００は、カメラ１０１で撮像するタイミングを決定する特定の回転位置を操作するための操作部１６０をさらに備える。   Furthermore, the machine tool 100 further includes an operation unit 160 for operating a specific rotational position that determines the timing of imaging with the camera 101.

表示部１３０は、生爪１２０の形状とともに寸法を表示する。また、カメラ制御部１０２は、生爪１２０を切削成形するための切削工具１５０の先端を撮像するためにカメラ１０１の撮像タイミングを制御することもできる。
このように構成した工作機械１００では、生爪の切削成形時に、主軸の回転を止めることなく、切削中の爪の形状やバリやひげの状況を確認することができる。 The display unit 130 displays the dimensions along with the shape of the raw nail 120. The camera control unit 102 can also control the imaging timing of the camera 101 in order to image the tip of the cutting tool 150 for cutting the raw nail 120.
In the machine tool 100 configured as described above, the shape of the nail and the state of burrs and whiskers during cutting can be confirmed without stopping the rotation of the main shaft at the time of cutting and forming the raw nail.

さらに、カメラ制御部１０２は、撮像タイミングに応じて焦点距離を変える。つまり、どの位置にある生爪１２０を撮像したいか、生爪１２０をどの方向から撮像して表示したいかに応じて、撮像タイミングおよび焦点距離を変更する。   Furthermore, the camera control unit 102 changes the focal length according to the imaging timing. That is, the imaging timing and focal length are changed according to which position the raw nail 120 is desired to be imaged and from which direction the raw nail 120 is desired to be imaged and displayed.

例えば、生爪１２０の切削面２０１を正面から見たい場合には、図２に示すようにいずれかの生爪１２０の切削面２０１がカメラ１０１に対向するタイミング（図２のカメラ位置であれば、いずれかの生爪１２０が最下部にきたタイミング）で撮像する。つまり、生爪１２０の位置に応じて、カメラ制御部１０２がカメラ１０１のシャッターおよびフォーカスを制御する。   For example, when the cutting surface 201 of the raw nail 120 is desired to be viewed from the front, as shown in FIG. 2, the timing at which the cutting surface 201 of any raw nail 120 faces the camera 101 (if the camera position in FIG. When the raw nail 120 comes to the bottom), the image is taken. That is, the camera control unit 102 controls the shutter and focus of the camera 101 according to the position of the raw nail 120.

例えば、生爪１２０の切削深さを見たい場合には、図３に示すようにいずれかの生爪１２０の側面３０１がカメラ１０１に対向するタイミング（図２のカメラ位置であれば、いずれかの生爪１２０が３時の位置にきたタイミング）で撮像する。   For example, when it is desired to see the cutting depth of the raw nail 120, as shown in FIG. 3, the timing at which the side surface 301 of any raw nail 120 faces the camera 101 (if the raw nail 120 is at the camera position in FIG. 2) The image is taken at the timing when 120 comes to the 3 o'clock position).

これにより、図４に示すように、表示部１３０に、切削工具１５０が生爪１２０を切削する切削深さを表示できる。また、切削時にでる切粉４０１の出方やその動きを撮像することもできる。例えば、１回転ごとに、所定の微小時間だけ撮像タイミングをずらせば、切粉が徐々に発生して飛んでいく様子をコマ送りにみることも可能である。撮影タイミングを微妙に調整すれば、切粉に対して角度Ａという回転位置、次の切粉に対して角度Ａ＋αという回転位置、さらに次の切粉に対して角度Ａ＋２αという回転位置で、撮影でき、切粉の変化をみることができる。通常は切粉の最終形しか確認できないが、本発明により高価な高速度カメラに匹敵する情報を得ることができる。   Thereby, as shown in FIG. 4, the cutting depth at which the cutting tool 150 cuts the raw nail 120 can be displayed on the display unit 130. It is also possible to take an image of how the chips 401 come out during the cutting and their movements. For example, if the imaging timing is shifted by a predetermined minute time for each rotation, it is also possible to see how the chips are gradually generated and flew. By finely adjusting the shooting timing, you can shoot at a rotational position of angle A with respect to the chip, an angular position of angle A + α with respect to the next chip, and a rotational position with angle A + 2α with respect to the next chip. You can see changes in chips. Normally, only the final shape of the chips can be confirmed, but the present invention can obtain information comparable to an expensive high-speed camera.

さらに、切削面の仕上げが終わり、逃げ４０２を作る際にも、容易に画像で逃げ４０２の深さを確認することができる。従来のように、回して止めて確認してを繰り返す必要が無く、非常に効率的に生爪１２０の加工を行なうことができる。   Furthermore, when finishing of the cut surface is completed and the relief 402 is formed, the depth of the relief 402 can be easily confirmed by an image. Unlike the prior art, there is no need to turn and stop and confirm, and the raw nail 120 can be processed very efficiently.

カメラ１０１にズーム機能を持たせ、カメラ制御部１０２が、カメラ１０１から切削工具１５０までの距離を判定して、ズーム倍率およびフォーカスを制御してもよい。そしてカメラ制御部１０２が、カメラ１０１から見て、切削工具１５０の先端が生爪１２０の陰にならないタイミングでシャッターを切ることにより、切削工具１５０の先端を撮像することができる。図５のように、拡大表示５０１を行なえば、切削工具１５０の先端５１１がどの程度丸くなり、いつが交換時期なのか、視認により確認することができる。   The camera 101 may have a zoom function, and the camera control unit 102 may determine the distance from the camera 101 to the cutting tool 150 to control the zoom magnification and focus. Then, the camera control unit 102 can image the tip of the cutting tool 150 by cutting the shutter at a timing when the tip of the cutting tool 150 is not hidden by the raw nail 120 when viewed from the camera 101. As shown in FIG. 5, when the enlarged display 501 is performed, it is possible to visually confirm how round the tip 511 of the cutting tool 150 is and when it is time to replace it.

なお、表示部１３０には他にも様々な情報を表示することができる。例えば、生爪１２０で把持する対象としてのワークを生爪に重ねて画面に表示して、残りの切削量を可視化してもよいし、概算残り時間や最適な工具送り速度などを表示してもよい。   Various other information can be displayed on the display unit 130. For example, the workpiece as a target to be gripped by the raw nail 120 may be displayed on the screen while being superimposed on the raw nail, and the remaining cutting amount may be visualized, or the approximate remaining time, the optimum tool feed speed, or the like may be displayed. .

本実施形態では３つ爪の例を示したが本発明はこれに限定されるものではなく、４つ爪やその他の構成にも適用可能である。   In the present embodiment, an example of three claws is shown, but the present invention is not limited to this, and can be applied to four claws and other configurations.

［第２実施形態］
次に本発明の第２実施形態に係る工作機械６００について、図６を用いて説明する。図６は、本実施形態に係る工作機械６００の構成を説明するための図である。 [Second Embodiment]
Next, a machine tool 600 according to a second embodiment of the present invention will be described with reference to FIG. FIG. 6 is a view for explaining the configuration of the machine tool 600 according to the present embodiment.

本実施形態に係る工作機械６００は、上記第１実施形態と比べると、カメラ６０１が矢印６１１、６１２に示すように出退式および首振り式になっており、カメラ制御部６０２がカメラ６０１の位置および傾きを制御できる点で異なる。その他の構成および動作は、第１実施形態と同様であるため、同じ構成および動作については同じ符号を付してその詳しい説明を省略する。   Compared with the first embodiment, the machine tool 600 according to the present embodiment has a camera 601 that is retracted and swung as indicated by arrows 611 and 612, and a camera control unit 602 that is connected to the camera 601. The difference is that the position and tilt can be controlled. Since other configurations and operations are the same as those in the first embodiment, the same configurations and operations are denoted by the same reference numerals, and detailed description thereof is omitted.

カメラ制御部６０２は、撮影が必要な作業時にカメラ６０１を突出させ、撮影が必要ではない作業時には、チャック１１０の取り付け面内にカメラ６０１を収容する。これにより、ワークの切削時など、カメラ６０１が不要な作業時にカメラ６０１を汚すことがなくなる。また、カメラ制御部６０２は、カメラ６０１の位置および向きを変更できるため、切削面の状態や深さや工具先端などを、様々な角度から把握することができる。特に、工具先端や逃げの撮影のように、微小な領域を撮影する場合には、カメラ位置や向きを変えて、ズーム中心を所望の点に移動させることで、より鮮明な画像が取得できる。   The camera control unit 602 projects the camera 601 during work that requires shooting, and accommodates the camera 601 within the mounting surface of the chuck 110 during work that does not require shooting. This prevents the camera 601 from becoming dirty during work that does not require the camera 601, such as when cutting a workpiece. Moreover, since the camera control unit 602 can change the position and orientation of the camera 601, it can grasp the state, depth, tool tip, and the like of the cutting surface from various angles. In particular, when shooting a very small area, such as when shooting the tip of a tool or clearance, a clearer image can be acquired by changing the camera position or orientation and moving the zoom center to a desired point.

さらに、カメラ６０１を加工中のワークの撮影に利用してもよく、その場合、生爪１２０を撮影する場合よりも、カメラ６０１を突出させて、ワークの切削位置にカメラ６０１を向けることもできる。   Further, the camera 601 may be used for photographing a workpiece being processed. In this case, the camera 601 can be projected toward the workpiece cutting position as compared with the case where the raw nail 120 is photographed.

［第３実施形態］
次に本発明の第３実施形態に係る工作機械７００について、図７を用いて説明する。図７は、本実施形態に係る工作機械７００の構成を説明するための図である。 [Third Embodiment]
Next, a machine tool 700 according to a third embodiment of the present invention will be described with reference to FIG. FIG. 7 is a view for explaining the configuration of the machine tool 700 according to the present embodiment.

本実施形態に係る工作機械７００は、上記第２実施形態と比べると、カメラ７０１が矢印７１３方向にスライド可能になっており、カメラ制御部７０２がカメラ７０１の左右位置をさらに制御できる点で異なる。その他の構成および動作は、第２実施形態と同様であるため、同じ構成および動作については同じ符号を付してその詳しい説明を省略する。   The machine tool 700 according to the present embodiment differs from the second embodiment in that the camera 701 can slide in the direction of the arrow 713 and the camera control unit 702 can further control the left and right positions of the camera 701. . Since other configurations and operations are the same as those of the second embodiment, the same configurations and operations are denoted by the same reference numerals, and detailed description thereof is omitted.

カメラ制御部７０２は、撮影が必要な作業時にカメラ７０１を突出させ、撮影が必要ではない作業時には、チャック１１０の取り付け面内にカメラ７０１を収容する。これにより、ワークの切削時など、カメラ７０１が不要な作業時にカメラ７０１を汚すことがなくなる。また、カメラ制御部７０２は、カメラ７０１の位置および向きを変更できるため、切削面の状態や深さや工具先端などを、様々な角度から把握することができる。特に、工具先端や逃げの撮影のように、微小な領域を撮影する場合には、カメラ位置や向きを変えて、ズーム中心を所望の点に移動させることで、より鮮明な画像が取得できる。さらに、カメラ７０１を左右方向（作業員から見て奥手前方向）にスライド可能にしたので生爪１２０の切削深さを、生爪１２０の円周方向の側面から（矢印７０３の方向から）確認することができる。これにより、欠けやヒビなどの有無をより正確かつ迅速に発見できる。   The camera control unit 702 projects the camera 701 during work that requires shooting, and accommodates the camera 701 within the mounting surface of the chuck 110 during work that does not require shooting. This prevents the camera 701 from becoming dirty during work that does not require the camera 701, such as when cutting a workpiece. In addition, since the camera control unit 702 can change the position and orientation of the camera 701, it can grasp the state, depth, tool tip, and the like of the cutting surface from various angles. In particular, when shooting a very small area, such as when shooting the tip of a tool or clearance, a clearer image can be acquired by changing the camera position or orientation and moving the zoom center to a desired point. Furthermore, since the camera 701 can be slid in the left-right direction (backward direction when viewed from the worker), the cutting depth of the raw nail 120 can be confirmed from the circumferential side surface of the raw nail 120 (from the direction of the arrow 703). Can do. As a result, it is possible to more accurately and quickly detect the presence or absence of chipping or cracks.

さらに、カメラ７０１を加工中のワークの撮影に利用してもよく、その場合、ワークの切削個所に応じた位置に、カメラ７０１を移動させて、より精度の高い画像を得ることができる。   Furthermore, the camera 701 may be used for photographing a workpiece that is being processed. In this case, the camera 701 can be moved to a position corresponding to the cutting portion of the workpiece, and a more accurate image can be obtained.

［第４実施形態］
次に本発明の第４実施形態に係る工作機械８００について、図８を用いて説明する。図８は、本実施形態に係る工作機械８００の構成を説明するための図である。 [Fourth Embodiment]
Next, a machine tool 800 according to a fourth embodiment of the present invention will be described with reference to FIG. FIG. 8 is a diagram for explaining the configuration of the machine tool 800 according to the present embodiment.

本実施形態に係る工作機械８００は、上記第２実施形態と比べると、カメラ８０１がチャック１１０の上方ではなく側方に設けられ、矢印８１３方向にスライド可能になっており、カメラ制御部８０２がカメラ８０１の上下位置をさらに制御できる点で異なる。その他の構成および動作は、第２実施形態と同様であるため、同じ構成および動作については同じ符号を付してその詳しい説明を省略する。   In the machine tool 800 according to the present embodiment, the camera 801 is provided not on the chuck 110 but on the side, and is slidable in the direction of the arrow 813 as compared with the second embodiment. The difference is that the vertical position of the camera 801 can be further controlled. Since other configurations and operations are the same as those of the second embodiment, the same configurations and operations are denoted by the same reference numerals, and detailed description thereof is omitted.

カメラ制御部８０２は、撮影が必要な作業時にカメラ８０１を突出させ、撮影が必要ではない作業時には、チャック１１０の取り付け面内にカメラ８０１を収容する。これにより、ワークの切削時など、カメラ８０１が不要な作業時にカメラ８０１を汚すことを防止できる。また、カメラ制御部８０２は、カメラ８０１の位置および向きを変更できるため、切削面の状態や深さなどを、様々な角度から把握することができる。特に、工具先端や逃げの撮影のように、微小な領域を撮影する場合には、カメラ位置や向きを変えて、ズーム中心を所望の点に移動させることで、より鮮明な画像が取得できる。さらに、カメラ８０１を上下方向にスライド可能にしたので生爪１２０の切削深さを、両側の側面から確認することができる。これにより、欠けやヒビなどの有無をより正確かつ迅速に発見できる。また、側方にカメラ８０１を設けたため、作業者の視点と近いフレーミングで撮像することができ、よりユーザフレンドリーな表示を行なうことが可能となる。   The camera control unit 802 projects the camera 801 during work that requires shooting, and accommodates the camera 801 within the mounting surface of the chuck 110 during work that does not require shooting. Accordingly, it is possible to prevent the camera 801 from being soiled during work that does not require the camera 801, such as when cutting a workpiece. In addition, since the camera control unit 802 can change the position and orientation of the camera 801, the state and depth of the cutting surface can be grasped from various angles. In particular, when shooting a very small area, such as when shooting the tip of a tool or clearance, a clearer image can be acquired by changing the camera position or orientation and moving the zoom center to a desired point. Furthermore, since the camera 801 is slidable in the vertical direction, the cutting depth of the raw nail 120 can be confirmed from both side surfaces. As a result, it is possible to more accurately and quickly detect the presence or absence of chipping or cracks. In addition, since the camera 801 is provided on the side, it is possible to capture an image with a framing close to the operator's viewpoint, and a more user-friendly display can be performed.

［他の実施形態］
以上、実施形態を参照して本願発明を説明したが、本願発明は上記実施形態に限定されるものではない。本願発明の構成や詳細には、本願発明の範囲内で当業者が理解し得る様々な変更をすることができる。また、それぞれの実施形態に含まれる別々の特徴を如何様に組み合わせたシステムまたは装置も、本発明の範疇に含まれる。 [Other Embodiments]
While the present invention has been described with reference to the embodiments, the present invention is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention. In addition, a system or an apparatus in which different features included in each embodiment are combined in any way is also included in the scope of the present invention.

Claims (7)

チャックに設けられ切削成形中のチャック爪を撮像するカメラと、
前記チャックの回転位置に応じて前記カメラの撮像タイミングを制御するカメラ制御部と、
を備えた工作機械。 A camera that is provided on the chuck and images the chuck jaws during cutting molding;
A camera control unit for controlling the imaging timing of the camera according to the rotation position of the chuck;
Machine tool equipped with. 前記カメラによって撮像された画像を順次更新しながら表示する表示部をさらに備えた請求項１に記載の工作機械。   The machine tool according to claim 1, further comprising a display unit that displays images captured by the camera while sequentially updating the images. 前記カメラ制御部は、前記チャックの回転速度を検出する検出部から取得した前記回転速度に応じて前記カメラの撮像タイミングを制御する請求項１または２に記載の工作機械。   The machine tool according to claim 1, wherein the camera control unit controls an imaging timing of the camera in accordance with the rotation speed acquired from a detection unit that detects the rotation speed of the chuck. 前記カメラ制御部は、チャックの速度および角度を検出する検出部からの信号を入力し、前記チャックが特定の回転位置となった時の前記爪を撮影する請求項１、２または３に記載の工作機械。   The said camera control part inputs the signal from the detection part which detects the speed and angle of a chuck | zipper, and image | photographs the said nail | claw when the said chuck | zipper becomes a specific rotation position. Machine Tools. 前記カメラで撮像するタイミングを決定する前記特定の回転位置を操作するための操作部をさらに備えた請求項４に記載の工作機械。   The machine tool according to claim 4, further comprising an operation unit for operating the specific rotation position that determines a timing of imaging with the camera. 前記表示部は、前記爪の形状とともに寸法を表示する請求項２に記載の工作機械。   The machine tool according to claim 2, wherein the display unit displays dimensions along with the shape of the claw. 前記カメラ制御部は、前記チャック爪を切削成形するための切削工具の先端を撮像するために前記カメラの撮像タイミングを制御することを特徴とする請求項１乃至６のいずれか１項に記載の工作機械。   The said camera control part controls the imaging timing of the said camera in order to image the front-end | tip of the cutting tool for cutting-molding the said chuck | zipper nail | claw, It is any one of Claim 1 thru | or 6 characterized by the above-mentioned. Machine Tools.
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