JP4991504B2 - Interference confirmation device - Google Patents

Description

  The present invention relates to an interference confirmation device for confirming whether or not the moving body and the structure interfere with each other in a machine tool including a moving body and a structure disposed in a moving region of the moving body. .

  Conventionally, in the field of machine tools, for example, interference between a tool held by a tool post and a work held by a chuck of a spindle, interference between a tool rest and a work, interference between a tool and a chuck, tool post and chuck Various methods and apparatuses have been proposed for preventing interference and the like, and one of such methods is a collision prevention method disclosed in Japanese Patent Laid-Open No. 2006-102923.

  In this collision prevention method, a spindle, a chuck attached to the tip of the spindle and gripping a workpiece, a turret for holding a tool, a tool post for holding a tool, and a tool post moving in the feed direction are arranged. In a lathe equipped with a feed mechanism unit to be operated and an NC device for controlling the operation of the feed mechanism unit, a two-dimensional image is obtained by imaging a chuck, a workpiece, a tool post and a tool with an imaging camera. Is used to recognize the shape and position of the chuck, workpiece, tool post and tool, and to prevent collision between the chuck, workpiece, tool post and tool.

  Specifically, the shape and positional relationship of the chuck, the workpiece, the tool post and the tool are detected from the two-dimensional image acquired by the imaging camera, and the tool post and the tool are within a preset interference area of the chuck and the workpiece. Check if there is, or whether the chuck and workpiece are within the preset interference area of the tool post and tool, and if it is within the preset interference area, stop the operation of the feed mechanism .

  Such a collision prevention process is performed by a collision prevention apparatus provided separately from the NC apparatus. When it is confirmed that the collision prevention process is within the interference area, an alarm signal is transmitted from the collision prevention apparatus to the NC apparatus. Is done. Alternatively, the two-dimensional image acquired by the imaging camera is transmitted to the collision prevention apparatus incorporated in the NC apparatus, and is performed by the collision prevention apparatus in the NC apparatus.

JP 2006-102923 A

  However, the conventional collision prevention method has the following problems. That is, even when the tool post and the tool are moving at high speed, in order to completely stop before the collision, the interference area must be set wide, and conversely, if the interference area is set too wide, the tool rest and Even if the tool is moved away from the chuck and the workpiece to some extent, it is determined that there is a possibility of collision, and the tool post and the tool cannot be moved in the vicinity of the chuck and the workpiece, so that workability is significantly reduced.

  In addition, if the collision prevention process is executed by the collision prevention apparatus incorporated in the NC apparatus, the collision prevention process is greatly influenced by the calculation capability of the NC apparatus, and it is difficult to implement the collision prevention process with high accuracy and high speed. In addition, in order to transmit a two-dimensional image acquired by an imaging camera to the NC device side, a function for transmitting and receiving data to and from an external device must be added to the NC device, and the NC device becomes expensive. The problem is that the cost of the machine tool increases. Such a problem also occurs when a collision prevention device separate from the NC device obtains interference confirmation information (for example, position information) from the NC device and performs the collision prevention processing. In this case, since the type and data structure of data handled by the NC device differs depending on the manufacturer of the NC device, the specifications of the collision prevention device must be changed for each manufacturer, and the development period of the collision prevention device There is also a problem that the burden increases in terms of development costs.

  The present invention has been made in view of the above circumstances, can accurately prevent interference between the moving body and the structure without impairing workability, and is independent of the control device. An object of the present invention is to provide an interference confirmation device that can be configured.

To achieve the above object, the present invention provides:
A movable body that can move in a preset direction, a structure disposed in a movement area of the movable body, a drive mechanism unit that moves the movable body, and an operation of the drive mechanism unit are controlled. In a machine tool provided with a control device, and confirming whether the moving body and the structure interfere with each other,
Image generating means comprising a plurality of imaging units arranged on the machine tool so as to be able to capture images from different viewpoints within the moving region of the moving body, wherein the moving body and the structure are at least partially captured by the imaging unit. A first image generation unit that captures and generates two-dimensional image data; and a second image generation unit that captures images of a moving region of the moving body at predetermined time intervals by the respective imaging units and generates two-dimensional image data; Image generating means having
Contour shape data setting means for setting the contour shape data of the moving body and the structure by extracting the contour shape of the moving body and the structure from the two-dimensional image data generated by the first image generation unit;
Contour shape data storage means for storing contour shape data of the movable body and structure set by the contour shape data setting means;
Image synthesizing means for synthesizing the two-dimensional image data generated by the second image generation unit at a predetermined time into one two-dimensional synthetic image data;
Combined image data storage means for storing the two-dimensional combined image data combined by the image combining means;
Interference confirmation means for confirming whether or not the moving body and the structure interfere with each other,
The interference confirmation means
The latest two-dimensional composite image data stored in the composite image data storage means and the one before this fixed time are read out, and the contour shapes of the moving body and the structure in the read two-dimensional composite image data are read out. The contour shape data of the moving body and the structure stored in the contour shape data storage means is specified with reference to the two two-dimensional composite image data, and the position of the structure and the movement are compared. A first processing unit for recognizing the current position of the body and a predetermined time ago;
A second processing unit that calculates a moving direction and a moving speed of the moving body based on a current position of the moving body recognized by the first processing unit and a position before a certain time, and an imaging interval of each imaging unit;
Based on the current position of the moving object recognized by the first processing unit and the moving direction and moving speed of the moving object calculated by the second processing unit, the control device immediately performs the stop process of the moving object. A third processing unit that estimates a position that is distant from the current position in the moving direction as compared to a position where the moving body at the current position is supposed to stop when the moving body stops before the moving body stops ,
The arrival position of the moving body estimated by the third processing unit, the current position of the moving body and the position of the structure recognized by the first processing unit, the moving body stored in the contour shape data storage unit, and When the contour shape of the moving body is moved from the current position to the estimated arrival position based on the contour shape data of the structure to check whether the moving body and the structure interfere with each other, and when it is determined to interfere And a fourth processing unit that transmits an alarm signal to the control device.

  According to this invention, first, the moving body and the structure are imaged by at least a part of the imaging unit by the first image generation unit of the image generation unit to generate two-dimensional image data. At this time, if the entire moving body or structure can be imaged by one imaging unit, these are respectively imaged by the imaging unit that is closest to the moving body or structure. On the other hand, when the entire moving body or structure cannot be imaged by one imaging unit, the moving body or structure is imaged by the plurality of imaging units.

  Next, the contour shape data setting means extracts the contour shapes of the moving body and the structure from the two-dimensional image data generated by the first image generation unit, and sets the contour shape data of the moving body and the structure. It is stored in the shape data storage means. In the case where the entire moving body or structure cannot be imaged by one imaging unit, the two-dimensional image including the entire moving body or structure is obtained by combining the two-dimensional images obtained by the plurality of imaging units. After the image is formed, the contour shape of the moving body or the structure is extracted from the composite image, and contour shape data is set. Further, the method for extracting the contour shape of the moving body or the structure is not particularly limited. For example, the generated two-dimensional image data is binarized with a predetermined threshold value to form the moving body or the structure. Extract the corresponding images, extract the contour shape (contour line) of the moving object or structure based on the extracted binary image, and the edge of the moving object or structure from the generated 2D image data And a contour shape (contour line) of a moving body or a structure is extracted based on each detected edge.

  Thereafter, when the driving mechanism is controlled by the control device and the moving body is moved in a predetermined direction, the second image generating section of the image generating means causes each imaging section to move within the moving area of the moving body at regular time intervals. Two-dimensional image data is generated by imaging.

  Then, the two-dimensional image data generated by the second image generation unit is combined at regular intervals by the image combining unit to form one two-dimensional combined image data, and is stored in the combined image data storage unit. Note that the method for synthesizing each two-dimensional image into one two-dimensional image is not particularly limited. For example, the feature points of each two-dimensional image are extracted and the extracted feature points are used as the basis. The method of synthesizing is mentioned.

  Next, it is confirmed by the interference confirmation means whether the moving body and the structure interfere with each other. Specifically, first, the first processing unit reads out the latest two-dimensional composite image data stored in the composite image data storage unit and the one before this fixed time, and each read out The contour shapes of the moving body and the structure in the two-dimensional composite image data are specified with reference to the contour shape data of the moving body and the structure stored in the contour shape data storage means, and the two two-dimensional composite The image data is compared to recognize the position of the structure, and the current position of the moving body and the position before a certain time.

  Next, the moving direction and moving speed of the moving object were calculated by the second processing unit based on the current position of the moving object recognized by the first processing unit, the position before a certain time, and the imaging interval of each imaging unit. Thereafter, the third processing unit immediately stops the moving body based on the current position of the moving body recognized by the first processing section and the moving direction and moving speed calculated by the second processing section. When it is performed, a position far from the current position in the moving body moving direction than the position where the moving body at the current position is supposed to stop is estimated as a position that reaches the stop of the moving body. For example, when the control device immediately stops the moving body, such a reaching position is obtained by adding a fixed value to the position where the moving body at the current position is supposed to stop or the control device immediately By adding to the current position a value obtained by multiplying the difference between the current position and the position where the mobile object at the current position is supposed to stop when the moving object is stopped, by a constant value greater than 1. Can be set.

  Thereafter, the fourth processing unit stores the position of the moving body estimated by the third processing unit, the current position of the moving body and the position of the structure recognized by the first processing unit, and the contour shape data storage unit. Based on the stored moving body and the contour shape data of the structure, it is confirmed whether or not the moving body and the structure interfere with each other by moving the contour shape of the moving body from the current position to the estimated arrival position. If it is determined, an alarm signal is transmitted to the control device.

  Whether the moving body and the structure interfere with each other is determined, for example, between the region formed by connecting the contour shape when the moving body is at the current position and the estimated reaching position and the contour shape of the structure. Judgment is made based on whether or not there is a contact or overlapping part, and the contour shape of the moving object is moved step by step from the current position to the estimated arrival position. Judgment is made based on whether or not there is a contact or overlapping portion with the contour shape. When there is a contact or overlapping portion, it is determined that the moving body and the structure interfere with each other.

  When the control device receives the alarm signal transmitted from the fourth processing unit, the operation of the drive mechanism unit is stopped by the control device, and the moving body stops.

  As described above, according to the interference confirmation apparatus according to the present invention, the interference confirmation processing is performed using the estimated arrival position set based on the moving speed of the moving body and the contour shape data of the moving body and the structure. Therefore, the interference area is set uniformly regardless of the moving speed of the moving body, and even when the moving body is moving at a high speed, the moving body has to be widened in order to prevent interference. Even if it is moved in the vicinity of the structure, it is difficult to determine that there is a possibility of interference, and workability can be improved.

  Further, since the interference confirmation processing is performed without obtaining any interference confirmation information from the control device, the interference confirmation device can be separated from the control device and can be configured independently. Therefore, the interference confirmation process can be performed with high accuracy and at high speed. Further, it is sufficient to configure the control device so that at least only an alarm signal can be input, and it is not necessary to transmit and receive various data between the control device and the interference confirmation device. Can be suppressed. Furthermore, it is not necessary to change the specifications of the interference confirmation device according to the manufacturer of the control device, and the same interference confirmation device can be applied to the control device manufactured by any manufacturer. The burden can be reduced in terms of the development period and development cost of the confirmation device.

  In the third processing unit of the interference confirmation unit, when the arrival position is estimated, the control device controls the drive mechanism unit to move the moving body from the current position and moving speed to the maximum acceleration in the moving direction. After calculating the moving speed and the moving position after the lapse of the imaging interval of each imaging unit when moving while accelerating with the control unit, the control device controls the drive mechanism unit to control the moving body. It may be configured to calculate a position where the moving body stops when moving while decelerating at a maximum acceleration in the movement direction from the calculated movement speed and movement position, and estimating the arrival position.

  In this way, the arrival position when the moving body stops is estimated in consideration of the current moving speed of the moving body and the maximum acceleration during acceleration, and even if the moving body is accelerating at the maximum acceleration. Interference with the structure can be reliably prevented.

  Further, the interference confirmation device further includes a tool data storage unit that stores the contour shape of the tool in association with the blade portion data indicating which portion of the contour shape corresponds to the blade portion. The first image generation unit is configured such that one of the moving body and the structure includes a workpiece, and the other of the moving body and the structure includes a tool. Two-dimensional image data is generated by imaging the structure and the moving body or structure when the workpiece is not mounted, and the moving body or structure when the tool is mounted and the movement when the tool is not mounted The contour shape data setting unit is configured to generate the two-dimensional image data by imaging a body or a structure, and the contour shape data setting unit sets the contour shape data of the moving body and the structure in the first image generation unit. Yo From the two-dimensional image data generated in this way, the contour shape of the moving body or structure in the workpiece mounting state and the non-mounting state is extracted, and the contour shape corresponding to the workpiece is compared by comparing the two extracted contour shapes. And recognizing, based on the recognized workpiece contour shape and the contour shape of the moving body or structure in the workpiece mounting state, which portion of the contour shape of the moving body or structure and the contour shape is Contour shape data including data indicating whether the workpiece corresponds to the contour shape of the workpiece, and further, in the tool mounting state and the unmounted state from the two-dimensional image data generated by the first image generation unit The contour shape of the moving body or structure is extracted, and the two contour shapes extracted are compared to recognize the contour shape corresponding to the tool, and the recognized tool contour Based on the shape, the blade data corresponding to the tool contour shape is recognized with reference to the data stored in the tool data storage unit, the recognized blade data, and the moving body or structure in the tool mounting state Contour shape data including the contour shape of the moving body or structure based on the contour shape of the body and data indicating which portion of the contour shape corresponds to the contour shape of the blade part The fourth processing unit of the interference confirmation unit is configured to set whether interference occurs in a part other than the blade part of the tool and the workpiece when confirming whether the moving body and the structure interfere with each other. It may be configured to check whether or not the moving body and the structure interfere with each other when interference occurs in a portion other than the blade portion of the tool and the workpiece.

  In this way, even if the moving body and the structure include a tool and a workpiece, the interference determination can be performed effectively. In the interference determination, for example, there is a contact or overlapping portion between the region formed by connecting the contour shape when the moving body is at the current position and the estimated arrival position and the contour shape of the structure. When moving, the contour shape of the moving object is moved stepwise from the current position to the estimated arrival position, and there is a contact or overlapping part between the contour shape of the moving object and the contour shape of the structure at each stage. Even so, if such contact or overlap occurs between the blade portion of the tool and the workpiece, it is determined that the interference is not caused by the moving body and the structure. In this case, even if the contact or the overlap occurs between the blade part of the tool and the workpiece, the moving body calculated by the second processing unit is not less than a certain speed unless the moving body is at a certain speed or less. In addition, it may be determined that the structure interferes.

  In addition, the imaging units of the image generation unit may be arranged along the moving direction of the moving body so that their optical axes are parallel to each other and perpendicular to the moving direction of the moving body. In this way, since the moving body can be copied in almost the same shape regardless of the position in the moving area, the contour shape of the moving body can be obtained with high accuracy, and interference confirmation processing can be performed. It can be performed with high accuracy.

  As the moving body and the structure, for example, when the machine tool is a lathe, it is attached to a bed, a spindle head disposed on the bed, a spindle rotatably supported by the spindle table, and the spindle. , Chucks for gripping workpieces, workpieces, saddles movably arranged on the bed, tool post holding tools on the saddle, tools, tailstock movably arranged on the bed For example, if the machine tool is a machining center, a bed, a column arranged on the bed, a spindle head supported movably on the column, a spindle head A spindle, a tool, a table for holding a work, a work holding the work, and the like are supported. Furthermore, since a machine tool is generally provided with a cover body in order to prevent intrusion of chips, cutting fluid, etc., such a cover body may be included.

  As described above, according to the interference confirmation device according to the present invention, it is possible to prevent interference between the moving body and the structure with high accuracy without impairing workability, and independently of the control device. Can be configured.

  Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a block diagram showing a schematic configuration of an interference confirmation apparatus according to an embodiment of the present invention, and FIG. 2 is a front view showing an NC lathe provided with the interference confirmation apparatus according to this embodiment. FIG. 3 is a cross-sectional view in the direction of arrow AA in FIG.

  As shown in FIG. 1, the interference confirmation device 1 of this example includes an image generation device 11, a first image data storage unit 12, a second image data storage unit 13, a tool data storage unit 14, and a contour shape data setting processing unit 15. , An outline shape data storage unit 16, an image composition processing unit 17, a composite image data storage unit 18, an interference confirmation processing unit 19, a display control unit 20, and the like. For example, the NC lathe 30 shown in FIGS. Provided.

  First, the NC lathe 30 will be described. As shown in FIGS. 1 to 3, the NC lathe 30 is rotatable about a bed 31, a headstock (not shown) disposed on the bed 31, and a horizontal axis (around the Z axis). A spindle 32 supported by a spindle head (not shown), a chuck 33 attached to the spindle 32, a saddle 34 disposed on the bed 31 so as to be movable in the Z-axis direction, and the Z-axis and the horizontal plane The tool rest 35 disposed on the saddle 34 so as to be movable in the orthogonal X-axis direction, the first feed mechanism 36 that moves the saddle 34 in the Z-axis direction, and the tool rest 35 is moved in the X-axis direction. A second feed mechanism 37, a spindle motor 38 that rotates the spindle 32 about its axis, a control device 39 that controls the operation of each feed mechanism 36, 37 and the spindle motor 38, and an operation panel connected to the control device 39 43 and the like. The NC lathe 30 is formed with a machining area K, which is surrounded by a cover body 46, and the tip of the spindle 32, the chuck 33, the saddle 34, and the tool post 35 are within the machining area K. Is arranged.

  The chuck 33 includes a chuck main body 33a and a plurality of gripping claws 33b for gripping the workpiece W. The turret 35 includes a turret body 35a provided on the saddle 34, and a polygonal columnar turret 35b supported by the turret body 35a and holding the tool T on the outer peripheral surface. The tool includes a tool body Ta and a blade portion (chip) Tb for processing the workpiece W. The operation panel 43 includes an input device 44 for inputting various signals to the control device 39, a screen display device 45 for displaying a control state by the control device 39, and the like.

  The control device 39 includes a program storage unit 40, a program analysis unit 41, a drive control unit 42, and the like. The program storage unit 40 stores a machining program created in advance. The program analysis unit 41 analyzes the machining program stored in the program storage unit 40 and extracts operation commands relating to the movement position and feed speed of the tool rest 35, the rotation speed of the spindle motor 38, and the like.

  The drive control unit 42 controls the movement of the tool post 35 and the rotation of the spindle 32 based on the operation command extracted by the program analysis unit 41 and the operation signal input from the input device 44 by the operator. Further, when the drive control unit 42 receives the alarm signal transmitted from the interference confirmation processing unit 19, the drive control unit 42 stops the operations of the feed mechanism units 36 and 37 and the spindle motor 38.

  Next, the interference confirmation apparatus 1 will be described. As described above, the interference confirmation device 1 includes the image generation device 11, the first image data storage unit 12, the second image data storage unit 13, the tool data storage unit 14, the contour shape data setting processing unit 15, the contour shape data. A storage unit 16, an image composition processing unit 17, a composite image data storage unit 18, an interference confirmation processing unit 19, a display control unit 20, and the like are provided. In this example, a structure composed of the tip of the main shaft 32, the chuck 33 and the workpiece W (hereinafter referred to as “stationary structure”), and a structure composed of the tool post 35 and the tool T (hereinafter referred to as “moving structure”). “)” Is confirmed as to confirm whether or not they interfere with each other.

  The image generation device 11 includes a plurality of CCD cameras (first CCD camera 11a, second CCD camera 11b,..., Fifteenth CCD camera 11o) disposed on the cover body 46 above the processing area K. These CCD cameras 11a,. 11o, the tip of the spindle 32, the chuck 33 and the workpiece W, the tool post 35 and the tool T are imaged to generate two-dimensional image data, and the generated two-dimensional image data is stored in the first image data storage unit 12. First image generation processing (processing corresponding to the first image generation unit described in the claims) and processing area K is imaged at a constant time interval (for example, 1 millisecond) to generate two-dimensional image data And a second image generation process for storing the generated two-dimensional image data in the second image data storage unit 13 (a process corresponding to the second image generation unit in the claims). It is carried out. The first image generation process is performed before the start of processing, and the second image generation process is performed during the processing.

  Each of the CCD cameras 11a... 11o is provided downward so that these optical axes are parallel to each other and perpendicular to both the X axis and the Z axis, and each inside the processing area K (in the movement area of the tool rest 35). Image from different viewpoints. The CCD cameras 11a... 11o are arranged in a grid in the X-axis direction and the Z-axis direction, and the number of processing regions K is the same as each CCD camera 11a... 11o (15 in this example). Each of the areas obtained by dividing the area is configured so that one camera captures each area (see FIG. 6).

  Each of the CCD cameras 11a ... 11o includes a plurality of photoelectric conversion elements arranged two-dimensionally in multiple rows and columns, and digitizes voltage signals output from the photoelectric conversion elements in accordance with received light intensity. This is converted into a gray level value and output as two-dimensional gray image data having the same arrangement as that of the photoelectric conversion elements. The first image data storage unit 12 or the second image data storage unit 13 stores the two-dimensional grayscale image data (two-dimensional image data) output in this way.

  In the first image generation process, for example, the tip of the spindle 32, the chuck 33, and the workpiece W are imaged by the third CCD camera 11c and the sixth CCD camera 11f while the workpiece W is held by the chuck 33. In addition to generating two-dimensional image data, the third CCD camera 11c captures the tip of the spindle 32 and the chuck 33 in a state where the workpiece W is not gripped by the chuck 33, and generates these two-dimensional image data. Further, for example, the tool post 35 and the tool T are held in a state where the tool T is held on the tool post 35 by the tenth CCD camera 11j, the eleventh CCD camera 11k, the twelfth CCD camera 11l, the thirteenth CCD camera 11m, and the fourteenth CCD camera 11n. These two-dimensional image data are generated by imaging, and the tool post in a state where the tool T is not held on the tool post 35 by the tenth CCD camera 11j, the eleventh CCD camera 11k, the thirteenth CCD camera 11m, and the fourteenth CCD camera 11n. 35 is imaged and its two-dimensional image data is generated.

  In the third CCD camera 11c, the tip of the spindle 32, the chuck 33 and a part of the workpiece W, or the tip of the spindle 32 and the chuck 33 are imaged, and in the sixth CCD camera 11f, a part of the workpiece W is imaged. (See FIG. 6). The tenth CCD camera 11j, the thirteenth CCD camera 11m, and the fourteenth CCD camera 11n pick up images of a part of the tool rest 35, and the eleventh CCD camera 11k takes a part of the tool rest 35 and a part of the tool T, or the tool rest. A part of 35 is imaged, and a part of the tool T is imaged by the twelfth CCD camera 11l (see FIG. 6).

  On the other hand, in the second image generation processing, all the CCD cameras 11a... 11o image the inside of the processing area K and generate the two-dimensional image data (see FIG. 6).

  In the tool data storage unit 14, the tool contour shape of a plurality of tools T that may be held on the tool post 35, and the tool contour shape corresponds to the blade portion (chip) Tb. Blade portion data indicating whether the portion is a portion that is present is stored in association with each other.

  The contour shape data setting processing unit 15 is based on the two-dimensional image data stored in the first image data storage unit 12 by the first image generation processing of the image generation device 11, and the contour shape of the stationary structure and the moving structure. Set each data.

  Regarding the contour shape data of the stationary structure, first, the tip of the spindle 32, the chuck 33 and the workpiece W are two-dimensionally stored in the first image data storage unit 12 when the workpiece W is gripped by the chuck 33. After combining the image data into one two-dimensional image data, the contour shape of the stationary structure is extracted from the combined two-dimensional image data (see FIG. 4A), and the first image data storage unit 12 is extracted from the two-dimensional image data of the tip end of the spindle 32 and the chuck 33 in a state where the workpiece W is not gripped by the chuck 33, and the contour shape of the structure composed of the tip end of the spindle 32 and the chuck 33 is extracted. (See FIG. 4B).

  The method for extracting the contour shape of the stationary structure is not particularly limited. For example, the synthesized two-dimensional image data is binarized with a predetermined threshold value, and an image corresponding to the stationary structure is obtained. Extracting and extracting the contour shape (contour line) of the stationary structure based on the extracted binarized image, or detecting the edge of the stationary structure from the synthesized two-dimensional image data, and detecting each detected edge A method for extracting the contour shape (contour line) of the stationary structure based on the above is mentioned.

  Thereafter, the extracted two contour shapes are compared, for example, the difference between them is obtained, and the contour shape corresponding to the workpiece W is recognized (see FIG. 4C). Next, based on the recognized contour shape of the workpiece W and the extracted contour shape of the stationary structure, the contour shape of the stationary structure and which portion of the contour shape corresponds to the contour shape of the workpiece W. The contour shape data including the data indicating whether or not and the reference point data regarding the reference point P of the contour shape of the stationary structure is set (see FIG. 4D), and the set contour shape data is set as the contour shape data. Store in the storage unit 16. In FIG. 4D, the outline shape of the workpiece W is indicated by a bold line.

  On the other hand, for the contour shape data of the moving structure, first, two-dimensional image data of the tool rest 35 and the tool T stored in the first image data storage unit 12 in a state where the tool T is held on the tool rest 35. Are combined into one two-dimensional image data, and then the contour shape of the moving structure is extracted from the combined two-dimensional image data (see FIG. 5A) and stored in the first image data storage unit 12. The contour shape of the tool rest 35 is extracted from the stored two-dimensional image data of the tool rest 35 in a state where the tool T is not held on the tool rest 35 (see FIG. 5B). As a method for extracting the contour shape of the moving structure, a method similar to that for the stationary structure can be employed.

  Thereafter, the extracted two contour shapes are compared, for example, the difference between them is obtained, and the contour shape corresponding to the tool T is recognized (see FIG. 5C). Next, based on the recognized contour shape of the tool T, the blade data corresponding to the contour shape of the tool T is recognized with reference to the data stored in the tool data storage unit 14. Then, based on the recognized blade data and the extracted contour shape of the moving structure, the contour shape of the moving structure and which portion of the contour shape corresponds to the contour shape of the blade portion Tb. The contour shape data including the data indicating whether or not and the reference point data related to the reference point Q of the contour shape of the moving structure are set (see FIG. 5D), and the set contour shape data is stored in the contour shape data memory. Stored in the unit 15. In FIG. 5D, the outline shape of the blade portion Tb is indicated by a bold line.

  As shown in FIGS. 6 and 7, the image composition processing unit 17 converts the two-dimensional image data stored in the second image data storage unit 13 by the second image generation processing of the image generation device 11 at every predetermined time. The two-dimensional composite image data is synthesized and stored in the composite image data storage unit 18. 6 illustrates a two-dimensional image before the moving structure moves, and FIG. 7 illustrates a two-dimensional image after the moving structure moves. In addition, a method for synthesizing each two-dimensional image into one two-dimensional image is not particularly limited. For example, a feature point of each two-dimensional image is extracted, and the extracted feature point is used as a basis. The method of synthesizing is mentioned. Moreover, the same thing can be employ | adopted also about the method with which the said outline shape data setting process part 15 synthesize | combines a two-dimensional image.

  The interference confirmation processing unit 19 includes two-dimensional composite image data stored in the composite image data storage unit 18, the latest one and a predetermined time ago, and a static structure stored in the contour shape data storage unit 16. Based on the contour shape data of the body and the moving structure and the imaging intervals of the CCD cameras 11a... 11o, a series of processes as shown in FIGS. To check if it interferes with.

  That is, first, the latest two-dimensional composite image data (for example, the two-dimensional composite image as shown in FIG. 7) and the one before this fixed time (for example, FIG. (Two-dimensional composite image as shown) is read (step S1), and the contour shape data of the stationary structure and the moving structure are respectively read from the contour shape data storage unit 16 (step S2).

  Next, referring to the read contour shape data, the contour shapes of the stationary structure and the moving structure in the latest two-dimensional composite image data that has been read and the two-dimensional composite image data of a predetermined time before are specified (steps). S3). Specifically, for example, it is specified by matching processing.

  Then, by comparing these two two-dimensional composite image data, the position of the stationary structure (the coordinate value (for example, pixel value) of the reference point P) and the current position of the moving structure and the position before the predetermined time (reference point Q) ) (Step S4), and the moving direction of the moving structure based on the current position of the moving structure and a position before a certain time and the imaging interval of each CCD camera 11a... 11o. Then, the moving speed is calculated (step S5).

  After that, based on the current position, moving direction and moving speed of the moving structure, and the imaging interval of each CCD camera 11a. After calculating the moving speed and moving position after the imaging interval of each CCD camera 11a... 11o has elapsed from the current position and moving speed while accelerating at the maximum acceleration in this moving direction, the drive control unit 42 is a position where the moving structure stops when the moving structure is moved while decelerating the moving structure from the calculated moving speed and moving position in the moving direction with the maximum acceleration. In this way, the stop position of the moving structure is estimated as the position reached before the moving structure stops (step S6). Note that the maximum acceleration at the time of acceleration and the maximum acceleration at the time of deceleration are stored in advance in a storage unit (not shown) set in the NC lathe 30, and the interference confirmation processing unit 19 stores this set value. The process of step S6 is performed with reference to the maximum acceleration in the unit.

  Next, based on the estimated stop position and current position of the moving structure, the position of the stationary structure, and the contour shape data of the stationary structure and the moving structure, the contour shape of the moving structure is estimated and stopped from the current position. Move to position (step S7).

  Then, it is determined whether or not there is a contact or overlapping portion between the contour shape of the moving structure and the contour shape of the stationary structure due to this movement (step S8). Specifically, for example, there is a contact or overlapping portion between the region formed by connecting the contour shape when the moving structure is at the current position and the estimated stop position and the contour shape of the stationary structure. (See FIG. 10 (a), FIG. 11 (a) and FIG. 12 (a)), or by moving the contour shape of the moving structure stepwise from the current position to the estimated stop position. In each stage, determination is made based on whether or not there is a contact or overlapping portion between the contour shape of the moving structure and the contour shape of the stationary structure (FIGS. 10B and 11B). And FIG. 12 (b)).

  When it is determined in step S8 that there is a contact or overlapping portion (for example, as in FIGS. 11 and 12), the contact or overlap occurs between the blade Tb of the tool T and the workpiece W. Is determined (step S9). This can be determined from the contour shape data of the stationary structure and the contour shape data of the moving structure. On the other hand, if it is determined in step S8 that there is no contact or overlapping portion (for example, as shown in FIG. 10), the process proceeds to step S13.

  When it is determined in step S9 that the contact or overlap occurs between the blade Tb of the tool T and the workpiece W (for example, as shown in FIG. 12), the moving structure calculated in step S5 is used. It is determined whether or not the body moving speed is equal to or less than the maximum cutting feed speed (step S10). As for the maximum cutting feed rate, the set value set in the NC lathe 30 is stored in advance in a storage unit (not shown), and the interference confirmation processing unit 19 determines the maximum cutting feed rate in this storage unit. The process of step S10 is performed with reference.

  If it is determined in step S10 that the moving speed of the moving structure is equal to or lower than the maximum cutting feed rate, the workpiece W is regarded as being processed by the tool T, and the contour shape of the workpiece W is updated. The contour shape data of the stationary structure is updated based on the above and stored in the contour shape data storage unit 16 (see FIG. 13) (step S11), and the process proceeds to step S13. The contour shape of the workpiece W is updated by, for example, the region formed by connecting the contour shape when the moving structure is at the current position and the estimated stop position and the contour shape of the stationary structure (work W). This can be done by deleting the overlapping part. The workpiece W (spindle 32) is rotating. This can be recognized, for example, by monitoring whether or not a control signal is output from the control device 39 to the spindle motor 38. When the part 19 recognizes that the work W is rotating, the part 19 deletes contour portions corresponding to both sides of the outer peripheral part of the work W.

  On the other hand, when it is determined in step S9 that the contact or overlap is not caused between the blade portion Tb of the tool T and the workpiece W (for example, as shown in FIG. 11), and the moving structure is moved in step S10. If it is determined that the speed is faster than the maximum cutting feed rate, it is assumed that the moving structure and the stationary structure interfere with each other, and an alarm signal is transmitted to the drive control unit 42 and the display control unit 20 to complete the process. (Step S12).

  In step S13, it is confirmed whether or not the process is completed. If not, it is confirmed that a certain time (the same time as the imaging interval of each CCD camera 11a. Execute (Step S14). On the other hand, when it is determined in step S13 that the process is finished, the above series of processes is finished.

  Of the above processes, Steps S1 to S4 correspond to the first processing unit described in the claims, Step S5 corresponds to the second processing unit described in the claims, and Step S6 includes The processing corresponding to the third processing section referred to in the claims and steps S7 to S12 are the processing corresponding to the fourth processing section referred to in the claims.

  When receiving the alarm signal transmitted from the interference confirmation processing unit 19, the display control unit 20 displays an alarm on the screen display device 45.

  According to the interference checking apparatus 1 of the present example configured as described above, the tool contour shape and the blade portion data for the plurality of tools T that may be held in the tool post 35 in the tool data storage unit 14 in advance. Are stored in association with each other.

  Further, the first image generation process of the image generation apparatus 11 is performed, and the tip end portion of the spindle 32, the chuck 33, and the workpiece W are imaged while the workpiece W is gripped by the chuck 33, and two-dimensional image data is generated. At the same time, the tip of the spindle 32 and the chuck 33 are imaged while the workpiece W is not gripped by the chuck 33, and two-dimensional image data is generated. Further, the tool rest 35 and the tool T are imaged in a state where the tool T is held on the tool rest 35 to generate two-dimensional image data, and the tool rest in a state where the tool T is not held on the tool rest 35. 35 is imaged to generate two-dimensional image data. Each two-dimensional image data generated in this way is stored in the first image data storage unit 12.

  The contour shape data setting processing unit 15 sets the contour shape data of the stationary structure based on the two-dimensional image data stored in the first image data storage unit 12 and stores the contour shape data in the contour shape data storage unit 16. In addition, the contour shape data of the moving structure is set based on the two-dimensional image data stored in the first image data storage unit 12 and the data stored in the tool data storage unit 14, and the contour shape data storage unit 16 is set. Stored in

  Thereafter, when the feed mechanism units 36 and 37 and the spindle motor 38 are controlled by the control device 39 (drive control unit 42) to start machining the workpiece W, the moving structure moves in the Z-axis direction or the X-axis direction. However, at this time, the second image generation processing of the image generation device 11 is performed, and the processing area K is imaged at a constant time interval to generate two-dimensional image data, which is stored in the second image data storage unit 13. The

  The two-dimensional image data generated by the second image generation processing of the image generation device 11 and stored in the second image data storage unit 13 is synthesized by the image synthesis processing unit 17 at a certain time interval to be one two-dimensional synthesized image data. And stored in the composite image data storage unit 18.

  Thereafter, the interference confirmation processing unit 19 stores the latest two-dimensional composite image data stored in the composite image data storage unit 18 and the one before this fixed time, and the contour shape data storage unit 16. Whether or not the stationary structure and the moving structure interfere with each other is confirmed based on the contour shape data of the stationary structure and the moving structure and the imaging intervals of the CCD cameras 11a. This interference confirmation process is executed at the same cycle as the imaging interval of each CCD camera 11a.

  When it is determined that the stationary structure and the moving structure interfere with each other, an alarm signal is transmitted to the drive control unit 42 and the display control unit 20. When the alarm signal is received by the drive control unit 42, the operations of the feed mechanism units 36 and 37 and the spindle motor 38 are stopped, and when the alarm signal is received by the display control unit 20, the alarm display is displayed on the screen. It is displayed on the display device 45.

  Thus, according to the interference confirmation apparatus 1 of the present example, the interference confirmation processing is performed using the estimated stop position set based on the moving speed of the moving structure and the contour shape data of the moving structure and the stationary structure. Since the interference area is uniformly set regardless of the moving speed of the moving structure, the interference area needs to be widened to prevent interference even when the moving structure is moving at high speed. In comparison, even if the moving structure is moved in the vicinity of the stationary structure, it is difficult to determine that there is a risk of interference, and workability can be improved.

  Further, since the interference confirmation processing is performed without obtaining any interference confirmation information from the control device 39, the interference confirmation device 1 can be separated from the control device 39 and can be configured independently. The interference confirmation process can be performed with high accuracy and high speed without being affected by the computing ability. Further, the control device 39 (drive control unit 42) only needs to be configured so that at least only an alarm signal can be input, and there is no need to transmit and receive various data between the control device 39 and the interference confirmation device 1. It is possible to reduce the cost of the NC lathe 30 by reducing the cost of 39. Furthermore, it is not necessary to change the specifications of the interference confirmation device 1 according to the manufacturer of the control device 39, and the same interference confirmation device 1 can be applied to the control device 39 manufactured by any manufacturer. Therefore, the burden can be reduced in terms of the development period and development cost of the interference confirmation apparatus 1.

  In addition, since the stop position is estimated in consideration of the current moving speed of the moving structure and the maximum acceleration during acceleration, even if the moving structure is accelerating at the maximum acceleration, it can be reliably interfered with the stationary structure. Can be prevented.

  The CCD cameras 11a... 11o are arranged so that their optical axes are parallel to each other and perpendicular to both the X axis and the Z axis, and are arranged in a grid by being arranged in the X axis direction and the Z axis direction. Therefore, the moving structure can be copied in almost the same shape regardless of the position of the moving structure in the moving region. Thereby, interference confirmation processing can be performed with high accuracy.

  As mentioned above, although one Embodiment of this invention was described, the specific aspect which this invention can take is not limited to this at all.

  In the above example, whether or not the stationary structure (structure consisting of the tip of the main shaft 32, the chuck 33 and the workpiece W) and the moving structure (structure consisting of the tool post 35 and the tool T) interfere with each other. However, the present invention is not limited to this. For example, it may be confirmed whether interference occurs between the moving structure and the cover 46.

  Further, the estimated position of the moving structure does not necessarily have to be estimated as described above. Furthermore, this estimated position is the current position in the moving direction of the moving structure rather than the position where the moving structure at the current position is supposed to stop when the drive control unit 42 immediately stops the moving structure. It is sufficient that the position is away from the position. With such a position, the moving structure can be reliably stopped before the moving structure interferes with the stationary structure. In addition, for example, when the drive control unit 42 immediately stops the moving structure, such an estimated position adds a constant value to a position where the moving structure at the current position is supposed to stop, A value obtained by multiplying the difference between the position at which the moving structure at the current position is stopped and the current position by a constant value greater than 1 when the drive control unit 42 immediately stops the moving structure. Can be set by adding to the current position.

  The arrangement positions of the CCD cameras 11a... 11o are not particularly limited as long as the stationary structure and the moving structure in the processing area K can be imaged. For example, although not particularly illustrated, instead of or in addition to the above arrangement position, the CCD camera may be arranged on the cover body 46 so as to face the stationary structure, and the stationary structure may be imaged from the front. .

  Further, one of the CCD cameras 11a... 11o cannot image the tip end portion of the spindle 32, the chuck 33 and the work W, the tip end portion of the spindle 32 and the chuck 33, the tool post 35, the tool T, and the tool post 35. Therefore, some of the CCD cameras 11a... 11o are actuated to pick up images, and the obtained two-dimensional images are synthesized to extract the contour shape, but one of the CCD cameras 11a. 32, the chuck 33 and the workpiece W, the tip of the spindle 32 and the chuck 33, the tool post 35, the tool T, and the tool post 35 can be imaged. These may be picked up by the CCD cameras 11a... 11o in the upper), and the contour shape may be extracted from the obtained two-dimensional image.

  In addition, when the tool post is provided with a tool spindle configured to be indexable at a predetermined rotational angle position, for example, it is necessary to recognize the index angle of the tool spindle when performing the interference determination. In this case, instead of setting one reference point Q as in the tool post 35, three reference points are set to the contour shape of the tool spindle, and the index angle of the tool spindle is determined by these three reference points. It should be recognized.

  In the above example, the NC lathe 30 has been described as an example of the machine tool. However, the interference confirmation apparatus 1 of this example can be provided in various machine tools such as a machining center. Further, the tool T may be a rotary tool such as a drill or an end mill instead of a turning tool such as a cutting tool.

It is the block diagram which showed schematic structure, such as the interference confirmation apparatus which concerns on one Embodiment of this invention. It is the front view which showed the NC lathe provided with the interference confirmation apparatus of this embodiment. It is sectional drawing of the arrow AA direction in FIG. It is explanatory drawing for demonstrating the setting of the outline shape data of a stationary structure. It is explanatory drawing for demonstrating the setting of the outline shape data of a moving structure. It is explanatory drawing which showed the relationship between the two-dimensional image obtained by each CCD camera, and one two-dimensional synthetic image obtained by synthesize | combining these two-dimensional images. It is explanatory drawing which showed the relationship between the two-dimensional image obtained by each CCD camera, and one two-dimensional synthetic image obtained by synthesize | combining these two-dimensional images. It is the flowchart which showed a series of processes in the interference confirmation process part of this embodiment. It is the flowchart which showed a series of processes in the interference confirmation process part of this embodiment. It is explanatory drawing for demonstrating interference determination. It is explanatory drawing for demonstrating interference determination. It is explanatory drawing for demonstrating interference determination. It is explanatory drawing for demonstrating the outline shape data of the stationary structure after an update.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Interference confirmation apparatus 11 Image generation apparatus 11a ... 11o CCD camera 12 1st image data storage part 13 2nd image data storage part 14 Tool data storage part 15 Contour shape data setting process part 16 Contour shape data storage part 17 Image composition process part DESCRIPTION OF SYMBOLS 18 Composite image data storage part 19 Interference confirmation process part 20 Display control part 30 NC lathe 31 Bed 32 Spindle 33 Chuck 34 Saddle 35 Tool post 36 1st feed mechanism part 37 2nd feed mechanism part 38 Spindle motor 39 Control apparatus 42 Drive control Part W Work T Tool

Claims (4)

A movable body that can move in a preset direction, a structure disposed in a movement area of the movable body, a drive mechanism unit that moves the movable body, and an operation of the drive mechanism unit are controlled. In a machine tool provided with a control device, and confirming whether the moving body and the structure interfere with each other,
Image generating means comprising a plurality of imaging units arranged on the machine tool so as to be able to capture images from different viewpoints within the moving region of the moving body, wherein the moving body and the structure are at least partially captured by the imaging unit. A first image generation unit that captures and generates two-dimensional image data; and a second image generation unit that captures images of a moving region of the moving body at predetermined time intervals by the respective imaging units and generates two-dimensional image data; Image generating means having
Contour shape data setting means for setting the contour shape data of the moving body and the structure by extracting the contour shape of the moving body and the structure from the two-dimensional image data generated by the first image generation unit;
Contour shape data storage means for storing contour shape data of the movable body and structure set by the contour shape data setting means;
Image synthesizing means for synthesizing the two-dimensional image data generated by the second image generation unit at a predetermined time into one two-dimensional synthetic image data;
Combined image data storage means for storing the two-dimensional combined image data combined by the image combining means;
Interference confirmation means for confirming whether or not the moving body and the structure interfere with each other,
The interference confirmation means
The latest two-dimensional composite image data stored in the composite image data storage means and the one before this fixed time are read out, and the contour shapes of the moving body and the structure in the read two-dimensional composite image data are read out. The contour shape data of the moving body and the structure stored in the contour shape data storage means is specified with reference to the two two-dimensional composite image data, and the position of the structure and the movement are compared. A first processing unit for recognizing the current position of the body and a predetermined time ago;
A second processing unit that calculates a moving direction and a moving speed of the moving body based on a current position of the moving body recognized by the first processing unit and a position before a certain time, and an imaging interval of each imaging unit;
Based on the current position of the moving object recognized by the first processing unit and the moving direction and moving speed of the moving object calculated by the second processing unit, the control device immediately performs the stop process of the moving object. A third processing unit that estimates a position that is distant from the current position in the moving direction as compared to a position where the moving body at the current position is supposed to stop when the moving body stops before the moving body stops ,
The arrival position of the moving body estimated by the third processing unit, the current position of the moving body and the position of the structure recognized by the first processing unit, the moving body stored in the contour shape data storage unit, and When the contour shape of the moving body is moved from the current position to the estimated arrival position based on the contour shape data of the structure to check whether the moving body and the structure interfere with each other, and when it is determined to interfere And a fourth processing unit for transmitting an alarm signal to the control device. The third processing unit of the interference confirmation means
When estimating the reaching position, the control device controls the drive mechanism unit to move the moving body from the current position and moving speed while accelerating at a maximum acceleration in the moving direction. After calculating the moving speed and the moving position after elapse of time of the imaging interval, the control device controls the drive mechanism unit to maximize the moving body from the calculated moving speed and moving position in the moving direction. The interference confirmation device according to claim 1, wherein the interference confirmation device is configured to calculate a position where the moving body stops when being moved while being decelerated by acceleration, and to estimate the arrival position. A tool data storage unit that associates and stores the contour shape of the tool and blade data indicating which portion of the contour shape corresponds to the blade portion;
In the first image generation unit, when one of the moving body and the structure includes a workpiece and the other of the moving body and the structure includes a tool, the moving body or the structure in the workpiece mounting state is used. A body and the moving body or structure in a state in which the workpiece is not mounted to generate two-dimensional image data, and the moving body or structure in the tool mounting state and the moving body in the tool unmounted state Or it is configured to image a structure and generate two-dimensional image data,
The contour shape data setting means includes:
In setting the contour shape data of the movable body and the structure, the contour shape of the movable body or the structure in the workpiece mounted state and the unmounted state is determined from the two-dimensional image data generated by the first image generation unit. Extracting and comparing the extracted two contour shapes to recognize the contour shape corresponding to the workpiece,
Based on the recognized workpiece contour shape and the contour shape of the moving body or structure when the workpiece is mounted, the contour shape of the moving body or structure and which portion of the contour shape is the contour of the workpiece Set contour shape data including data indicating whether it corresponds to the shape,
Further, from the two-dimensional image data generated by the first image generation unit, the contour shape of the moving body or structure in the tool mounting state and the unmounted state is extracted, and the extracted two contour shapes are compared. While recognizing the contour shape corresponding to the tool,
Based on the recognized tool contour shape, the blade data corresponding to the tool contour shape is recognized with reference to data stored in the tool data storage unit, the recognized blade portion data, and the tool mounting state in the tool mounting state Based on the contour shape of the moving body or structure, the contour shape of the moving body or structure and data indicating which portion of the contour shape corresponds to the contour shape of the blade part Configured to set the contour shape data,
The fourth processing unit of the interference confirmation unit confirms whether or not interference occurs in a part other than the blade part of the tool and the workpiece when confirming whether the moving body and the structure interfere with each other, The interference checking device according to claim 1 or 2, wherein the interference checking device is configured to determine that the moving body and the structure interfere when interference occurs in a portion other than the blade portion of the tool and the workpiece.   The imaging units of the image generation means are arranged along the moving direction of the moving body so that their optical axes are parallel to each other and orthogonal to the moving direction of the moving body. 4. The interference confirmation device according to any one of items 1 to 3.

Images