JP5728931B2 - Work transfer device - Google Patents

Description

  The present invention relates to a gantry-type workpiece conveyance device that conveys a workpiece to a machine tool such as a lathe, and more particularly to a workpiece conveyance device having a camera that images a workpiece.

Conventionally, in a transfer device for loading a workpiece into a machine tool, a camera is mounted downward on a loader head having a chuck for gripping the workpiece of the loader, and the type of workpiece on the material supply table is discriminated and a machining program is selected ( For example, Patent Document 1) and a technique for recognizing a machining state using a camera detachably attached to a machine tool (for example, Patent Document 2) have been proposed. In addition, the camera fixed to the loader rail installation pillar, etc. is used to determine the material shape and orientation of the workpiece gripped by the loader, and a machining program corresponding to the type of material is activated to respond to the orientation. also corrects the machining program origin for controlling the rotational angular position of the main shaft Te of (for example, Patent Document 3) are proposed.

  On the other hand, a conventional method for determining the phase of a workpiece held on a lathe spindle before processing is to perform final positioning by rotating a chuck of the spindle and applying a pin or the like to a portion for determining the phase. In addition to this, the phase of the workpiece on the material supply table is detected by a CCD camera, the phase-detected workpiece is gripped by a loader and transferred to the spindle chuck, and then the spindle is adjusted in accordance with the detected phase. It is also made to rotate.

JP-A-5-237743 JP 2008-006534 A JP 05-177494 A

When determining the phase of a workpiece held by a workpiece holding portion of a machine tool, for example, a main spindle of a lathe, before machining the workpiece, there is a problem that the loading time becomes long in the method of hitting the pin. In the case of detecting the phase of the workpiece on the material supply table with a CCD camera and rotating the spindle in accordance with the detected phase, the phase cannot be maintained until the workpiece is held by the chuck of the spindle. There is a problem that shifts.
The invention described in Patent Document 1 discriminates the type of workpiece on the material supply table with a downward camera mounted on the loader head, and automatically selects a machining program. Even if the phase of the workpiece on the material supply table is detected, there is a problem that the phase is shifted when loading is performed. When the camera attached to the machine tool of Patent Document 2 is used to detect the phase of the workpiece in the machine tool, the imaging surface of the camera is contaminated with cutting oil or the like during processing, so that practical application is difficult. Even if the phase of the work gripped by the loader is detected by applying the camera fixedly installed on the loader rail erection column of Patent Document 3, the problem due to the phase shift during loading cannot be solved. In addition, the process for detection increases and the loading time becomes longer.

  In addition, there is a case where it is desired to determine the quality of a work machined by a machine tool in the machine. However, even if the techniques disclosed in Patent Documents 1 to 3 are applied, if the loader is provided with a camera downward, the spindle The workpiece gripped by the chuck or the like cannot be imaged. When using a camera attached to a machine tool, the imaging surface of the camera becomes dirty during processing. For these reasons, even if the techniques disclosed in Patent Documents 1 to 3 are applied, it is not possible to make a pass / fail judgment.

  On the other hand, there are times when you want to measure the dimensions of processed workpieces outside the machine and the dimensions of raw workpieces before machining. There is a problem that an expensive measuring instrument is required.

The object of the present invention is to perform phase determination before processing of a workpiece held by a workpiece holding portion of a machine tool, determination of pass / fail in a machine, etc. quickly and satisfactorily, and there is no problem of contamination of a camera during processing. It is to provide a workpiece transfer device.
Another object of the present invention is to make it possible to accurately and quickly determine the phase of a workpiece held by a workpiece holding portion of a machine tool before processing.
Still another object of the present invention is to make it possible to judge whether a workpiece machined by a machine tool is good or not quickly and without causing a problem of camera contamination.
Still another object of the present invention is to provide a workpiece transfer device capable of efficiently measuring the dimensions of a processed workpiece and measuring the dimensions of a material workpiece with a simple configuration.

Word over click conveying apparatus of this invention is a workpiece transfer device for transferring the workpiece (W) relative to the workpiece holder of the machine tool (2) (3),
A guide rail (8);
A loader (9),
The loader (9) includes a traveling body (10) that travels along the guide rail (8),
An elevating body (12) installed on the traveling body (10) to be movable up and down;
A loader head (13) provided at the lower end of the elevator (12);
A chuck (14) that is provided on the loader head (13) and is capable of a front-facing posture facing the workpiece holder (3) of the machine tool (2) and grips the workpiece (W);
A camera (20) which is provided on the loader head (13) and faces the workpiece holding part (3) side of the machine tool (2).

  Since the loader head (13) is provided with the camera (20) facing the work holding part (3) side of the machine tool (2), the work (W) held by the work holding part (3) is provided. Can be imaged by the camera (20) of the loader head (13). Therefore, for example, the phase of the work (W) held by the work holding unit (3) can be recognized by processing the captured image. Since the workpiece (W) held by the workpiece holder (3) is imaged, even if a phase shift occurs during loading, the phase is detected unlike the case of detecting the workpiece phase before passing to the workpiece holder (3). The phase angle after the shift can be recognized, and the phase can be determined with high accuracy. Further, the loader head (13) is provided with a camera (20) facing the workpiece holding part (3) side of the machine tool (2), and the workpiece (W) held by the workpiece holding part (3) can be imaged. Therefore, it is possible to determine whether the processed workpiece (W) is good or bad. Since the camera (20) is provided on the loader head (13), the camera (20) is in a position to be removed from the processing area during processing, and the problem of contamination of the camera (20) during processing does not occur.

From the image data retained workpiece (W) is picked up by the camera (20) before SL work holder (3), the phase of the central axis of the work holder (3) (O) around the workpiece (W) setting the work phase angle calculating means (23) for determining the angle by the image processing Keru.
By providing the workpiece phase angle calculating means (23), the phase angle (θ) of the workpiece (W) can be recognized accurately and quickly. Therefore, the phase determination before processing of the workpiece (W) held by the workpiece holder (3) of the machine tool (2) can be performed accurately and quickly.

In this invention, the pass / fail judgment for judging the quality of the work by comparing the image data obtained by capturing the work (W) held by the work holding unit (3) with the camera (20) with a predetermined quality judgment criterion. Means (24) may be provided.
By providing the quality determination means (24) for determining the quality of the work in comparison with the determined quality determination criteria by image processing, the quality of the work (W) can be determined accurately and quickly.

The workpiece conveyance device of the reference proposal example is a workpiece conveyance device that is carried into the workpiece holding unit (3) of the machine tool (2),
A guide rail (8);
A loader (9);
A workpiece dimension calculating means (28),
The loader (9) includes a traveling body (10) that travels along the guide rail (8),
An elevating body (12) installed on the traveling body (10) to be movable up and down;
A loader head (13) provided at the lower end of the elevator (12);
A chuck (14) that is provided on the loader head (13) and is capable of a front-facing posture facing the workpiece holder (3) of the machine tool (2) and grips the workpiece (W);
A camera (20) provided on the loader head (13) for imaging the workpiece (W) before or after being processed by the machine tool (2);
The workpiece dimension calculating means (28) obtains the dimension of the workpiece (W) by image processing from the image data captured by the camera (20).
According to this configuration, the loader head (13) has the camera (20) for imaging the workpiece (W) before or after being processed by the machine tool (2), and the workpiece data from the image data captured by the camera (20). Since the workpiece dimension calculation means (28) for obtaining the dimension of (W) by image processing is provided, the outside measurement of the dimension of the processed workpiece (W) and the dimension of the material workpiece (W) can be performed with a simple configuration. It can be done efficiently.

Word over click conveying apparatus of this invention is a workpiece transfer device for transferring the workpiece to the workpiece holder of a machine tool, comprising a guide rail, and a loader, said loader, along the guide rail travel A traveling body, a lifting body installed on the traveling body so as to be movable up and down, a loader head provided at a lower end of the lifting body, and a front surface provided on the loader head and facing the work holding portion of the machine tool. Since it has a chuck that can be oriented and grips a workpiece and a camera that is provided on the loader head and faces the workpiece holding portion of the machine tool, the workpiece is held by the workpiece holding portion of the machine tool before the workpiece is processed. Phase determination, in-machine quality determination and the like can be performed well and quickly, and there is an effect that the problem of contamination of the camera during processing does not occur.
Since workpiece phase angle calculation means for obtaining the phase angle of the workpiece around the central axis of the workpiece holding unit by image processing from image data obtained by imaging the workpiece held by the workpiece holding unit with the camera , the workpiece of the machine tool is provided . It is possible to accurately and quickly determine the phase of the workpiece held by the holding unit before processing.
When the image data obtained by imaging the workpiece held by the workpiece holding unit with the camera is compared with a predetermined quality determination criterion, the quality determination means for determining the quality of the workpiece is provided. The work quality can be judged quickly and without causing the problem of camera contamination.

A workpiece transfer device of a reference proposal example is a workpiece transfer device that loads a workpiece into a workpiece holding portion of a machine tool, and includes a guide rail, a loader, and a workpiece size calculation means, and the loader includes the guide rail A traveling body that travels along the traveling body, a lifting body that can be moved up and down on the traveling body, a loader head that is provided at the lower end of the lifting body, and the work holding portion of the machine tool that is provided on the loader head A chuck that grips a workpiece that can be face-to-face facing, and a camera that is provided on the loader head and images the workpiece before or after being machined by the machine tool. In order to obtain the dimensions of the workpiece by image processing from the image data captured by the camera, external measurement of the dimension of the processed workpiece, Measurement of the size of the effect is obtained that can be efficiently with a simple configuration.

(A) is a block diagram which shows the conceptual structure of the processing system using the workpiece conveyance apparatus which concerns on 1st Embodiment of this invention, (B) is a front view of the example of the workpiece | work. It is a front view of the processing system. It is explanatory drawing of the quality determination example with respect to the tool wear by the workpiece conveyance apparatus. It is explanatory drawing which shows the relationship between the workpiece | work and a tool. It is explanatory drawing of the quality determination example with respect to the tool breakage by the workpiece conveyance apparatus. It is a block diagram which shows the conceptual structure of the processing system using the workpiece conveyance apparatus which concerns on a reference proposal example . It is a side view which shows the imaging | photography state of the raw material workpiece | work by the workpiece conveyance apparatus. It is explanatory drawing of the fixed machining allowance of the same workpiece. It is a side view which shows the imaging | photography state for the measurement of the axial direction dimension of the processed workpiece by the workpiece conveyance apparatus. It is a side view which shows the imaging | photography state for the measurement of the diameter dimension of the processed workpiece | work by the workpiece conveyance apparatus. It is explanatory drawing of a prior art example. It is explanatory drawing of another prior art example.

  A first embodiment of the present invention will be described with reference to FIGS. FIG. 2 shows a machining system including the workpiece transfer apparatus of this embodiment. This machining system includes a machine tool 2 and a workpiece transfer device 1 that loads and unloads the workpiece W with respect to the workpiece 2. The machine tool 2 is a lathe in the illustrated example, and a tool post 4 serving as a processing means is installed on the side of the work holding unit 3. The work holding unit 3 is composed of a main shaft provided with a chuck 3a at the tip, is rotatably installed on a main shaft base 6 on the bed 5, and is rotated by a main shaft motor (not shown). The tool post 4 is formed of a turret, and a plurality of tools T such as a cutting tool and a drill cutter are mounted on the outer periphery. In the case of drill cutting, the tool post 4 is also provided with a drive source or rotation transmission means for rotating. The tool post 4 is mounted on the bed 5 so as to be movable in the front-rear direction (Z-axis direction) and rotatable via a feed base 7 movable in the left-right (X-direction) direction. The tool T is indexed with respect to the work holding unit 3 composed of the spindle.

  The workpiece transfer device 1 is a gantry type and includes a guide rail 8 and a loader 9. The guide rail 8 is provided between the machine tool 2 and the material supply table 18 and the product carry-out table 19 installed on both sides thereof. The loader 9 is mounted on a traveling body 10 traveling left and right (X direction) along the guide rail 8 so as to be movable back and forth, and a rod-like lifting body 12 can be moved up and down on the front and rear moving table 11. is set up. The front / rear moving table 11 is not necessarily provided. A loader head 13 is provided at the lower end of the elevating body 12.

  The loader head 13 has two chucks 14 for gripping the workpiece W, and each chuck 14 has a front-facing posture and a downward-facing posture facing the workpiece holding portion 3 of the machine tool 2. As shown in FIG. 1, the positions of the two chucks 14 can be switched by a replacement mechanism 15 provided in the loader head 13. The replacement mechanism 15 includes a rotary table 15a that is rotatable about a rotation axis Q inclined to the loader head 13, and the two chucks 14 and 14 are attached to the rotary table 15a. By rotating the turntable 15a by the driving means 15b, the positions of the two chucks 14 and 14 are switched. Each chuck 14 grips the workpiece W with a plurality of chuck claws 14a.

The workpiece transfer device 1 is provided with a camera 20 on the loader head 13 in the above configuration. The camera 20 is directed in the direction facing the work holding unit 3 side of the machine tool 2, that is, the front-rear direction (Z- axis direction) . The camera 20 includes a plurality of solid-state imaging devices (not shown) such as a CCD camera, and the work phase angle calculation means 23 and the pass / fail judgment means 24 using the image data captured by the camera 20 are included in the loader control device 21. Is provided. Only one of the workpiece phase angle calculation unit 23 and the quality determination unit 24 may be provided, but both are provided in this embodiment.

  The loader control device 21 is a means for controlling the entire loader 9, and the computer and a program executed thereon constitute the following function achievement means. The loader control device 21 includes, as basic function achievement means, transport operation control means 22 that controls operations of the loader 9 such as traveling, back and forth movement, raising and lowering, chuck position changing, chuck opening and closing, and the like. An angle calculation means 23 and pass / fail judgment means 24 are added. The conveyance operation control means 22 has a basic operation control unit 25 that controls the loader by a program that defines the basic operation of the loader 9 with respect to the machine tool 1, and controls the operation that causes the camera 20 to perform imaging. An image capturing operation control unit 26 and a pass / fail determination result correspondence control unit 27 are provided.

  The imaging operation control unit 26 is a means for performing control for moving the loader 9 so that the camera 20 is in an appropriate imaging position and for giving an imaging command to the camera 20 when imaging is performed with the camera 20. . In this example, under the control of the basic operation control unit 25, the imaging operation control unit 26 grips and transports the workpiece W as a material by the material supply stand 18, and the workpiece holding unit 3 of the machine tool 1. After carrying in, the loader head 13 of the loader 9 is moved so that the camera 20 is at a position facing the work holding unit 3 of the machine tool 2. Further, the imaging operation control unit 26 performs control to move the loader head 13 so that the camera 20 comes to a position facing the work holding unit 3 of the machine tool 2 after the completion of machining.

  The workpiece phase angle calculation means 23 calculates the phase angle θ of the workpiece W around the central axis O of the workpiece holder from the image data obtained by imaging the workpiece W held by the workpiece holder 3 with the camera 20 (FIG. 1B). ) By image processing. The workpiece W that is a target of phase angle detection has a non-circular shape in cross section perpendicular to the central axis O. For example, as shown in FIG. 1B, the workpiece W has a protrusion Wa on the outer periphery. . The phase angle θ is an angle with respect to a predetermined reference direction, for example, upward in the vertical direction.

The work phase angle calculation unit 23 includes an image processing unit 23a serving as a preprocessing unit and an angle calculation unit 23b. The image processing unit 23a is a processing unit that uses the image data of the workpiece W captured by the camera 20 as a binary image, a feature extraction image, or the like. The angle calculation unit 23b is a unit that calculates the phase angle of the workpiece W with respect to a predetermined reference direction using the image data output from the image processing unit 23a.
Data of the phase angle θ of the workpiece W obtained by the workpiece phase angle calculation means 23 is transmitted to, for example, a machine tool control device 29 that controls the machine tool 2. The machine tool control device 29 is, for example, a computer-type numerical control device, and controls the rotation stop angle of the work holding unit 3 composed of the main shaft according to the phase angle θ of the work W transmitted from the work phase angle calculation means 23. To do.

  A series of operations for obtaining the phase angle θ of the workpiece W will be described. The workpiece transfer apparatus 1 holds the workpiece W on the material supply table 18 (FIG. 2) with the downward chuck 14 and then moves to a position where the empty front-facing chuck 14 faces the workpiece holder 3 of the machine tool 2. Then, the processed workpiece W of the workpiece holding unit 3 is received by the empty chuck 14. After this reception, the positions of the two chucks 14, 14 of the loader head 13 are switched to each other, and the material workpiece W held by the chuck 14 facing the front side is transferred to the workpiece holding unit 3. Thereafter, the loader head 13 is moved to a position where the camera 20 faces the workpiece holding unit 3, and the workpiece W held by the workpiece holding unit 3 is imaged. Note that the loader head 13 is moved back and forth in each case when the workpiece W is delivered to the workpiece holding unit 3.

  As described above, the material workpiece W held in the workpiece holding unit 3 is imaged by the camera 20, and the workpiece phase angle calculation means 23 performs image processing on the imaged data to obtain the phase angle θ of the workpiece W. The obtained phase angle θ is sent to the machine tool control device 29, and the machine tool 2 performs processing according to the phase angle θ.

As described above, the phase determination by the machine tool 2 is performed by using the camera 20 provided in the loader head 13 and obtaining the phase θ of the loaded water W and transmitting it to the machine tool control device 29. For this reason, even when the shape of the workpiece W changes, no setup change is required, and the versatility is very high. Further, since the phase is confirmed after loading, positioning can be determined with higher accuracy than when the phase is detected before gripping by the loader 9. Since the loader head 13 is outside the processing area during processing, there is no problem that the camera 20 installed on the loader head 13 is contaminated with cutting oil or the like during processing.

  The quality determination unit 24 is a unit that determines the quality of the workpiece W by comparing image data obtained by capturing the processed workpiece W held in the workpiece holding unit 3 by the camera 20 with a predetermined quality determination criterion. The quality determination unit 24 includes an image processing unit 24a serving as a preprocessing unit and a determination unit 24b. The image processing unit 24a is a means for processing the image data of the workpiece W imaged by the camera 20 so that the quality determination can be easily performed. The image processing unit 24 a of the quality determination unit 24 may be shared by the image processing unit 23 a of the work phase angle calculation unit 23. The determination unit 24b is a means for determining pass / fail from the image processed by the image processing unit 24a.

  The pass / fail judgment result correspondence control unit 27 is a means for controlling the operation performed by the loader 9 according to the pass / fail judgment result by the pass / fail judgment means 24.

The determination target of the pass / fail determination by the pass / fail determination means 24 is, for example, wear determination or breakage determination of the tool T.
3 and 4 show the state of quality determination regarding tool wear in the case of inner diameter machining. When the inner diameter of the workpiece W is processed, if the wear of the tool T is not advanced, the cutting waste from the workpiece W is continuously clean when being cut as shown in FIG. This is easy, and no cutting waste remains in the hollow portion Wb of the workpiece W as shown in FIG. However, when the wear of the tool T progresses, a large amount of cutting waste w remains in the hollow portion Wb of the workpiece W as shown in FIG.
Therefore, the quality determination unit 24 in FIG. 1 calculates the amount of cutting waste w in the hollow portion Wb of the workpiece W from the image data, and the amount of cutting waste w exceeds the threshold value as compared with a predetermined threshold value. Determines that the tool is defective.

  The pass / fail judgment result control unit 27 displays the pass / fail judgment result of the pass / fail judgment means 24 on a screen such as a liquid crystal display device provided on an operation panel (not shown) of the loader control device 21 or the machine tool control device 29, for example. It is displayed on the device in terms of words, marks or graphs. Thereby, an operator can recognize tool wear easily and can perform a tool change and prevent a processing defect beforehand.

FIG. 5 shows how the tool breakage is determined to be good in drilling. When machining a plurality of drill holes A in the end face of the workpiece W as shown in FIG. 5A, each drill hole A can be recognized from the image when it is normally machined. However, when the tool T breaks down and the drill tip Ta remains in the drill hole A as shown in FIG. 5B, the drill hole A in which the tool T remains is a hole from the image of the workpiece W. Not recognized.
In this case, the quality determination unit 24 stores, for example, image data for comparison reference of the workpiece front determined for each workpiece type, and compares the image data captured by the camera 20 with image data for comparison reference. Therefore, the pass / fail judgment is performed.

  In this case, the pass / fail determination result correspondence control unit 27 displays the pass / fail determination result of the pass / fail determination unit 24 such as a liquid crystal display device provided on an operation panel (not shown) of the loader control device 21 or the machine tool control device 29. In addition to displaying words, marks, or graphs on the screen display device, the machine tool control unit 29 is informed of the pass / fail judgment result. The pass / fail determination result correspondence control unit 27 may cause the processed workpiece W to be unloaded to a location different from the product carry-out stand 19 when it is determined to be defective. In this way, it is possible to determine whether the tool is broken or not.

  The pass / fail judgment means 24 may perform both pass / fail judgment for the above tool wear and pass / fail judgment for tool breakage.

6 to 8 show reference proposal examples . This reference proposal example is the same as that of 1st Embodiment demonstrated with FIGS. 1-7 except the matter demonstrated especially. This reference proposal example is provided with a workpiece dimension calculation means 28 for obtaining the dimension of the workpiece W by image processing from the image data of the workpiece W taken by the camera 20 of the loader head 13. The workpiece size calculation means 28 includes an image processing unit 28a serving as a preprocessing unit and a dimension calculation unit 28b. The image processing unit 28a is a processing unit that converts the image data of the workpiece W captured by the camera 20 into a binary image, a feature extraction image, or the like. The dimension calculator 28b is means for calculating the dimension of the workpiece W in a predetermined direction using the image data output from the image processor 28a.

In this reference proposal example , the side surface of the workpiece W as a material is imaged by the camera 20, and the axial dimension H of the workpiece W is calculated. The imaging by the camera 20 is performed by, for example, the imaging body placing unit 31 such as a temporary placing table installed between the material supply table 18 and the work holding unit 3.

In this reference proposal example , none of the workpiece phase angle calculation means 23 and the pass / fail judgment means 24 in the embodiment of FIG. 1 is provided, but either one or both may be provided.

  The purpose and state of workpiece dimension measurement will be described with reference to FIGS. There may be variations in the axial dimension H of the workpiece W that is the material, but there is a case where it is desired to keep the machining allowance h constant when the end face machining of the workpiece W is performed. The workpiece W is, for example, a columnar or cylindrical workpiece. In such a case, the workpiece W on the material supply table 18 is transported by the loader 9 onto the imaging body placement unit 31 such as a temporary placement table, and is vertically oriented on the imaging body placement unit 31 as shown in FIG. The placed material work W is imaged by the camera 20 of the loader 9. From the captured image data, the workpiece dimension calculation means 28 in FIG. 6 determines the axial dimension H of the material workpiece W by image processing. The obtained axial dimension H is sent to the machine tool control unit 29. The machine tool control unit 29 has a measurement dimension correspondence control unit 32, calculates a machining start position S and a machining end position E in the Z-axis direction, which are the target machining allowance h, and the tool rest 4 in the Z-axis direction. Control movement.

  In this way, it is possible to perform end face processing with a constant machining allowance h on the workpiece W having a variation in the axial dimension H. Conventionally, when end face machining with such a machining allowance h is performed, for example, as shown in FIG. 11, a special dimension measuring device having a touch sensor 33 is used to measure the axial dimension H of the workpiece W. However, according to this embodiment, since the measurement is performed with the camera 20 provided on the loader head 13, the measurement can be performed quickly. In addition, the configuration is simple and low cost.

In the reference proposal example of FIG. 6, instead of measuring the dimensions of the material workpiece W, the dimensions of the processed workpiece W may be measured as shown in FIG. The dimension of the processed workpiece W is measured on, for example, a measurement table 34 including a product carry-out table 19 or a dedicated table. That is, the processed workpiece W is transported by the loader 9 from the workpiece holder 3 of the machine tool 2 and placed on the measuring table 34, and the axial dimension H of the placed processed workpiece W is set as the loader head of the loader 9. An image is taken by a camera 20 provided at 13. The captured image data is obtained by the workpiece size calculation means 28. Whether or not the obtained axial dimension H is within the tolerance is determined by the dimension quality determination means 35 provided in the loader control means 21. For example, the quality determination result corresponding processing unit 36 in the loader control device 21 discharges the work W determined to be defective by the loader 9 to the outside of the non-defective product carry-out path (not shown).

  The dimension measurement for determining the quality of the processed workpiece W may be performed with respect to the diameter dimension D of the workpiece W as shown in FIG. 10. In this case, the direction of the camera 20 provided on the loader head 13 is set. Downward. When it is desired to measure both the axial dimension H and the diameter dimension D, the camera 20 is installed on the loader head 13 via the camera direction switching device 37. The camera direction switching device 37 is a device that switches the camera 20 between a front direction and a downward direction.

  When measuring the diameter D of the processed workpiece W, the workpiece W is placed on the measuring table 34 by the loader 9 and then the workpiece W is imaged from above by the camera 20 of the loader head 13. The captured image data is subjected to image processing by the workpiece size calculation means 28 to obtain the diameter dimension D. Others are the same as the case where the axial dimension H is measured. Conventionally, when measuring the diameter D of the processed workpiece W, for example, as shown in FIG. 12, measurement was performed using an external measuring instrument having the touch sensor 41 or the like, so that the measurement takes time, and a dedicated external measurement is performed. The cost was high due to the vessel. However, according to this embodiment, since the camera 20 provided in the loader head 20 is used, measurement can be performed quickly, the configuration is simple, and the cost can be reduced.

DESCRIPTION OF SYMBOLS 1 ... Work conveying apparatus 2 ... Machine tool 3 ... Work holding part 8 ... Guide rail 9 ... Loader 10 ... Traveling body 11 ... Front-and-rear moving base 12 ... Lifting body 13 ... Loader head 14 ... Chuck 18 ... Material supply stand 19 ... Product delivery Table 20 ... Camera 21 ... Loader control device 23 ... Work phase angle calculation means 24 ... Pass / fail judgment means 26 ... Imaging operation control unit 27 ... Pass / fail judgment result correspondence control unit 28 ... Work size calculation means 29 ... Machine tool control device 31 ... Image pick-up body mounting part 35 ... Dimensional quality determination means 36 ... Quality determination result correspondence processing part 37 ... Camera direction switching device A ... Drill hole D ... Diameter dimension h ... Target machining allowance T ... Tool Ta ... Drill tip W ... Work Wa ... Projection part Wb ... Hollow part θ ... Phase angle

Claims (2)

A workpiece transfer device that loads a workpiece into a workpiece holding portion of a machine tool,
A guide rail,
A loader,
The loader travels along the guide rail, and
An elevating body installed on the traveling body so as to be movable up and down;
A loader head provided at the lower end of the elevator,
A chuck that is provided on the loader head and is capable of a front-facing posture facing the workpiece holding part of the machine tool and grips the workpiece;
A camera provided on the loader head and facing the workpiece holding part side of the machine tool ;
Wherein a work held on the work holding portion from the image data captured by the camera, the word chromatography click conveying apparatus a phase angle of the central axis of the workpiece of the workpiece holder is provided with a work phase angle calculating means for calculating the image processing . 2. The workpiece transfer apparatus according to claim 1, further comprising: a pass / fail judgment means for judging pass / fail of the work by comparing image data obtained by capturing the work held by the work holding unit with the camera with a predetermined pass / fail judgment criterion.

Images