JP6926353B1 - Tool accommodating equipment, machine tools and image processing equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress deterioration of quality of an image captured for detecting the shape of a tool. A tool accommodating device (4) includes a tool support (pot) 22 that supports a tool Tx in a standby state, an illumination unit (52) that illuminates the tool Tx, and an imaging unit (50) that images the tool Tx. The image pickup unit 50 and the illumination unit 52 are arranged above the tool Tx supported by the tool support unit 22. [Selection diagram] Fig. 3

Description

The present invention relates to a tool inspection technique in a machine tool.

Machine tools include a turning center that moves a tool with respect to a rotating work, a machining center that moves a rotating tool with respect to a work, and a multi-tasking machine having these functions in combination. The machine tool is equipped with a tool changing device called an ATC (Automatic Tool Changer), and the work is machined into a desired shape while exchanging a plurality of types of tools in the machining process. The ATC executes tool exchange between the tool accommodating portion (magazine or the like) and the tool holding portion (spindle or the like).

In such a machine tool, if the tool after use has an abnormality such as a chip, breakage, or wrapping of chips, the tool (hereinafter, also referred to as "defective tool") cannot be used as it is for the next machining. Therefore, a technique has been proposed in which the blade shape is imaged by a camera before and after the use of the tool, and whether or not the tool is defective is determined based on the captured images before and after the use of the tool (Patent Document 1).

Japanese Unexamined Patent Publication No. 2015-131357

By the way, such a tool inspection is generally performed based on an image taken while illuminating the tool with a lighting device. By arranging the camera and the lighting device on the opposite side of the tool, the camera can acquire a high-contrast captured image in which the contour position of the tool can be easily grasped. That is, the contour of the tool is extracted from the difference in contrast between the tool and its background, and tool shape data is generated. Based on the tool shape acquired at this time, it can be determined whether or not the tool is defective.

However, tools that have been replaced after being used for machining usually have coolant attached to them, and the coolant may scatter or drip during tool replacement, which may contaminate the inspection environment. If the camera lens or background is contaminated with coolant, it can interfere with accurate detection of tool geometry. The same applies when the lighting device is contaminated.

One aspect of the present invention is a tool accommodating device for accommodating a plurality of tools. The tool accommodating device includes a tool support unit that supports the tool in a standby state, an illumination unit that illuminates the tool, and an image pickup unit that captures an image of the tool. The image pickup unit and the illumination unit are arranged above the tool supported by the tool support unit.

Another aspect of the present invention is a machine tool. The machine tool includes the above-mentioned tool accommodating device, a processing device for processing a work using the tools accommodated in the tool accommodating device, and an opening / closing mechanism for opening and closing an opening provided in a partition wall between the tool accommodating device and the processing device. It is provided with a tool changing unit for performing tool changing between the tool accommodating device and the machining device with the opening open. The image of the tool is performed by the tool accommodating device.

According to the present invention, it is possible to suppress deterioration in quality of an image captured for detecting the shape of a tool.

It is a perspective view which shows the appearance of the machine tool which concerns on embodiment. It is a side view which shows the internal structure of the tool accommodating device. It is a perspective view which shows typically the structure of a containment chamber. It is a front view which shows typically the periphery of the boundary part between a containment chamber and a processing chamber. It is a side view which shows typically the structure for imaging a target tool. It is a hardware block diagram of a machine tool and an image processing apparatus. It is a functional block diagram of an image processing apparatus. An example of a captured image of a tool by a camera is shown. An example of a captured image of a tool by a camera is shown. It is a figure which shows the detection method of the tool shape in embodiment. It is a flowchart which shows the process of the tool shape data acquisition process before use. It is a flowchart which shows the process process of a tool inspection process. It is a perspective view which shows typically the structure of the accommodation chamber which concerns on the modification.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The machine tool of the present embodiment is configured as a machining center for machining a work into a desired shape while changing tools as appropriate.

FIG. 1 is a perspective view showing the appearance of the machine tool according to the embodiment. When the machine tool 1 is viewed from the front, the front-rear direction, the left-right direction, and the up-down direction are the Z-axis direction, the X-axis direction, and the Y-axis direction, respectively.
The machine tool 1 includes a processing device 2 and a tool accommodating device 4. A cover 6 (device housing) is provided so as to cover these devices. Inside the cover 6, a processing chamber 8 is provided on the right side when viewed from the front, and a storage chamber 10 is provided on the left side. Machining is performed by the processing apparatus 2 in the processing chamber 8. In the storage chamber 10, a plurality of tools are stored by the tool storage device 4, and tools are exchanged by ATC (details will be described later).

An operation panel 12 is provided on the right side surface of the cover 6. An image processing device 14 is connected to the processing chamber 8. The user can remotely monitor the work status of the machine tool 1 by the image processing device 14. The image processing device 14 may be a general laptop PC (Personal Computer) or a tablet computer. In the modified example, the image processing device may be configured as an internal device of the processing chamber 8.

FIG. 2 is a side view showing the internal configuration of the tool accommodating device 4. This figure corresponds to the left side view of the machine tool 1, but for convenience of explanation, the left side surface of the cover 6 is removed. In addition, a part of the magazine (described later) is partially cut out and displayed.

The tool accommodating device 4 has a disk-type magazine 20. A plurality of pots 22 are arranged along the outer peripheral surface of the magazine 20, and each of them is configured to be able to store the tool T. Each pot 22 coaxially supports the tool T, and a plurality of tools are radially supported around the rotation shaft 24 of the magazine 20. In the modified example, a chain type or other magazine may be adopted.

The magazine 20 rotates about the rotation shaft 24 and horizontally supports the tool T to be replaced at its front end position (right end position in FIG. 2). That is, the pot 22 of the magazine 20 functions as a “tool support portion” that supports the tool T (also referred to as “target tool Tx”) to be replaced in the storage chamber 10 in a standby state.

An opening 28 is provided in the partition wall 26 that separates the storage chamber 10 and the processing chamber 8, and a shutter 30 for opening and closing the opening 28 is provided. Further, an opening / closing mechanism 32 for opening / closing the opening 28 by moving the shutter 30 in the longitudinal direction of the target tool Tx is provided. The opening / closing mechanism 32 includes a screw feed mechanism (not shown) and a servomotor for driving the screw feed mechanism (not shown). ATC34 is provided in the accommodation chamber 10. The ATC 34 includes a tool T (also referred to as “pre-use tool Tp”) held in the accommodating chamber 10 in a standby state and a tool T (“used”) held by the tool spindle (not shown) in the machining chamber 8. Replace with "Tool Tu"). The tool change is performed with the shutter 30 open.

The target tool Tx is horizontally supported as a replacement target in the storage chamber 10. The target tool Tx includes a pre-use tool Tp immediately before the tool change and a used tool Tu immediately after the tool change. In the present embodiment, an image of the pre-use tool Tp and an image of the used tool Tu are taken for the same tool. Based on the comparison between the image of the pre-use tool Tp and the image of the used tool Tu, the state of the used tool Tu (whether or not it is a defective tool, etc.) is determined. The details will be described later.

FIG. 3 is a perspective view schematically showing the configuration inside the accommodation chamber 10. FIG. 4 is a front view schematically showing the periphery of the boundary between the storage chamber 10 and the processing chamber 8. FIG. 5 is a side view schematically showing a configuration for imaging the target tool Tx in the accommodation chamber 10.

As shown in FIG. 3, the target tool Tx is horizontally supported in the accommodation chamber 10. The shutter 30 is driven in the longitudinal direction of the target tool Tx by the opening / closing mechanism 32 (see FIG. 2) to open / close the opening 28. The "longitudinal direction" of the target tool Tx is a direction along the axis of the pot 22 that supports the target tool Tx in the storage chamber 10, and corresponds to the "Z-axis direction". The "short direction" of the target tool Tx is a direction perpendicular to the longitudinal direction, and includes the "X-axis direction" and the "Y-axis direction".

As shown in FIG. 4, the ATC 34 is arranged in the space between the target tool Tx and the shutter 30. The ATC 34 includes a main body 36 incorporating a motor and an arm 38 attached to a rotating shaft of the motor. The arm 38 has a shape symmetrical with respect to the rotation axis, and has grip portions 40 at both ends thereof. The grip portion 40 includes a fixed claw 42 and a movable claw 44. By driving the movable claw 44, the gripping operation by the gripping portion 40 can be realized.

The ATC 34 is provided with a translation mechanism for moving the arm 38 in the axial direction and a rotation mechanism for rotating the arm 38 around the axis. The motor includes a first motor that drives the translation mechanism and a second motor that drives the rotation mechanism. Since such a mechanism itself is known, a detailed description thereof will be omitted.

When the ATC 34 is not activated, the arm 38 is in a state of being vertically oriented as shown in FIG. As a result, the ATC 34 is accommodated in the accommodation chamber 10 with the shutter 30 closed. When the ATC 34 is operated, the pre-use tool Tp stands by on one side (accommodation chamber 10 side) and the used tool Tu stands on the other side (machining chamber 8 side) across the axis of the arm 38. At this time, the shutter 30 is released.

When the ATC 34 operates, the arm 38 rotates so that the pair of gripping portions 40 grip the pre-use tool Tp and the used tool Tu, respectively. At this time, the arm 38 temporarily straddles the opening 28. Further, by driving the translation mechanism and the rotation mechanism, the tool is detached and attached to the pot 22 and the tool spindle 37, and the tool can be replaced. Since the operation of such ATC itself is known, detailed description thereof will be omitted.

The rotation axis Lt of the tool spindle 37, the rotation axis Lx of the ATC34, the moving direction of the shutter 30, and the longitudinal direction of the target tool Tx at the tool replacement standby position are designed to be parallel to each other (all parallel to the Z axis). ing.

As shown in FIG. 5, the camera 50 and the lighting device 52 are arranged above the target tool Tx. As a result, the camera 50 side of the target tool Tx is brightened, and the background of the target tool Tx is darkened. Due to such an arrangement of the camera 50 and the lighting device 52, the coolant scattered from the target tool Tx is less likely to adhere to both of them. As a result, the maintenance frequency of both can be reduced.

The camera 50 includes an image sensor (imaging element) such as a CMOS (Complementary Metal Oxide Semiconductor) or a CCD (Charge-Coupled Device). The camera 50 in this embodiment has a resolution of about 1 million pixels (1224 x 1024). In addition, the camera 50 can acquire up to 80 captured images per second.

The illuminating device 52 functions as an "illuminating unit" and includes three illuminating devices 52a to 52c in the present embodiment (when these are not particularly distinguished, they are simply referred to as "illuminating device 52"). The lighting device 52a is arranged at the highest position and illuminates the target tool Tx from diagonally above the base end side. The lighting device 52b illuminates the target tool Tx from diagonally above the tip side thereof. The lighting device 52c is arranged at a position slightly lower than the lighting device 52b, and illuminates the target tool Tx from slightly above the base end side thereof. In the modified example, a relatively large single lighting device 52 may be provided to illuminate the target tool Tx from above. Two or more lighting devices 52 may be arranged above the target tool Tx.

The camera 50 functions as an "imaging unit" and images the target tool Tx from above (Y-axis direction). The camera 50 is arranged above the lighting device 52a and is located closer to the center of the target tool Tx in the longitudinal direction. That is, the camera 50 is located between the illuminating device 52a and the illuminating device 52b with respect to the longitudinal direction (X direction) of the target tool Tx.

The distance between the camera 50 and the target tool Tx (working distance: hereinafter also referred to as “WD”) is set so that the camera 50 can fit the image pickup target portion of the target tool Tx on one screen. The "imaging target portion" means a portion (also referred to as an "inspection target portion") that needs to be inspected in order to determine whether or not the target tool Tx is a defective tool, and is set in advance. In the present embodiment, the inspection target portion Ta is from the base end to the cutting edge supported by the pot 22 in the target tool Tx. In the modified example, the part from the blade edge to the blade edge may be the imaging target portion.

In FIG. 5, the alternate long and short dash line indicates a region (also referred to as “imaging region S”) that falls within the angle of view of the camera 50. The alternate long and short dash line indicates the region where the contrast of the captured image is improved by illumination. As described above, in the target tool Tx, the area from the base end supported by the pot 22 to the cutting edge is defined as the imaging target portion Ta. By arranging a plurality of lighting devices 52, it is possible to obtain an image having good contrast over the entire image target portion Ta.

Although not shown in FIGS. 2 to 5, each structure such as the main body 36 of the ATC 34, the opening / closing mechanism 32, the camera 50, and the lighting device 52 is stable to the structures such as the wall surface and the beam in the accommodation chamber 10. Needless to say, it is fixed to.

FIG. 6 is a hardware configuration diagram of the machine tool 1 and the image processing device 14.
The machine tool 1 includes a machining control device 60 and an operation control device 62 in addition to the above-mentioned machining device 2, tool accommodating device 4, and ATC 34. The machining control device 60 functions as a numerical control device and outputs a control signal to the machining device 2 according to a machining program. The machining apparatus 2 drives a tool spindle (not shown) according to an instruction from the machining control device 60 to machine a workpiece.

The operation control device 62 includes an operation panel 12 and controls the machining control device 60. The ATC 34 takes out the tool from the tool accommodating device 4 according to the exchange instruction from the machining control device 60, and exchanges the used tool Tu held on the tool spindle with the pre-use tool Tp taken out from the tool accommodating device 4.

The image processing device 14 mainly performs image processing such as tool shape recognition. As described above, the image processing device 14 may be configured as a part of the operation control device 62. Alternatively, the entire body including the image processing device 14 may be referred to as "machine tool 1".

FIG. 7 is a functional block diagram of the image processing device 14.
Each component of the image processing device 14 includes a CPU (Central Processing Unit), a computing unit such as various auxiliary processors, a storage device such as a memory and a storage device, hardware including a wired or wireless communication line connecting them, and a storage device. It is stored in and realized by software that supplies processing commands to the arithmetic unit. A computer program may be composed of a device driver, an operating system, various application programs located on the upper layers thereof, and a library that provides common functions to these programs. Each block described below shows a block for each function, not a configuration for each hardware.

The operation control device 62 and the processing control device 60 are also stored in the storage device and stored in the arithmetic unit, the hardware including the arithmetic unit such as a processor, the storage device such as memory and storage, and the wired or wireless communication line connecting them. The software or program that supplies the processing instructions may be realized on an operating system separate from the image processing device 14.

The image processing device 14 includes a user interface processing unit 70, a data processing unit 72, a data storage unit 74, and a communication unit 76.
The user interface processing unit 70 accepts operations from the user and is in charge of processing related to the user interface such as image display and audio output. The communication unit 76 is in charge of communication with the operation control device 62. The data processing unit 72 executes various processes based on the data acquired by the user interface processing unit 70 and the data stored in the data storage unit 74. The data processing unit 72 also functions as an interface for the user interface processing unit 70, the data storage unit 74, and the communication unit 76. The data storage unit 74 stores various programs and setting data.

The user interface processing unit 70 includes an input unit 80 and an output unit 82.
The input unit 80 receives input from the user via a hard device such as a touch panel or a handle. The output unit 82 provides various information to the user via an image display or an audio output. The output unit 82 includes a notification unit 84. The notification unit 84 notifies the user of the occurrence of various events when a predetermined abnormality condition such as an abnormality of the tool to be replaced (a defective tool is detected) is satisfied (details will be described later).

The communication unit 76 includes a receiving unit 110 that receives data from the operation control device 62 and a transmitting unit 112 that transmits data and commands to the operation control device 62.

The data processing unit 72 includes a movement control unit 90, an imaging processing unit 92, a shape reproduction unit 94, a tool management unit 96, and a determination processing unit 98.
The movement control unit 90 drives and controls the opening / closing mechanism 32 to control the opening / closing (movement) of the shutter 30. The image pickup processing unit 92 controls the camera 50 to take an image of the target tool Tx. The shape reproduction unit 94 generates "tool shape data" which is data indicating the shape of the target tool Tx based on the captured image. The tool management unit 96 associates the tool ID and the tool shape data for each target tool Tx and registers them in the data storage unit 74.

The determination processing unit 98 determines whether or not an abnormality such as a defect, breakage, or wrapping of chips has occurred in the target tool Tx based on the captured image of the target tool Tx or based on the tool shape data (whether or not the tool is defective). ) Is judged. When the determination processing unit 98 determines that the target tool Tx is abnormal, the notification unit 84 notifies the user to that effect. The determination processing unit 98 may instruct the operation control device 62 to display the fact on the operation panel 12. When it is determined that the used tool Tu is a defective tool, the tool management unit 96 associates the information that the used tool Tu is a defective tool with the tool ID and registers it in the data storage unit 74 as the tool information.

The data storage unit 74 includes a tool information storage unit 100 and a shape data storage unit 102. The tool information storage unit 100 stores information (tool information) of each tool T stored in the magazine 20 in association with the tool ID. The tool information includes, for example, information such as the type, shape, size, and length of the tool. Furthermore, information such as cumulative usage time and cumulative usage count may be included. The data storage unit 74 also temporarily stores the captured image.

The tool information storage unit 100 updates the tool information every time the tool is replaced. When it is determined that the target tool Tx is a defective tool as described above, that fact is added as tool information. After the determination, the tool management unit 96 prohibits the use of the tool T on the defective tool, that is, the ATC 34 prohibits the tool from being replaced as the pre-use tool Tp.

The shape data storage unit 102 stores the tool shape data generated by the shape reproduction unit 94 in association with the tool ID. In this embodiment, tool shape data is created before and after tool replacement. Therefore, for each target tool Tx, the tool shape data of the pre-use tool Tp (hereinafter, also referred to as “pre-use tool shape data”) and the tool shape data of the used tool Tu (hereinafter, also referred to as “used tool shape data”). ) Is stored in association with the tool ID. The determination processing unit 98 can determine whether or not the used tool Tu is a defective tool by comparing the pre-use tool shape data and the used tool shape data for the same tool.

Next, a tool inspection method will be described.
8 and 9 show an example of a captured image of the tool by the camera 50. FIG. 8 shows an image obtained when the background of the target tool Tx (that is, below the target tool Tx in the storage chamber 10) is clean. FIG. 9 shows an image obtained when the background of the target tool Tx is not clean. In each figure, (A) shows a captured image, and (B) shows a tool shape specified based on the captured image.

The imaging processing unit 92 identifies the contour of the target tool Tx (imaging target unit Ta) based on the captured image. As shown in FIG. 8A, when the background of the target tool Tx is clean, the contrast between the imaging target portion Ta and the background is large. The imaging processing unit 92 sets a scanning line in the X-axis direction, and detects a point located at the boundary between the dark region and the bright region in the captured image as an edge point. The imaging processing unit 92 detects a plurality of edge points while shifting the scanning lines at a constant pitch, and identifies the contour of the target tool Tx by connecting these edge points. As shown in FIG. 8B, if the background is clean, the tool shape appears clearly. The shape reproduction unit 94 generates tool shape data based on the specified contour.

The determination processing unit 98 compares the pre-use tool shape data and the used tool shape data for the same tool. In the determination processing unit 98, when the similarity between the shape of the tool before use and the shape of the used tool, particularly the similarity of the contour is equal to or less than a predetermined value, the target tool Tx has a defect or the like, that is, the target tool. It is determined that Tx is a defective tool. At this time, the notification unit 84 causes the user to display an alert screen indicating that a defective tool has been detected. Alternatively, a sound such as a buzzer sound may be generated.

On the other hand, as shown in FIG. 9A, when the background of the target tool Tx is not clean, the contrast between the imaging target portion Ta and the background becomes small. For example, if the lower part of the target tool Tx (the lower surface of the accommodation chamber 10) is contaminated with coolant or chips are scattered, the illumination may be reflected by these and cause disturbance, resulting in poor contrast. In that case, as shown in FIG. 9B, the outline of the target tool Tx becomes blurry and the tool shape becomes unclear. In such a case, it is not possible to accurately determine whether or not the tool is defective.

Therefore, the determination processing unit 98 determines whether or not the background is clean prior to the inspection of the target tool Tx, and if it is not normal, displays an alert screen prompting maintenance while indicating that fact. When this alert screen is displayed, the user takes appropriate measures such as cleaning the inside of the containment chamber 10.

FIG. 10 is a diagram showing a method for detecting a tool shape in the embodiment.
As described above, when there are chips or coolant stains on the background of the Tx imaged by the camera 50, it is assumed that the contrast between the Tx and the background cannot be obtained satisfactorily due to their diffuse reflection. In this embodiment, it is noted that the quality of this contrast can be judged from the shape of the tool center line determined from the tool image. The tool center line can be obtained as a regression line that approximates the tool center point calculated from the two edge points detected in the X-axis direction in the captured image of the tool to a straight line in the Z-axis direction.

As shown in FIG. 10A, when the background of the target tool Tx is clean, the contrast of the image is good, and the edge points located at the boundary between the dark region and the bright region of the above-mentioned captured image are straight lines. It leads to the shape. As a result, good tool shape data can be obtained. At this time, the calculated tool center line Ct is obtained in a straight line.

On the other hand, as shown in FIG. 10B, if the background of the target tool Tx is contaminated, the edge points that should be along the contour of the tool cannot be accurately obtained, and as a result, good tool shape data can be obtained. I can't get it. At this time, the calculated tool center line Ct deviates greatly from the straight line. That is, if the calculated tool center line Ct deviates significantly from the original tool center line Cr, it can be said that the imaging environment is poor. Encouraging cleaning is effective.

Therefore, as shown in FIG. 10C, a calibration tool (referred to as a “calibration tool”) is prepared, and a reference tool center line Cr is acquired in advance. The determination processing unit 98 calculates the tool center line Ct based on the captured image of the target tool Tx, and compares it with the reference tool center line Cr. When the deviation of the center lines of both tools exceeds a predetermined value, the determination processing unit 98 displays an alert screen indicating that fact of the notification unit 84. The user is prompted to display this alert screen, and can take appropriate measures such as cleaning the inside of the containment chamber 10 and maintenance of the lighting device 52.

FIG. 11 is a flowchart showing the processing process of the pre-use tool shape data acquisition process.
This process is executed when the pre-use tool Tp is held horizontally in the storage chamber 10 in the standby state prior to the tool change.

The image pickup processing unit 92 takes an image of the pre-use tool Tp with the camera 50 (S10). Subsequently, the above-mentioned tool center line Ct is calculated based on the captured image (S12), and compared with the tool center line Cr of the calibration tool (S14). At this time, if the deviation of the center lines of both tools is less than a predetermined value (N in S16), the shape reproducing unit 94 generates pre-use tool shape data based on the captured image (S18). Since it can be determined that the imaging environment is good, the tool shape is specified using the captured image. The tool management unit 96 stores the pre-use tool shape data in the shape data storage unit 102 in association with the tool ID (S20). This pre-use tool shape data is used for tool inspection described later.

On the other hand, if the deviation of the center lines of both tools is equal to or greater than a predetermined value (Y in S16), the above-mentioned alert screen is displayed (S22). As a result, after the user performs maintenance such as cleaning, this process (pre-use tool shape data acquisition process) is executed again.

FIG. 12 is a flowchart showing the processing process of the tool inspection process.
This process is executed when the used tool Tu is held horizontally in the storage chamber 10 in the standby state prior to storing the tool after the tool is replaced.

The image pickup processing unit 92 takes an image of the used tool Tu with the camera 50 (S30). Subsequently, the above-mentioned tool center line Ct is calculated based on the captured image (S32) and compared with the tool center line Cr of the calibration tool (S34). At this time, if the deviation of the center lines of both tools is less than a predetermined value (N in S36), the shape reproducing unit 94 generates used tool shape data based on the captured image (S38). Since it can be determined that the imaging environment is good, the tool shape is specified using the captured image.

The tool management unit 96 temporarily stores the used tool shape data in the shape data storage unit 102 (S40). The determination processing unit 98 reads out the used tool shape data and the pre-use tool shape data having the same tool ID, and compares the tool shape data (S44). That is, the shape of the tool before use and the shape of the used tool are compared for the same tool (S46). At this time, if the degree of similarity between the used tool shape and the pre-use tool shape is a defective tool of a predetermined value or less (Y in S46), the notification unit 84 is notified to that effect (S48). That is, the notification unit 84 displays the alert screen. If it is not a defective tool (N in S46), the process in S48 is skipped.

In the present embodiment, the used tool Tu, which is determined to be a defective tool after the tool is replaced, is also stored in the magazine 20, but the tool is prohibited from being used until the predetermined maintenance is performed. The information that the tool is prohibited is stored in association with the tool ID.

In general, a tool has an upper limit of the number of times of use and the time of use (also referred to as "quality assurance parameter") in order to ensure its quality. Tools whose quality assurance parameters exceed the upper limit are prohibited from use, and tools of the same type (sub-tools) prepared separately and stored in the magazine 20 are used. As a result, the mass production process by the processing apparatus 2 is not hindered. In the present embodiment, even if the quality assurance parameter does not exceed the upper limit value, when a defective tool is detected, the sub tool is used while managing the corresponding tool as prohibition of use.

On the other hand, if the deviation of the center lines of both tools is equal to or greater than a predetermined value (Y in S36), the above-mentioned alert screen is displayed (S50). As a result, after the user performs maintenance such as cleaning, this process (tool inspection process) is executed again.

The machine tool 1 has been described above based on the embodiment.
In this embodiment, the camera 50 and the lighting device 52 are arranged above the target tool Tx. Therefore, it is possible to reduce the possibility that these are contaminated by the coolant or the like adhering to the target tool Tx. Deterioration of the quality of the image captured for detecting the shape of the tool is suppressed, and the tool inspection can be performed with sufficient accuracy.

Further, prior to the tool inspection, it is determined whether or not the imaging environment is good, and if it is not good, the user is notified to urge maintenance or the like. The transition to the tool inspection process is made only when the imaging environment is good. Therefore, the tool inspection can be performed with sufficient accuracy. According to this embodiment, it is possible to deal with a problem such as preparing an imaging environment in order to maintain the accuracy of tool shape detection.

[Modification example]
FIG. 13 is a perspective view schematically showing the configuration inside the accommodation chamber 10 according to the modified example.
In the above embodiment, a configuration in which the imaging unit (camera 50) is fixed at a predetermined position in the accommodation chamber 10 is illustrated. In this modification, the camera 50 is moved together with the shutter 30 in parallel with the target tool Tx. That is, a moving mechanism 54 for moving the camera 50 in the longitudinal direction of the target tool Tx is provided above the target tool Tx in the accommodation chamber 10. The moving mechanism 54 includes a guide rail 56 and an air cylinder 58. The guide rail 56 extends parallel to the axis of the target tool Tx, and the camera 50 is slidably attached. The camera 50 is fixed to the tip of the rod of the air cylinder 58. The air cylinder 58 reciprocates the camera 50 along the guide rail 56. Although not shown, it goes without saying that the moving mechanism 54 is stably fixed to a structure such as a wall surface or a beam in the accommodation chamber 10.

The movement control unit 90 drives and controls the movement mechanism 54, and moves the camera 50 in parallel with the target tool Tx so as to be interlocked with the opening / closing operation of the shutter 30. The camera 50 may move from the vicinity of the base end of the target tool Tx toward the tip end side. The camera 50 may be moved by the moving mechanism 54, the target tool Tx may be imaged in a plurality of times, and the shape of the entire image target portion Ta may be specified based on the plurality of captured images. With such a configuration, the shape of the tool can be detected with sufficient accuracy even if the tool length becomes large. By interlocking the camera 50 with the shutter 30, the camera 50 may be positioned behind the shutter 30 with respect to the processing chamber 8 when the opening 28 is opened. Thereby, contamination of the camera 50 can be prevented or suppressed. A screw feed mechanism or a linear drive device may be adopted instead of the air cylinder 58.

Further, since the lighting device 52 is located near the tool and illuminates from the vicinity, even if the shutter 30 moves to open the opening 28 and the light in the processing chamber 8 comes in, the light from the processing chamber 8 remains. It has little effect on imaging.

The present invention is not limited to the above-described embodiment or modification, and the components can be modified and embodied within a range that does not deviate from the gist. Various inventions may be formed by appropriately combining a plurality of components disclosed in the above embodiments and modifications. In addition, some components may be deleted from all the components shown in the above embodiments and modifications.

In the above embodiment, the configuration in which the determination processing unit 98 determines whether or not the target tool Tx is a defective tool is illustrated. In the modification, the tool shape data generated by the shape reproduction unit 94 for the pre-use tool Tp and the used tool Tu may be drawn and displayed in comparison with the output unit 82. The user may visually compare the tool shapes before and after use to determine whether or not the target tool Tx is a defective tool.

In the above embodiment, each target tool Tx is imaged before and after tool replacement (that is, before and after machining) to generate tool shape data. Then, by comparing the pre-use tool shape data and the used tool shape data for each tool, it was determined whether or not there was an abnormality such as a defect. In the modified example, the defective tool may be determined by using the tool image itself without generating the tool shape data (tool contour data). That is, it may be determined whether or not the used tool Tu is a defective tool by comparing the pre-use tool image and the used tool image for each target tool Tx.

In the above embodiment, each target tool Tx is imaged immediately before and after machining, and the state of the used tool Tu (whether or not it is a defective tool) is determined based on those images. That is, an example is shown in which the captured image immediately before use is used as a "reference image" as a criterion for judgment. In the modified example, the reference image may be stored as basic data at the time of tool registration before the start of the first use of the tool. However, in order to perform more accurate shape detection (shape comparison) by making the imaging environment such as the lighting state the same, it is preferable to compare the image immediately before machining and the image immediately after machining.

In the above embodiment, an example is shown in which the tool center line detected for the target tool is compared with the reference tool center line, and notification processing is performed when the deviation between the two tool center lines becomes a predetermined value or more. .. In other modified examples, the variation of the tool center point detected for the target tool (such as the dispersion value of the deviation from the regression line) exceeds the predetermined judgment reference value without setting the reference tool center line. In that case, the notification process may be performed.

In the above embodiment, the ATC34 is exemplified as the "tool transporting unit", but a tool transporting mechanism for transporting tools between the processing chamber and the accommodating chamber may be provided without having the tool changing function.

In the above embodiment, the machining center is illustrated as the machine tool 1, but it goes without saying that the tool inspection technique can be applied to the turning center and the multi-tasking machine.

1 Machinery, 2 Machining equipment, 4 Tool accommodating equipment, 6 Covers, 8 Machining chambers, 10 Accommodating chambers, 12 Operation panel, 14 Image processing equipment, 20 Magazines, 22 pots, 26 partition walls, 30 shutters, 32 opening and closing mechanism, 34 ATC, 38 arm, 50 camera, 52 lighting device, 54 movement mechanism, 56 guide rail, 58 air cylinder, 60 processing control device, 62 operation control device, 90 movement control unit, 92 imaging processing unit, 94 shape reproduction unit, 96 Tool management unit, 98 judgment processing unit, 100 tool information storage unit, 102 shape data storage unit, P1 partial image, P2 partial image, S imaging area, T tool, Ta imaging target unit, Tp pre-use tool, Tu used tool , Tx Target tool.

Claims (6)

A tool accommodating device that accommodates multiple tools
A tool support that supports the tool in a standby state,
A tool transport unit that removes the tool waiting on the tool support portion and transports the tool in the operating region, and a tool transport unit that transports the tool.
The lighting unit that illuminates the tool and
A plurality of edges of the tool are detected from the image, an intermediate point is calculated from two edges in the direction orthogonal to the longitudinal direction of the tool in the image, and the line connecting the intermediate points is used as the tool line of the tool. Based on the tool line and the tool line stored in advance for the same tool as the tool, an image pickup unit that captures an image for executing a determination process related to the imaging environment and images the tool. ,
With
The image pickup unit and the illumination unit are arranged above the tool supported by the tool support unit and above the operating region of the tool transport unit.
A tool accommodating device in which the imaging unit executes imaging for a tool inspection process based on the determination process. The tool accommodating device according to claim 1 and
A processing device that processes a workpiece using the tools housed in the tool storage device, and
An opening / closing mechanism for opening / closing an opening provided in a partition wall between the tool accommodating device and the processing device.
As the tool transfer unit, a tool exchange unit that executes tool exchange between the tool accommodating device and the processing device with the opening opened, and a tool exchange unit.
With
A machine tool in which imaging of the tool is performed by the tool accommodating device. A determination processing unit that determines the state of the tool based on the captured image, and
A notification unit that notifies when the state of the tool does not meet the predetermined determination criteria, and
2. The machine tool according to claim 2. The machine tool according to claim 3 , wherein the determination processing unit determines the state of the tool based on an image of the tool and a reference image acquired in advance for the same tool as the tool. The determination processing unit is based on an image of a used tool immediately after replacement by the tool changing unit and an image of a pre-used tool immediately before replacement taken for the same tool as the used tool. The machine tool according to claim 4 , wherein the state of the machine tool is determined. An imaging processing unit that controls imaging of the imaging unit of the tool accommodating device according to claim 1.
A determination processing unit that determines the state of the tool based on the captured image, and
With
The determination processing unit detects a plurality of edges from the image captured by the imaging unit, calculates an intermediate point from two edges in the direction orthogonal to the longitudinal direction of the tool in the image, and connects the intermediate points. An image processing device that uses a line as a tool line of the tool and executes a determination process related to an imaging environment based on the calculated tool line and a tool line stored in advance for the same tool as the tool.

Images