JP6998487B1 - Machine Tools - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent interference between a shutter for protecting equipment for photographing a tool and a tool changing device. SOLUTION: A mounting portion that can be moved by mounting a tool, a tool changing portion for exchanging tools of the mounting portion, an imaging unit that captures an image of a tool attached to the mounting portion, and an opening that opens a light receiving surface of the imaging unit. It has a first shutter that can move between a state and a closed state that closes the light receiving surface, and a first sensor that detects the open state of the first shutter. If it is installed at a position within the movable range of the part and the first sensor does not detect the open state, the tool changing part moves and the tool is attached to the mounting part. [Selection diagram] FIG. 7

Description

The present invention relates to controlling tool change in a machine tool provided with a shutter that protects the equipment for photographing the tool.

Machine tools include a device for cutting a work into a desired shape and a device for laminating metal powder or the like to make a work. Machine tools for cutting include a turning center that processes a workpiece by applying a cutting tool to a rotating work, and a machining center that processes a workpiece by applying a rotating tool to the workpiece. There is a multi-tasking machine equipped.

The tool is fixed to the tool holding part such as the spindle or the tool post. The machine tool processes the work while moving the tool holding portion while exchanging tools according to a machining program prepared in advance. The cutting edge of the tool gradually wears due to friction with the work. The operator needs to determine the tool life while checking the tool length as appropriate (see Patent Documents 1 and 2).

Japanese Unexamined Patent Publication No. 10-143216 Japanese Unexamined Patent Publication No. 2017-21472

The shape of the tool is inspected as appropriate before or after the tool is used. When inspecting a tool, it is conceivable to take an image of the tool with a camera and determine the shape of the tool based on the captured image. In other words, during the processing work, when the camera is not in use, the image pickup equipment such as the camera is protected by the shutter. Therefore, the shutter is controlled to be opened at the start of use of the camera and closed at the end of use.

However, when the operating range of the shutter overlaps with the operating range of the tool changing device, the tool changing device and the shutter must not interfere with each other at the time of tool changing.

Therefore, the present disclosure provides the technique described in the claims.

According to the present disclosure, it is possible to prevent interference between the shutter that protects the equipment for photographing the tool and the tool changer.

It is an external view of a machine tool. It is a schematic diagram which shows the positional relationship of a tool, a camera and a lighting device in a tool recognition area. It is a peripheral perspective view of a tool recognition area. It is a side sectional view of each mechanism in a tool recognition area. It is a figure which shows the back side of the cover surface of the 1st shutter. It is a hardware block diagram of a machine tool and an image processing apparatus. It is a flowchart which shows the processing process for tool change. It is a side sectional view of each mechanism in a tool recognition area in a reference example. It is a side view of the tool recognition area in the mounting example of a machine tool.

FIG. 1 is an external view of the machine tool 100.
The machine tool 100 in the present embodiment is a multi-tasking machine that processes a workpiece arranged in a machining area 200. The work is fixed to the holding portion 104 and cut by the tool 102 attached to the spindle. The holding portion 104 is rotationally driven by a drive mechanism. In this example, the spindle corresponds to a "tool holding portion capable of holding a tool in the imaging region". In the case of a turning center, the tool post corresponds to a "tool holding portion capable of holding a tool in the imaging region".

When the tool 102 is inserted into the tool recognition area 210, the upper illuminator 108 illuminates the tool 102 and the lower camera 106 images the tool 102. The camera 106 corresponds to an "imaging unit that captures an image of a tool 102 attached to the attachment unit". The lighting device 108 corresponds to "a lighting unit that illuminates the image of the tool 102". Tool registration and tool inspection are executed based on the captured image at this time. The configuration of the tool recognition area 210 will be described in more detail in relation to FIG. 2 below.

The machine tool 100 includes a cover 202 that blocks the outside. The cover 202 comprises a door 204. The operator opens the door 204 to attach the work and take out the work. The operation panel 206 receives various operations on the machine tool 100 from the operator.

The operation panel 206 is connected to the image processing device 110. The worker can remotely monitor the work status of the machine tool 100 by the image processing device 110. In the present embodiment, the machine tool 100 main body and the image processing device 110 are connected via a wired cable. The image processing device 110 may be formed inside the machine tool 100, for example, as an internal device of the operation panel 206.

The operation panel 206 may be formed as a part of the machine tool 100, or may be configured to be detachable and transportable from the machine tool 100.

The tool storage unit 130 stores a plurality of tools 102. A tool 102 is acquired from a plurality of tools 102 stored in the tool storage unit 130 by a tool changing unit (described later), and the tool 102 is mounted on the spindle. As shown in FIG. 1, it is assumed that the Y-axis and the Z-axis are set in the horizontal direction and the X-axis is set in the vertical direction. The Z-axis direction corresponds to the axial direction of the spindle and the work.

FIG. 2 is a schematic diagram showing the positional relationship between the tool 102, the camera 106, and the lighting device 108 in the tool recognition area 210.
The tool 102 includes a blade portion 112 used for machining a work and a shank portion 114 fixed to a holder 118 of the spindle 116. The spindle 116 is configured to be rotatable and movable while holding the tool 102. Further, the spindle 116 can also rotate the tool it holds.

The camera 106 includes an image sensor (imaging element) such as a CMOS (Complementary Metal Oxide Semiconductor) and a CCD (Charge-Coupled Device). The camera 106 takes an image of the tool 102 attached to the spindle 116 from below (in the X-axis direction). The camera 106 is connected to the image processing device 110, and the captured image is transmitted to the image processing device 110. The camera 106 is fixed to the tool recognition area 210. By rotating the tool 102 with the spindle 116 as the axis, the tool 102 can be imaged from a plurality of directions. Further, the spindle 116 moves the tool 102 in the horizontal direction (YZ direction), so that a plurality of points of the tool 102 can be imaged.

A lighting device 108 is fixed to the upper part so as to face the camera 106. The illuminating device 108 illuminates the tool 102 from above. Due to the transmitted illumination by the illuminating device 108, the camera 106 can acquire a high-contrast captured image in which the contour position of the tool 102 can be easily grasped.

When the user newly registers the tool 102 (hereinafter referred to as "tool registration"), the user sets the tool registration mode on the operation panel 206 and attaches the new tool 102 to the spindle 116. Next, enter an arbitrary tool ID. The spindle 116 moves and rotates the tool 102, and the fixed camera 106 automatically captures the tool 102 from various positions and directions. The tool shape is recognized from a large number of captured images obtained by the camera 106, and the tool ID and the tool shape are registered in association with each other. By such a control method, the tool shape can be automatically associated with the tool ID and registered for each tool 102. The tool shape is formed as two-dimensional data or three-dimensional data.

Further, when the inspection is performed on the tool 102 before or after the machining work, the spindle 116 causes the tool 102 to enter the tool recognition area 210. As in the case of new registration, the spindle 116 moves and rotates the tool 102, and the camera 106 automatically captures the tool 102 from various positions and directions. The tool shape is recognized from a large number of captured images obtained by the camera 106. Hereinafter, the inspection appropriately performed during such machining is referred to as "tool inspection". The operator determines the degree of wear of the tool 102 and the presence or absence of a defect by comparing the tool shape data at the time of tool registration and the tool shape data at the time of tool inspection.

The tool storage unit 130 is located behind the tool recognition area 210 (on the negative direction side of the Y axis) when viewed from the spindle 116 (see FIG. 1). At the time of tool change, the spindle 116 penetrates deeply into the tool recognition area 210 and receives the tool change in the tool storage unit 130. At this time, the camera 106 and the lighting device 108 are protected by an internal shutter (described later). On the other hand, at the time of tool registration and tool inspection, the spindle 116 enters the tool recognition area 210 relatively shallowly. When changing tools, control is performed so that the internal shutter does not interfere with the holder 118 and the spindle 116. The internal shutter will be described later in relation to FIG. The upper side wall portion 340, the lower side wall portion 342, the open outer cover 300a, and the closed outer cover 300b will be described later together with the description of FIG.

FIG. 3 is a peripheral perspective view of the tool recognition area 210.
More specifically, a tool recognition area 210 (space) is formed in a part of the machined area 200 above the holding portion 104 for fixing the work. As mentioned above, the tool recognition area 210 includes the camera 106 and the illuminating device 108. The machining area 200 is connected to the tool storage unit 130 via the tool recognition area 210.

The outer cover 300 is a movable partition plate that closes the tool recognition area 210. When machining the work, the tool recognition area 210 is closed by the outer cover 300. In the machining area 200 during machining, coolant, which is a coolant for removing frictional heat between the work and the tool 102, is sprayed. Further, chips of the work are also scattered in the processing area 200. Therefore, by closing the tool recognition area 210 with the outer cover 300, it is possible to prevent the coolant or the like from entering the tool recognition area 210. As shown in FIG. 2, the outer cover 300 is provided inside the upper side wall portion 340 and the lower side wall portion 342 surrounding the tool recognition area 210. The outer cover 300 may be provided on the outside of the upper side wall portion 340 and the lower side wall portion 342. The outer cover 300 is movable in the X-axis direction (vertical direction). In the example of FIG. 2, the opening between the upper side wall portion 340 and the lower side wall portion 342 is open with the outer cover 300a located on the lower side. If the outer cover 300b moves upward when the tool 102 is not in the tool recognition area 210, the opening between the upper side wall portion 340 and the lower side wall portion 342 is closed. By moving the outer cover 300 up and down in this way, it is possible to prevent the coolant adhering to the outer cover 300 from falling (scattering). In the example of FIG. 3, the opening between the upper side wall portion 340 and the lower side wall portion 342 is open with the outer cover 300 located on the upper side. If the outer cover 300 moves downward when the tool 102 is not in the tool recognition area 210, the opening between the upper side wall portion 340 and the lower side wall portion 342 is closed. The open state and the closed state may be changed by making the outer cover 300 movable in the Y-axis direction (lateral direction) and moving the outer cover 300 in the Y-axis direction (lateral direction). Further, the outer cover 300 can be moved in the X-axis direction (vertical direction) and the Y-axis direction (horizontal direction), and the outer cover 300 can be moved simultaneously in the X-axis direction (vertical direction) and the Y-axis direction (horizontal direction). Depending on the method, the open state and the closed state may be changed.

When a tool inspection is instructed by a measurement command or the like, the machine tool 100 stops machining the work. At this time, the machine tool 100 also stops the injection of the coolant. Next, the spindle moves the tool 102 to a predetermined position (hereinafter referred to as "standby position") in front of the tool recognition area 210, and rotates the tool 102 at high speed at the standby position. By rotating the tool 102 at high speed, the coolant and chips (hereinafter collectively referred to as "adhesions") adhering to the tool 102 are shaken off. Hereinafter, rotating the tool 102 at high speed in order to remove deposits at the standby position is referred to as "cleaning rotation".

After the cleaning rotation, the outer cover 300 opens to allow the tool to enter the tool recognition area 210. A tool inspection is executed by taking an image of the tool 102 inserted in the tool recognition area 210 with the camera 106.

As described above, the machining area 200 is connected to the tool storage unit 130 via the tool recognition area 210. Therefore, when changing tools, the spindle is inserted deep into the tool recognition area 210. Since the tool passes through the tool recognition area 210 not only during tool inspection but also during tool change, cleaning rotation may be performed in the same manner before passing through the tool recognition area 210.

FIG. 4 is a side sectional view of each mechanism in the tool recognition area 210.
The tool 102 is inserted between the camera 106 and the lighting device 108. An auxiliary lighting device 308 for illuminating the tool 102 from below is also installed on the side of the camera 106. A first shutter 304 for covering the light receiving surface of the camera 106 is installed next to the camera 106. The first shutter 304 can move between an open state in which the light receiving surface of the camera 106 is opened and a closed state in which the light receiving surface is closed. A second shutter 306 for covering the light emitting surface of the lighting device 108 is installed next to the lighting device 108. The second shutter 306 can move between an open state in which the light emitting surface of the lighting device 108 is opened and a closed state in which the light emitting surface is closed. Hereinafter, the first shutter 304 and the second shutter 306 are collectively referred to as an "internal shutter".

The first shutter 304 is rotatably attached with the Z axis as a rotation axis and is rotationally driven. The first cylinder 305 connected to the first shutter 304 expands and contracts, for example, by the operation of a built-in solenoid. The first shutter 304 closes the light receiving surface of the camera 106 with the first cylinder 305 extended, and the first shutter 304 opens the light receiving surface of the camera 106 with the first cylinder 305 contracted.

The second shutter 306 is rotatably attached with the Z axis as a rotation axis and is rotationally driven. The second cylinder 307 connected to the second shutter 306 expands and contracts, for example, by the operation of a built-in solenoid. The second shutter 306 closes the light emitting surface of the illuminating device 108 with the second cylinder 307 extended, and the second shutter 306 opens the light emitting surface of the illuminating device 108 with the first cylinder 305 contracted.

When the tool inspection is started, both the first shutter 304 and the second shutter 306 are opened. At the end of the tool inspection, the first shutter 304 and the second shutter 306 are closed. The same applies to the start and end of tool registration.

In the tool inspection, the tool 102 is imaged by the camera 106 in a state where the tool 102 is irradiated from above by the lighting device 108. Therefore, the release instruction signal is transmitted to both the first shutter 304 and the second shutter 306.

Further, at the time of tool change, the spindle 116 enters the tool recognition area 210 deeper than at the time of tool inspection. At this time, if the internal shutter is open, the internal shutter may interfere with the spindle 116. That is, the first shutter 304 is installed at a position within the movable range of the tool changing unit 126 in the open state of the first shutter 304. Further, the second shutter 306 is installed at a position within the movable range of the tool changing portion 126 in the open state of the second shutter 306. Since neither the camera 106 nor the lighting device 108 is used when changing tools, the internal shutter is closed. After the tool inspection is completed, a closing instruction signal is transmitted to the first shutter 304 and the second shutter 306.

In this embodiment, the possibility of interference between the internal shutter and the tool changing unit 126 is particularly considered. The tool changing section 126 replaces the tool of the mounting section (in this example, the spindle). The position P shown in FIG. 4 indicates the position of the tool 102 at the time of tool change. The tool changer 126 rotates to grip or release the tool 102. The locus R shown in FIG. 4 shows the rotation locus of the end portion of the tool changing portion 126. The inside of the locus R indicates the operating range of the tool changing unit 126. The operating range of the tool changing unit 126 is an area through which the moving tool changing unit 126 passes in the tool changing operation. The movement of the tool changing unit 126 includes a rotary motion. The tool changer 126, especially its tip, may interfere with any of the first shutter 304 and the second shutter 306 when they are open. Therefore, when either one of the first shutter 304 and the second shutter 306 is open, the tool changing unit 126 does not change the tool.

FIG. 5 is a diagram showing the back side of the covering surface of the first shutter 304.
As shown in FIG. 4, the first sensor 314 is installed at a position behind the covering surface of the first shutter 304 with the light receiving surface of the camera 106 open. The first sensor 314 detects the open state of the first shutter 304. The first sensor 314 is, for example, a limit switch. When the first cylinder 305 is extended and the first shutter 304 is in the closed state, nothing hits the first sensor 314. When the first cylinder 305 contracts and the first shutter 304 is opened, the back surface of the first shutter 304 comes into contact with the tip of the first sensor 314. The region 318 shown by the diagonal line pattern in FIG. 5 indicates a portion of the surface on the back side of the covering surface of the first shutter 304 where the tip of the first sensor 314 abuts. The first sensor 314 detects that the first shutter 304 is in the open state when the tip that hits the region 318 is pushed in. That is, if the limit switch is OFF, it means that the first shutter 304 is in the closed state, and if the limit switch is ON, it means that the first shutter 304 is in the open state. As described above, the first sensor 314 of the limit switch is installed at a position where the closed first shutter 304 abuts on the back side of the lid portion covering the light receiving surface of the camera 106 in the open state of the first shutter 304. ..

Similarly, the second sensor 316 is installed at a position behind the covering surface of the second shutter 306 with the light emitting surface of the lighting device 108 open. The second sensor 316 detects the open state of the second shutter 306. The second sensor 316 is, for example, a limit switch. When the second cylinder 307 is extended and the second shutter 306 is closed, nothing hits the second sensor 316. When the second cylinder 307 contracts and the second shutter 306 is opened, the back surface of the second shutter 306 comes into contact with the tip of the second sensor 316. The second sensor 316 detects that the second shutter 306 is in the open state when the tip abutting on the back surface of the second shutter 306 is pushed in. That is, if the limit switch is OFF, it means that the second shutter 306 is in the closed state, and if the limit switch is ON, it means that the second shutter 306 is in the open state. As described above, the second sensor 316 of the limit switch is installed at a position where the second shutter 306 in the closed state abuts on the back side of the lid portion covering the light emitting surface of the lighting device 108 in the open state of the second shutter 306. There is.

FIG. 6 is a hardware configuration diagram of the machine tool 100 and the image processing device 110.
The machine tool 100 includes an operation control device 120, a machining control device 122, a machining device 124, a tool changing section 126, and a tool storage section 130. The machining control device 122 that functions as a numerical control device transmits a control signal to the machining device 124 according to the machining program. The machining device 124 moves the spindle 116 according to the instruction from the machining control device 122 to machine the work. The processing control device 122 uses the first sensor 314 to detect the open state of the first shutter 304, and the second sensor 316 to detect the open state of the second shutter 306. It has 330.

The operation control device 120 includes the operation panel 206 and controls the machining control device 122. The tool storage unit 130 stores the tool 102. The tool changing unit 126 corresponds to a so-called ATC (Automatic Tool Changer). The tool changing unit 126 takes out the tool 102 from the tool storage unit 130 according to the changing instruction from the machining control device 122, and exchanges the tool 102 on the spindle 116 with the taken out tool 102.

The operation control device 120 includes a shutter control unit 320. The shutter control unit 320 opens and closes the outer cover 300 and the internal shutters (first shutter 304 and second shutter 306).

The image processing device 110 mainly performs image processing such as tool shape recognition. As described above, the image processing device 110 may be configured as a part of the operation control device 120. The image processing device 110 may be a general laptop PC (Personal Computer) or a tablet computer.

The image processing device 110, the operation control device 120, and the processing control device 122 are used as a storage device and a hardware including an arithmetic unit such as a processor, a storage device such as a memory and a storage device, and a wired or wireless communication line connecting them. Software and programs that are stored and supply processing instructions to the arithmetic unit are realized on an operating system separate from the image processing device 110.

FIG. 7 is a flowchart showing a processing process for tool replacement.
When the machining control device 122 detects a predetermined tool change command in the machining program, the process shown in FIG. 7 is started.

The shutter detection unit 330 acquires the detection result regarding the first shutter 304 from the first sensor 314. When the shutter detection unit 330 determines that the open state of the first shutter 304 is detected by the first sensor 314 (Y in S10), the machining control device 122 does not change the tool. That is, the machining control device 122 interrupts the execution of the NC program before instructing the tool change unit 126 to change the tool.

As a recovery when the execution of the NC program is interrupted, the machining control device 122 notifies the operator of a warning that the tool cannot be changed because the first shutter 304 is open. Specifically, the processing control device 122 causes the image processing device 110 or the operation panel 206 to output the warning. The operator operates the image processing device 110 or the operation panel 206 to instruct the shutter control unit 320 to close the first shutter 304. The shutter control unit 320 operates the first cylinder 305 according to this command to close the first shutter 304. Alternatively, the machining control device 122 may automatically instruct the shutter control unit 320 to close the first shutter 304. The operator may manually close the first shutter 304.

After interrupting the execution of the NC program in S12, the shutter detection unit 330 repeats the determination of S10, and waits until the open state of the first shutter 304 is not detected by the first sensor 314, that is, until the closed state is reached (S10). N).

When the shutter detection unit 330 determines that the open state of the first shutter 304 is not detected by the first sensor 314 in the first processing of S10, that is, it is in the closed state, or as described above, the first shutter 304 is recovered by interruption. When is closed, the process proceeds to S14.

The shutter detection unit 330 acquires the detection result regarding the second shutter 306 from the second sensor 316. When the shutter detection unit 330 determines that the open state of the second shutter 306 is detected by the second sensor 316 (Y in S14), the machining control device 122 does not change the tool. That is, the machining control device 122 interrupts the execution of the NC program before instructing the tool change unit 126 to change the tool.

As a recovery when the execution of the NC program is interrupted, the machining control device 122 notifies the operator of a warning that the tool cannot be changed because the second shutter 306 is open, as in the case of the first shutter 304. .. As in the case of the first shutter 304, the operator operates the image processing device 110 or the operation panel 206 to instruct the shutter control unit 320 to close the second shutter 306. Alternatively, the machining control device 122 may automatically instruct the shutter control unit 320 to close the second shutter 306. The shutter control unit 320 operates the second cylinder 307 according to this command to close the second shutter 306. The operator may manually close the second shutter 306.

After interrupting the execution of the NC program in S16, the shutter detection unit 330 repeats the determination of S14, and waits until the second sensor 316 does not detect the open state of the second shutter 306 (N in S14).

In the first processing of S14, when the shutter detection unit 330 determines that the open state of the second shutter 306 is not detected by the second sensor 316, that is, it is in the closed state, or as described above, the second shutter 306 is recovered by interruption. When is closed, the process proceeds to S18.

In this way, after confirming that neither the first shutter 304 nor the second shutter 306 is in the open state, the machining control device 122 instructs the tool changing unit 126 to change the tool (S18).

That is, when the first sensor 314 does not detect the open state, the tool changing portion 126 moves and mounts the tool 102 on the mounting portion (spindle 116 in this example). Further, in the machine tool 100, when the second sensor 316 does not detect the open state, the tool changing portion 126 moves and the tool 102 is attached to the mounting portion.

[Modification example]
The shutter detection unit 330 may instruct the camera 106 to take an image, and may detect the closed state of the first shutter 304 when the captured image is dark and nothing is captured. Further, the shutter detection unit 330 may further detect the open state of the second shutter 306 if the captured image is bright. If the brightness of the captured image is higher than the reference value, it means that the lighting device 108 is illuminated, so that the shutter detection unit 330 can also detect the open state of the second shutter 306.

Further, the camera 106 may be calibrated after the tool is replaced. Therefore, the numerical control device (for example, the machining control device 122) stores the calibration information of the camera 106 and the lighting unit (for example, the lighting device 108). It may be in the form of The calibration information includes information such as the initial installation position of the fixed portion where the camera 106 is fixed, the machine coordinates corresponding to the initial installation position of the fixed portion where the camera 106 is fixed, and the center position of the lens of the camera 106. The image processing device 110 calculates the deviation from the installation position of the first camera 106 based on the image captured before the tool change, and when the amount of deviation exceeds a certain value, the camera 106 is re-fixed or re-fixed. Notify when replacement is required. Similarly, the image processing device 110 calculates the deviation from the installation position of the first lighting unit based on the image captured before the tool change, and when the amount of deviation exceeds a certain value, the lighting unit Notify such as re-fixing.

[Reference example]
FIG. 8 is a side sectional view of each mechanism in the tool recognition area in the reference example.
Cylinder sensors may be used as the first sensor and the second sensor. The first cylinder sensor 324 provided in the first cylinder 305 that drives the first shutter 304 is used in place of the limit switch exemplified in the embodiment. The first cylinder sensor 324 detects the closed state of the first shutter 304 when the first cylinder 305 is extended, and detects the open state of the first shutter 304 when the first cylinder 305 is contracted. Similarly, a second cylinder sensor 326 provided in the second cylinder 307 that drives the second shutter 306 is used in place of the limit switch exemplified in the embodiment. The second cylinder sensor 326 detects the closed state of the second shutter 306 when the second cylinder 307 is extended, and detects the open state of the second shutter 306 when the second cylinder 307 is contracted.

FIG. 9 is a side view of the tool recognition area 210 in the mounting example of the machine tool 100.
The work spindle 105 is rotatably supported by the headstock 170, and the camera 106 is fixed to the headstock 170. The arm 172 that supports the lighting device 108 is provided above the headstock 170. At the time of tool inspection, the image pickup target portion (the portion imaged for inspection) of the tool 102 is arranged in the inspection area 212. When viewed along the vertical line L1 (or when viewed from above the vertical line L1), the illumination device 108 and the second shutter 306 are illuminated at an inclination angle θ so as to have a positional relationship that does not overlap with the camera 106. The axis L2 is tilted (see the two-dot chain line parallel to the vertical line L1 in the figure). By inclining the optical axis L2, the tool 102 is moved to a position away from the arm 172 fixing the lighting device 108, so that it is possible to take an image of the tool 102 having a large tool diameter.

As shown in the figure, when the second shutter 306 of the lighting device 108 is open, the tool changing unit 126 hits the second shutter 306 in the tool changing operation. On the other hand, when the second shutter 306 of the lighting device 108 is closed, the tool changing unit 126 does not hit the second shutter 306 in the tool changing operation.

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-described embodiments and modifications. In addition, some components may be deleted from all the components shown in the above embodiments and modifications.

100 Machine tool, 102 tool, 104 holding part, 106 camera, 108 lighting device, 110 image processing device, 112 blade part, 114 shank part, 116 spindle, 118 holder, 120 operation control device, 122 machining control device, 124 machining device , 126 Tool change part, 130 Tool storage part, 138 Display part, 200 Machining area, 202 cover, 204 door, 206 Operation panel, 210 Tool recognition area, 300 External cover, 304 1st shutter, 305 1st cylinder, 306th 2 shutters, 307 2nd cylinder, 308 secondary lighting device, 314 1st sensor, 316 2nd sensor, 320 shutter control unit, 324 1st cylinder sensor, 326 2nd cylinder sensor, 330 shutter detection unit, 340 upper side wall, 342 Lower side wall

Claims (4)

A mounting part that can be moved by mounting tools,
The tool changing part that changes the tool of the mounting part and the tool changing part
An image pickup unit that captures an image of the tool attached to the attachment unit,
A shutter that can move between an open state in which the light receiving surface of the image pickup unit is opened and a closed state in which the light receiving surface is closed.
It has a sensor that detects the open state of the shutter, and has.
The shutter is installed at a position within the movable range of the tool changing portion in the open state of the shutter.
A machine tool in which when the sensor does not detect the open state, the tool changing part moves and the tool is attached to the mounting part. The sensor according to claim 1, wherein the sensor is a limit switch and is installed at a position where the shutter in the closed state abuts on the back side of a lid portion covering the light receiving surface in the open state of the shutter. Machine Tools. A mounting part that can be moved by mounting tools,
The tool changing part that changes the tool of the mounting part and the tool changing part
The lighting unit that illuminates the image of the tool and
A shutter that can move between an open state that opens the light emitting surface of the lighting unit and a closed state that closes the light emitting surface.
It has a sensor that detects the open state of the shutter, and has.
The shutter is installed at a position within the movable range of the tool changing portion in the open state of the shutter.
A machine tool in which when the sensor does not detect the open state, the tool changing part moves and the tool is attached to the mounting part. The sensor according to claim 3, wherein the sensor is a limit switch and is installed at a position where the shutter in the closed state abuts on the back side of a lid portion covering the light emitting surface in the open state of the shutter. Machine Tools.

Images