JPH05237743A - Automatic setup device for numerically controlled machine tool - Google Patents

Abstract

PURPOSE:To automatically judge the type of a work by providing a camera identifying the work and an image processor processing the image data photographed by the camera. CONSTITUTION:A conveying robot 500 traveled on a rail 50 has a work hand 470 holding a work 350 mounted on the work pallet 310 of a work stock device at the tip of an arm 510. A CCD camera 600 fitted at the tip of the arm 510 receives the image of the work 350, processes its data, and judges the work 350. The NC machining program is automatically selected based on the judged result, a chuck jaw 360 and tools required for machining are determined, the tools required for the next work 350 are exchanged after the machining of the preceding work 350 is completed, and the work 350 is carried in and automatically machined.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a setup device for a work, a chuck claw, a tool (hereinafter also referred to as a tool), etc. in a numerically controlled machine tool.

[0002]

2. Description of the Related Art A numerical control lathe (hereinafter, also referred to as an NC lathe) and a numerical control lathe are equipped with a work robot for feeding a work and carrying out a processed work by unmanning various kinds of work. Various lathe cells that are automatically produced have been proposed (for example, Japanese Patent Application No. Hei 2-216695).
issue). In this type of system, a work is prepared in advance on, for example, a pallet, and the type and position of the work on the pallet is stored in advance by an operator in a cell controller that controls the transfer robot. Similarly, a machining program corresponding to each work, chuck claws, and tool information are also input and set by the operator on the numerically controlled lathe. The NC lathe selects an NC machining program based on the information about the type of work sent from the cell controller and executes machining. It has already been disclosed to mechanically measure the diameter of the work when the robot hand grips the work during setup, and to measure the length of the tool attached to the tool post. It has also been proposed by the applicant of the present application to provide identification elements on the tools and pallets and pre-write them with individual information. Also,
For example, in Japanese Patent Laid-Open No. 3-66587, a television camera having a CCD (charge-coupled device) and a robot are combined, an image captured by the camera is analyzed by a computer, and the robot is operated based on the result to work. Discloses a device for handling.

[0003]

However, in the conventional lathe cell, the type, position, machining schedule of the work on the pallet, or setup information such as chuck jaws and tools is
It was necessary for the operator to manually input data to the cell controller and NC lathe to make corrections. Further, even when the identification element is provided on the tool or the pallet, the operator has to input and set the identification element at least once. It is an object of the present invention to provide a setup device that equips a lathe cell transfer robot with a camera to automatically identify a work, automatically prepares a machining program, and automatically replaces a chuck claw and a tool. Is.

[0004]

The present invention relates to a machine tool having a numerical control device, a stock device for mounting a set-up member such as a work, a jig and a tool, the stock device and the machine tool. In an automatic setup device including a transport device that transports the setup target member between the two, the transport device includes a hand that grips the setup target member, a camera that identifies the workpiece, and the camera. An image processing device for processing the captured image data, wherein the numerical control device discriminates the work by comparing the data of the work identified from the image data with the data of the work to be machined by the machine tool. Workpiece recognition means and machining program setting means for selecting a machining program of the numerical control device based on the result of the discrimination are provided, and the set-up member corresponding to the selected machining program is set. And gist the exchange by the conveying device.

Further, the present invention provides a machine tool having a numerical controller, a stock device for mounting a set-up member such as a work, a jig and a tool, and a stock device between the stock device and the machine tool. In an automatic setup device including a transport device that transports a member to be set up, the transport device includes a camera that identifies a tool, and an image processing device that processes image data captured by the camera. The numerical control device identifies the tool by comparing the data of the tool identified from the image data with the data of the tool to be machined by the machine tool, and based on the result of the determination, the tool is identified. The gist is to replace by the transfer device.

[0006]

The NC lathe discriminates the type of workpiece to be machined based on the data captured by the camera, the machining program is selected based on the discrimination result, the chuck jaws and the tool are replaced, and the automatic operation machining is performed. Executed. The chuck claws and tools selected for replacement are confirmed by the data captured by the camera.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. First, FIG. 1 is a front view showing an outline of a lathe cell for carrying out the present invention. The lathe cell, generally designated by reference numeral 1, comprises a numerically controlled lathe 100 and a stock device 200 arranged on the side of the numerically controlled lathe 100. Numerical control lathe 10
No. 0 has a machine body 3, and the machine body 3 has a first headstock 4
The second headstock 14 and the second headstock 14 are provided so as to be movable and driven in the directions of the main shaft axis (Z-axis direction), that is, the arrows Z1 +, Z1- and the arrows Z2 +, Z2-. In addition, on the fuselage 3,
The first turret tool post 5 and the second turret tool post 15 correspond to the first headstock 4 and the second headstock 14, respectively,
It is provided so as to be movable in the X-axis direction perpendicular to the Z-axis direction. Then, on the headstocks 4 and 14, the first work spindle 6 and the second work spindle 16 are aligned with their axial centers CT1 and CT2 in a straight line, and are indicated by arrows C1 +, C1-direction, and arrow C2.
It is rotatably driven in the + and C2-directions, and the first chuck 7 and the second chuck 17 are attached to the tips of the work spindles 6 and 16, respectively. The details of the numerically controlled lathe 100 are described in Japanese Patent Application Laid-Open No. 63-2
It is disclosed in Japanese Patent No. 72402.

At the tips of the chucks 7 and 17, 3
The individual chuck claws 360 are removably mounted around the axial centers CT1 and CT2 at a pitch of 120 degrees, and the chuck claws 360 have a first chuck claw exchange device 8 on which the chuck claws 360 can be replaced. Second chuck claw exchange device 18
, Which will be described later. The stock device 200 includes a work stock device 300 and a jig / tool stock device 400.

A rail 50 is installed above the numerically controlled lathe 100 and the stock device 200.
A transfer robot (hereinafter referred to as a gantry robot) 500 is provided on the position 0 so as to be movable in the directions of arrows B + and B- (horizontal direction). As shown in FIG. 2, the gantry robot 500 has an arm 510 that moves up and down in the directions of arrows A + and A− (vertical direction), and a work hand 470 that holds the work 350 is attached to the tip of the arm 510. .. This work hand 470 will be described later.
Is interchangeable with other hands and carries various objects. For details of the lathe cell 1 equipped with the gantry robot 500, see Japanese Patent Application Laid-Open No. 1-25233 filed by the applicant.
No. 45 publication.

As shown in FIG. 4, a CCD camera 600 is attached to the tip of the arm 510 to monitor the work 350 on the work pallet 310. In this embodiment, the CCD camera 600 is used as a visual sensor, but as another device, for example, a format sensor such as a scanner device using a semiconductor laser and a polygon mirror can be used.

Next, the work stock device 300 will be described. FIG. 3 is an explanatory view showing the structure of the work stock device. As shown, the work stock device 30
0 has a frame 31, and timing pulleys 32a and 32b are rotatably driven at both left and right ends thereof. Two timing pulleys 32a,
Between 32b, the timing belt 33 has an arrow D +,
Timing belt 3 as well as hanging in the D-direction
A plurality of rollers 35 for supporting the upper portion WP of 3 are provided rotatably at fixed intervals, and a drive motor 36 is provided on one timing pulley 32b via a known belt transmission mechanism 37. It is connected.

Further, a work pallet 310 is mounted on the timing belt 33 of the work stock device 300, and a support base 320 is mounted on the work pallet 310 at regular intervals. In this example, a plurality of two types of works (unprocessed work 352 or processed work 354) are mounted at regular intervals in the directions of arrows D + and D-. In the above-described work stock device 300, the case where the work 350 is vertically mounted has been described, but the same is true when the work 350 is mounted horizontally as shown in FIG.

The gantry robot 500 running on the rail 50 is provided with two work hands 470 for holding the work 350 in series at the tip of the arm 510 that moves up and down in the directions A +, A- (vertical direction). To do. The two work hands 470 are the first work hand and the unprocessed work 3
52 is gripped and processed by the second work hand 35
Hold 4

Next, the jig stock device 400 will be described. FIG. 5 is a sectional view of the jig / tool stock device, and FIG. 6 is a plan view of the jig / tool stock device. As shown in FIG. 5, the jig / tool stocking device 400 has a bed 410 placed on the floor surface, and the bed 410 is provided with two sets of two rails each. The first rail 412,
A drive unit 416 is provided on the 414 so as to be movable and driven in the X2 + and X2- directions. In addition, the second rails 422, 42 are provided at the position on the right side of the drive unit 416 in FIG.
4 is provided, and on the second rails 422 and 424, the jig stock device 400 is provided with the drive unit 416.
It is provided so as to be movable in the X2 axis direction parallel to the moving direction of. The jig tool stock 43 includes a first side plate 41a and a second side plate 41a.
The side plate 41b and the bottom plate 41c connecting the two side plates are formed in a box shape with an upper opening in the drawing. A roller 420 rolling on the guide surface is provided on the lower surface of the bottom plate 41c. A first flange 42a is formed on the upper edge of the first side plate 41a and extends outward in the horizontal direction. The upper edge of the second side plate 41b also forms a second flange 42b that extends horizontally in the outward direction.

Further, the jig / tool stock device 400 is
Although having an elongated shape extending along the axial direction, the inside is defined by a partition plate 430 into a plurality of chambers 440. Room 4
40 accommodates various hands that are attached to the tip of the arm 510 of the gantry robot 500 in a replaceable manner. In the present embodiment, in order to handle the tool hand 450 for handling the tool 370 to be supplied to the turret tool rests 5 and 15 of the numerically controlled lathe 100 and the chuck claw 360 to be supplied to the chucks 7 and 17 of the work spindles 6 and 16. Three types of hands are prepared: a chuck claw hand 460 and a work hand 470 for handling the work 350.

The first flange 42a and the second flange 4
2b has holes formed at equal intervals along the X2 axis direction, and a tool 370 is inserted into each hole. In FIG. 6, there are 20 tools 37, 10 on each flange.
The case where 0 is accommodated is shown. The first flange 42a and the second
A CCD camera 600 is provided outside the upper part of the flange 42b of the tool along the X2 axis direction.
Image. That is, as shown in FIGS. 13 and 14, when it is not possible to identify the type of the tool 370 by the tool shape TMTR such as an outer diameter bite or a drill, the tool shape TMTR alone cannot be used. Determine using the tool length. The referenced tool shape TMTR is stored as image data in the tool shape TMTR of the tool data TLD in FIG. In this embodiment, the CCD camera 600 is attached to the jig stock device 400, but as another embodiment, as shown in FIG. 5, the CCD camera 600 is provided at the tip of the tool hand 450. The tool 370 may be imaged.

Inside the upper portions of the first side plate 41a and the second side plate 41b, chuck claw holding members are arranged at equal intervals along the X2 axis direction, and the chuck claws 360 are inserted into the respective holding members. .. FIG. 6 shows a case where a total of 18 chuck claws 360 are held. Further, a CCD camera 600 is provided at the tip of the chuck claw hand 460, so that the presence or absence of the chuck claw 360 can be confirmed. In the present embodiment, only the existence of the chuck claw 360 is confirmed, but similarly to the tool 370, the shape of the chuck claw 360 can be registered as image data to recognize the shape. In principle, the tool 370 stored in the first flange 42a and the chuck claw 360 stored in the first side plate 41a are supplied to the first turret tool rest 5 and the first work spindle 6. Second flange 42
In principle, the tool 370 stored in b and the chuck claw 360 stored in the second side plate 41b are supplied to the second turret tool post 15 and the second work spindle 16. That is, as shown in FIG. 6, a plurality of tools 37 required for processing
Tool 37 to be attached to the first turret tool post 5 out of 0
0 is stored in the first tool storage section 45a, and
As for the tools 370 to be mounted on the turret tool post 15, each tool 370 is stored in the jig tool stock 43 in the form of being stored in the second tool storage portion 45b.

Also, a plurality of chuck claws 36 required for processing
0, the chuck jaws 360 to be mounted on the chuck 7 on the first headstock 4 side are the first chuck jaw storage portion 46a.
The chuck claws 360 to be mounted on the chuck 17 on the second headstock 14 side are stored in the jig tool stock 43 in the form of being stored in the second chuck claw storage portion 46b. FIG. 5 shows a tool hand 450
Shows the state of gripping the tool 370 of the first flange 42a and the tool 370 of the second flange 42b, and the state in which the chuck claw hand 460 grips the chuck claw 360 is shown at the upper center. The chuck claw hand 460 is provided with four grippers 462, 462, 462, and 462 rotatably in the directions of arrows Q + and Q- with a pitch of 90 degrees with respect to the axial center CT3.

Next, the structure of the control unit will be described.
FIG. 7 is a block diagram showing the configuration of the automatic setup device, FIG.
Is an explanatory diagram showing a schedule registration screen, FIG. 9 is an explanatory diagram showing tool data, FIG. 10 is an explanatory diagram showing chuck claw data, and FIG. 11 is an explanatory diagram showing tool names of the first turret tool post, FIG. 12 is an explanatory view showing a tool name of the second turret turret, FIG. 13 is an explanatory view showing a tool shape of the first turret turret, and FIG. 14 is an explanatory view showing a tool shape of the second turret. As shown in FIG. 7, the numerical control device 60 includes an image processing device 610 that processes information from the CCD camera 600, a robot controller 630 that controls the gantry robot 500, and a numerical control lathe 10.
It is composed of a CNC device 650 for controlling 0. The image processing apparatus 610 includes a main control unit 612, an image data storage unit 614, an image data receiving unit 616, and an external I / F (interface with the outside) unit 618. The robot controller 630 has a main controller 632 and a main memory 63.
4, CNC I / F (interface with CNC) unit 636, image processing I / F (image processing interface)
Unit 638, image data processing unit 640, movement command unit 642
Equipped with. The CNC device 650 has a main controller 652, a PL
A C / I (program logic controller interface) unit 654, a main storage unit 656, a CNC program file 658, and a servo control unit 660 are provided.

Information on the work 350 on the work pallet 310 taken by the CCD camera 600 is stored in the image processing unit 61.
0 through the image data receiving unit 616, the external I / F unit 6
18 to image processing I / of the robot controller 630
It is transmitted to the F portion 638. The data processed by the image data processing unit 640 is sent to the image data storage unit 614 of the image processing device 610, and the robot /
It is sent to the main controller 632 of the controller 630. Based on this data, the main controller 632 moves the movement commander 642.
Servo motor 520 of gantry robot 500 via
To control the traveling of the gantry robot 500 and the raising and lowering of the arm 510. Based on the data from the CCD camera 600, the type of work 350 is
2 and the processed work 354 are identified, this data is used as the image processing I / F unit 6 of the robot controller 630.
38 is transmitted. Based on this data, the main control unit 632 retrieves a CNC program number (hereinafter, referred to as a work number) WNO corresponding to the machining of the work 350 from the main storage device 634, and retrieves the work number WNO.
PLC from CNC / I / F unit 636 to CNC device 650
-Transfer to the I / F unit 654. The main controller 652 selects this work number WNO from the CNC program file 658. The unmachined work 352 is gripped by the work hand 470 of the gantry robot 500 and is carried into the first chuck 7 of the first work spindle 6 of the numerically controlled lathe 100. At this time, the posture of the unworked workpiece 352 is
CCD camera 600 determines whether it is suitable for chucking.
And the data of the main recording unit 634 of the robot controller 630 are compared with the data of the unprocessed workpiece 352 registered in advance by the main control unit 632 to determine the angle. The angle value is calculated by the CNC I / F unit 6
36 to the main control unit 652 through the PLC / I / F unit 654 of the CNC device 650. Main controller 652
Commands the servo control unit 660 to the angle and controls the C-axis, which is the rotation axis of the first work spindle 6, to bring the phase of the first chuck 7 to a position suitable for gripping the unworked work 352. Rotate. By this operation, the unworked work 35
It is not necessary to set up 2 on the work pallet 310 in an accurate posture.

The operator is the robot controller 6
The schedule registration data accumulation table ASRD shown in FIG. 8 is created via the main control unit 632 of 30. In the schedule registration data accumulation table ASRD, the data obtained by imaging from the CCD camera 600 for the planned machining from the data on the past machining shows the schedule registration data SRD for the planned machining for each work 350. It is created by adding. That is, the operator uses, as the schedule registration data SRD for the planned machining, each work 35 to be machined.
The work number WNO of 0 is sequentially input and set, and the gantry program number GPNO of the gantry robot 500 used when machining the work 350 having the work number WNO,
Tool number TLNO of tool 370 and chuck claw 3
Enter the chuck jaw number TJNO of 60. Then, the main recording unit 634 of the robot controller 630 stores the input schedule registration data SRD.

The jig stock 43 shown in FIG.
The tool claw hand 450, the chuck claw 460, and the work hand 470 each store only one hand,
A plurality of hands may be stored in the jig / tool stock 43. In this case, it is necessary to add and register the types of hand nails to be used in the schedule registration data SRD. In this way, when the schedule registration data SRD for each work 350 is input and the schedule registration data accumulation table ASRD is created, the operator, based on the schedule registration data SRD for the planned machining, in the schedule registration data accumulation table ASRD, As a preliminary setup, chuck jaws 360, tools 370, which are necessary for processing,
The tool hand 450, the chuck claw hand 460, the work hand 470 and the like are stored in the jig tool stock 43 of the jig tool stock device 400.

The data of the tool 370 that has been used once has the tool data TLD as shown in FIG.
Although written in the main control unit 652 of the NC device 650, the tool data TLD is not written in the data of the unused tool 370. Therefore, the operator writes in the image data recording unit 614 of the image processing device 610. Tool data TLD related to the tool 370 such as the tool number TLNO is registered. Then, as shown in FIGS. 11 and 12, the tool name TL corresponding to the tool number TLNO
The NA is registered in each turret tool post 5. As shown in FIGS. 13 and 14, the tool shape TMTR corresponding to the tool number TLNO is recorded with image data by using the CCD camera 600.

Further, the data of the chuck claw 360 used once includes the chuck claw number TJN as shown in FIG.
Chuck claw data TJ such as O and dimension SFDD of each claw part
D has already been written in the main control unit 652 of the CNC device 650, but since the data of the unused chuck jaws 360 does not include the nail non-dimension SFDD of the chuck jaw data TJD, the operator As shown in FIG. 25, the soft jaw forming program TJFN is activated to perform the soft jaw forming, and the chuck jaws 3 such as the chuck jaw number TJNO are displayed.
The chuck claw data TJD for 60 is registered.

Next, a method of calculating the height dimension a of the work mounted on the work pallet from the image detected by the CCD camera will be described. FIG. 15 is an explanatory diagram showing the operation of the CCD camera, and FIGS. 16 and 17 are explanatory diagrams of images. The CCD camera 600 moves along the arrow A axis direction (vertical direction) of the arm 510 of the gantry robot 500. When the height dimension of the work 350 is a and the height position to be measured is x, the diameter y on the CCD screen of the work 350 is expressed by the following equation. y = b / (x-a) (Formula 1) Here, b is a proportional constant. Therefore, CCD camera 6
00 from the work pallet 310 at two positions, a first position P0 having a height x0 and a second position P1 having a height x1, the height dimension a of the work 350 is measured.
Can be calculated by a = (y0x0-y1x1) / (y0-y1) (Equation 2). In this formula, x0 and x1 are
It can be obtained from the machine coordinates of the gantry robot 500, and the diameter dimensions y0 and y1 of the image can be obtained from the CCD screen as shown in FIGS. It can be calculated.

Next, a method for calculating the diameter dimension D of the work mounted on the work pallet from the image detected by the CCD camera will be described. FIG. 18 is an explanatory diagram showing the operation of the CCD camera, and FIGS. 19 and 20 are explanatory diagrams of images. The CCD camera 600 is the work palette 3
The gantry robot 50 is set at a certain height position above 10.
The zero arm 510 moves along the arrow B axis direction (horizontal direction). The relationship between the length y of the CCD screen length of the work 350 in the Y-axis direction and the actual length Y is expressed by the following equation. Y = αy (Equation 3) Here, α is a proportional constant. Therefore, CCD camera 6
00 along the radial direction (B-axis direction) of the work 350, y
From the first position P3 (coordinate position Y0) to the second position P on the axis
By obtaining the movement distance y on the CCD screen when moving to 4 (target position Y1) and the diameter dimension yd, the diameter dimension D of the workpiece 350 is D = (y × yd) / (Y1−Y0) It is calculated by (Equation 4). By the above operation, the height dimension a and the diameter dimension D of the workpiece 350 can be detected, the workpiece 350 is specified as the unmachined workpiece 352 based on these data, and the workpiece number WNO of the machining program is automatically selected. You can

The tool 370 mounted on the jig stock 43 shown in FIG. 6 may be identified by the tool shape TMTR (particularly, the contour near the tip of the tool 370) as shown in FIGS. 13 and 14. When the tool shape TMTR alone cannot be specified, the tool length, the tool width, the cutting edge R, or the like can be used for the determination. The tool diameter and the tool length are obtained in the same manner as the method for obtaining the height dimension a and the diameter dimension D of the work. With the above operation, the tool 370
The tool number TLNO can be detected from the discrimination of the type, and the work 350 is processed based on these data.
The work number WNO of the machining program specified by No. 52 can be automatically selected.

Next, a method of correcting the C-axis (rotating axis) of the work spindle of the numerically controlled lathe will be described according to the work posture. FIG. 21 is an explanatory diagram showing an outline of C-axis correction of the work spindle of the numerically controlled lathe. Raw work 352
Is a cylindrical (eg, aluminum wheel) with one hole 32
Has 0. The position of this hole 320 is angle β from the reference position.
It is assumed that the unworked workpiece 352 is gripped in the posture in which the unworked workpiece 352 is rotated. In the case of such an unmachined work 352, it is usually necessary to set up the unmachined work 352 by aligning the reference position β with the work pallet 310 using a jig or the like, which requires man-hours for the setup.

If there is a protrusion or the like on the outside of the unprocessed work 352, the chuck claw 360 of the work hand 470 of the gantry robot 500 is rotated to rotate the unprocessed work 3.
52 to avoid interference with the protrusions or rotate the work spindle 6 around the C axis to chuck the chuck jaws 360 and the unworked work 35.
It becomes necessary to avoid the interference with 2. With this device,
Since the type and posture of the work 350 are recognized based on the image of the CCD camera 600, the C axis of the work spindle 6 of the numerically controlled lathe 100 can be corrected according to the posture of the work 350. The angular position information of the hole 310 is obtained from the image processing device 610 to the CNC device 6 of the numerically controlled lathe 100.
50, and the first work spindle 6 is rotated around the C1 axis to execute phase matching. In this case, assuming that the origin position of the C1 axis is C0, the work spindle 6 is rotated by an angle β from C0.
Rotate.

Next, the tool changing device will be described.
FIG. 22 is an explanatory diagram showing the operation of tool exchange. The tool hand 450 has gripper heads 452, 45 on both sides.
4 and each gripper head 452, 454 has two grippers. First gripper head 452
Is the tool 37 of the first turret 5 of the numerically controlled lathe 100.
0, the second gripper head 454 replaces the tool 370 of the second turret 15. The tool hand 450 holding the tool 370 in the first tool storage unit moves to a predetermined position of the numerically controlled lathe 100 and is positioned. The first turret 5 moves along the X-axis direction, and the empty gripper causes the old tool 370 of the first turret 5 to move.
Is removed, and a new tool 370 conveyed by the tool hand 450 is inserted into the first turret 5 to achieve tool exchange. A tool change is achieved for the second turret 15 by the same action.

Next, the chuck claw exchanging device will be described. FIG. 23 is a plan view showing how chuck jaws are replaced, and FIG. 24 is a side view showing how chuck jaws are replaced. Three chuck claws 360 are detachably attached to the tip of the first chuck 7 mounted on the first work spindle at 120-degree pitch with respect to the axis centers CT1 and CT2. A guide device 110 is provided above the chuck 7 so as to be movable left and right. The guide device 110 includes a chuck claw 360.
Is provided with a guide portion 112 for guiding the chuck into an insertion groove for mounting the chuck claw of the chuck 7, and a pusher 114. Pusher 1
Reference numeral 14 presses the lock device 116 of the chuck 7 to unlock the chuck claw 360 of the chuck 7.
The chuck claw hand 460 is rotatable in the direction of arrow R and has four grippers 462 around it. The gripper 462 has the tip opened and closed to grip the chuck claw 360. The chuck jaw 360 includes a base jaw 362 and a raw jaw 364 attached to the base jaw 362, and has a protrusion 366 on the top of the base jaw 362.
The gripper 462 of the chuck claw hand 460 causes the protrusion 36
Hold 6 When exchanging the chuck claw 360, the chuck claw hand 460 moves the three chuck claws 36 from the first chuck claw storage portion 46 a of the jig stock device 400.
Hold 0a, 360b, and 360c.

Next, the chuck claw hand 460 moves to the chuck claw replacement position above the first chuck 7. The first work spindle 6 indexes the chuck 7 at a position where the chuck claw 360d of the chuck 7 is directly above. The empty gripper 462 of the chuck claw hand 460 causes the chuck claw 360d to move.
While gripping, the lock device 116 of the chuck claw is released by the pusher 114 of the guide device 110, and the chuck claw 360d is pulled out. The chuck claw hand 460 retracted upward turns 90 degrees in the arrow R direction. The first chuck claw 360a for replacement is inserted into the groove of the chuck 7 via the guide portion 112. After the insertion is completed, the chuck claw hand 460 retracts upward, and the guide device 110 moves up to lock the first chuck claw 360a. The first work spindle 6 rotates 120 degrees in the C + direction, moves down to grip the second chuck claw 360b, and repeats the above steps. Through the above steps, three new chuck claws 360a, 360b, 360c are attached to the first chuck 7.
The attached three chuck claws 360a, 360b, 36
The data of 0c is the arm 51 of the gantry robot 500.
It is sent to the main control unit 652 of the CNC device 650 via the CCD camera 600 attached to the front end portion of 0.
In the above-described embodiment, the replacement of the chuck claw 360 of the first chuck 7 on the side of the first work spindle 6 has been described, but the replacement of the chuck claw 360 of the second chuck 17 on the side of the second work spindle 16 is also described. It is the same.

Next, the soft nail molding will be described. Figure 25
26 is an explanatory view showing an example of a soft nail forming program, FIG.
27 is an explanatory view showing the shape pattern of the outer diameter grasping claw, FIG.
FIG. 7 is an explanatory diagram showing a shape pattern of an inner diameter grasping claw. The operator inputs the schedule registration data accumulation table ASRD shown in FIG. 7 via the main controller 652 of the CNC device 650.
Based on the chuck claw number TJNO of No. 1 and the chuck claw data TJD shown in FIG.
The necessity of the forming process is determined, and if necessary, the soft nail forming program number TJFN shown in FIG. 25 is searched to activate the soft nail forming program TJFP. Further, FIG. 25 shows an example of the soft jaw forming program for the outer diameter grasping claw, but the soft nail forming program for the inner diameter grasping nail is also the same.

Next, the first shape pattern shown in FIG. 26 is for outer diameter grasping claw molding. Outer diameter grasping claw 3
Height of 64A (workpiece height of soft jaw forming program TJFP) L0 and maximum outer diameter (soft jaw forming program TJ
The outer diameter of FP) G0 is given as a parameter. When the outer diameter grasping claw 364A is molded, the inner diameter part corresponding to the maximum outer diameter dimension G0 (the soft jaw molding program TJFP with the molding ring 368 interposed in the inner diameter part in advance and the chuck claw 360 closed inside). The starting point X) G1 and the cutting start diameter portion (cutting X of the soft nail forming program TJFP) G2 are processed. The depth dimension of the gripping portion of the nail (end point Z of the soft nail forming program TJFP) L1 is given as a value corresponding to the shape of the work 350. By making the radius of curvature of the inner peripheral surface 364C in contact with the outer peripheral surface of the work 350 smaller than the radius of curvature of the work 350, it is possible to contact the work 350 at two locations of the outer diameter grasping claw 364A, and achieve reliable gripping. To do.

Further, when the work 350 is gripped by the inner surface 364C, the opening of the outer diameter grasping claw 364A receives a stress in the outward direction. Therefore, the inner peripheral surface 364C can be formed into a tapered surface whose inside opens according to the depth dimension L1. By giving this taper, the work 3
When 50 is gripped, the outer surface of the work 350 can be uniformly contacted over the entire length of the inner peripheral surface 364C. At the corner portion between the inner peripheral surface 364C and the inner wall surface, for example, a recess 364D can be formed to improve contact with the work 350. In consideration of the above factors, the main controller 652 of the CNC device 650 gives a command to the numerically controlled lathe 100 to automatically machine the outer diameter grasping claw 364A.

Next, the second shape pattern shown in FIG. 27 is for forming the inner diameter grasping claw. Inner diameter grasping claw 3
When molding 64B, the inner diameter grasping claw 364B is provided with a molding ring 368 on the outer peripheral portion thereof.
Processing is performed while urging B toward the outside. The height dimension L0 and the maximum inner diameter dimension H0 of the inner diameter grasping claw 364B are given as parameters. The maximum outer diameter dimension H1 and the height dimension L1 of the grip portion are given from the shape and dimensions of the workpiece 350.
When the work 350 is gripped from the inside, the outer peripheral surface 364 </ b> E of the work 350 is subjected to stress in the direction of closing inward. Therefore, by providing the outer peripheral surface 364E with a tapered surface that becomes thinner along the height dimension L1, the contact with the work 350 can be improved. Also,
By making the radius of curvature of the outer peripheral surface 364E larger than the radius of curvature of the inner peripheral surface of the work, it is possible to improve the contact property with the work 350. Outer peripheral surface 3 of inner diameter grasping claw 364B
At the corners of 64E and the inner wall surface, a recess 364F is formed if necessary. In the embodiment described above, the process of forming the raw jaws when the chuck jaws 360 of the first chuck 7 on the first work spindle 6 side is attached has been described, but the chuck of the second chuck 17 on the second work spindle 16 side is explained. The same applies when the pawl 360 is replaced and molded.

Next, the chuck barrier will be described.
FIG. 28 is an explanatory diagram showing the barrier setting when the outer diameter grasping claw is attached to the chuck, and FIG. 29 is an explanatory diagram showing the barrier setting when the inner diameter grasping claw is attached to the chuck. In the present invention, when the workpiece 350 is gripped and processed by the molded soft jaw 364, a barrier is automatically set around the chuck 7 and the soft nail 364 to prevent interference with the tool 370. FIG. 28 shows the setting of the barrier when the work 350 is gripped by the outer diameter grasping claw 364A. The first chuck 7 mounted on the first work spindle 6
The outer dimension S, the width (height) dimension S2, and the inner diameter dimension S3 of each claw dimension SFDD are registered as the chuck claw data TJD shown in FIG. As the outer diameter grasping claw 364A, the raw claw 364 has a height dimension L0 and a maximum outer diameter dimension G0.
Is given as a parameter, and the inner diameter dimensions G1 and G2 of the outer diameter grasping claw 364A and the depth dimension L1 of the claw are machined,
These data are stored in the main controller 652 of the CNC device 650.
Is managed by. Therefore, the main controller 652 of the CNC device 650 can automatically set the chuck barrier BR indicated by the broken line based on the given data. The chuck barrier BR1 is an inaccessible area of the tool 370 or the like, and the tool 370 or the like is prevented from inadvertently interfering with the chuck 7 to prevent an accident from occurring.

Next, as shown in FIG. 29, the chuck 7 is mounted with the soft jaw 364 as the inner diameter grasping jaw 364B, and the work 350 is attached.
The setting of the barrier when gripping is shown. The outer dimension T1, the width (height) dimension T2, and the inner diameter dimension T3 of the first chuck 7 are registered as chuck claw data TJD. The height L0 of the soft jaw 364 and the maximum outer diameter H0 are given as parameters. Since the outer diameter dimension H1 and the height dimension L1 of the inner diameter grasping claw 364B are machined, these data are managed by the main control unit 652 of the CNC device 650. Therefore, the main controller 652 of the CNC device 650 can automatically set the chuck barrier BR2 indicated by the broken line based on the given data. In the above-described embodiment, the case of the first chuck 7 of the first work spindle 6 has been described, but the second chuck 1 of the second work spindle 16 is described.
The same applies to the case of 7.

Next, the automatic setup program to be executed will be described with reference to the flow charts of FIGS. 30, 31, 32 and 33. In step 1000, the process in which the automatic setup program ADP has started is step 10
10. Gantry robot gantry program number G
Select PNO and, in step 1020, launch the gantry program. In step 1030, the gantry robot 500 is moved onto the jig / tool stocking device 400, and in step 1040, the hand at the tip of the arm 510 is replaced with the work hand 470. In step 1050, the gantry robot 500 is moved to the upper portion WP of the work 350 placed on the work stock device 300 to recognize the work 350.

At step 1060, the gantry robot 5 is placed on one work 350 placed on the pallet 310.
The arm 510 of 00 is moved, and in step 1070, the image data of the work 350 is read by the CCD camera 600 attached to the tip of the arm 510. This operation is repeated twice in order to measure the height dimension a of the work 350, and the image data is read in step 1080. However, since the type and posture of the work 350 are confirmed, it is repeated a plurality of times as necessary. And eliminate mistakes.

In step 1090, the gantry robot 5 is placed on the one work 350 placed on the pallet 310.
The arm 510 of 00 is moved, and in step 1100, the image data of the work 350 is read by the CCD camera 600 attached to the tip of the arm 510. This operation is repeated twice in order to measure the diameter dimension D of the work 350, and the image data is read in step 1110. However, since the type and posture of the work 350 are confirmed, it is repeated a plurality of times as necessary. , Eliminate mistakes.

In step 1120, the work pallet 31
0, move the arm 510 of the gantry robot 500, and proceed from 1 to 1130.
The imaging shape pattern data of 0 is read. Step 11
At 40, the presence or absence of the prepared work 350 on the work pallet is checked. If the work 350 is present, at step 1150, according to the height dimension a of the work 350,
The determination of the type of the work 350 (unprocessed work 352 or processed work 354) is executed. The work number WNO is specified by comparing the height dimension a data with the data of the unmachined work 352 prepared in advance as a machining program, but if the corresponding work number WNO cannot be detected,
Since the wrong work number WNO has been set up, the process proceeds to step 1160, an error is output, and the process is stopped at step 1160. When the determination based on the height dimension a is executed, the work number WNO based on the diameter dimension D of the workpiece 350 is determined in step 1180.
If the corresponding work number WNO is not found, the process proceeds to step 1160.

When the determination based on the diameter dimension D is executed, the routine proceeds to step 1190, and the C-axis angle β that coincides with the reference origin is calculated from the image data of the unmachined work 352.
In step 1200, the machining program corresponding to the corresponding work number WNO is determined, and step 1210
In step 1210, the work number WNO is searched.
Then, the schedule screen shown in FIG. 7 is called, the tool number TLNO to be used is selected in step 1230, and the chuck jaw number TJ to be used in step 1240.
Select NO. After the machining of the previous work 350 is completed, the process proceeds to step 1250 and the tool number T of the necessary tool 370 for the next work number WNO.
The LNO is compared with the registered information, but if the corresponding work number WNO cannot be detected, the wrong work number WNO has been set up, so step 1260.
Then, an error is output, and the process is stopped in step 1270. When the determination of the tool 370 is executed in step 1310, the chuck claw number TJNO of the necessary chuck claw 360 corresponding to the work number WNO described above is compared with the registered information in step 1280. If the number WNO is not found, the process proceeds to step 1260. In step 1290, the gantry robot 500 is moved onto the jig stock device 400, and in step 1300, the hand at the tip of the arm 510 is replaced with the tool hand 450, and the tool 370 necessary for the next work 350 is replaced. This is performed between the tool stock device 400 and the turret turrets 5 and 15 of the NC device 100. In step 1320, the gantry robot 500 is moved onto the jig stock device 400, and step 13
In step 30, the hand at the tip of the arm 510 is replaced with the chuck claw hand 460, and step 134 is performed.
At 0, the chuck jaws 360 necessary for the next work 350 are exchanged between the jig stock device 400 and the chucks 7 and 17 of the NC device 100.

Then, the process proceeds to step 1350, and the new chuck claws 3 replaced with the chucks 7 and 17 are mounted.
Based on the chuck claw data TJD concerning 60, the raw claw molding of the chuck claw 360 is performed. In step 1360,
Based on the chuck claw data TJD relating to the new chuck claw 360 that is replaced and attached to the chucks 7 and 17,
As shown in FIG. 26 or 27, a new chuck claw 3
The chuck barrier BR is set so as to correspond to the shape of 60 and the work 350 having a predetermined work number WNO to be processed.

In step 1370, the C axis is offset by the C axis angle β calculated in step 1190.
In step 1380, the machining program with the work number WNO is activated, and then the process proceeds to step 1390 to move the gantry robot 500 onto the jig stock device 400, and in step 1400, move the hand at the tip of the arm to the work hand 470. In step 1410, the gantry robot 500 is moved onto the work stock apparatus 300, the arm is vertically lowered in step 1420, the unprocessed work is gripped in step 1430, and the arm is vertically moved in step 1440. Raise in the direction. In step 1450, the workpiece 350 is moved by the workpiece hand 470.
It is supplied to the first work spindle 6 of the Hanshin C lathe 100,
It is gripped by the chuck 7. At step 1460, the required machining is performed by the tool 370 of the first turret tool post. When the machining of the first process on the first work spindle 6 is completed, it is transferred to the second work spindle 16 side in step 1470. At that time, the second work spindle 16 holds the work 350 by the second chuck 17. Processed work 354 that has been processed by the second work spindle 16
In step 1480, the work hand 470 of the gantry robot 500 returns the work stock device 300 onto the work stock device 300, and then returns to step 1050 to repeat the above steps.

When all the machining of the unmachined workpiece 352 set up on the workpiece stock device 300 is completed, the process proceeds from step 1140 to step 1490, and all the processed workpieces 354 are returned to the workpiece stock device 300,
The process ends in step 1500.

[0047]

Since the automatic setup apparatus in the numerically controlled machine tool of the present invention is provided with the camera for handling the work, the unprocessed work can be discriminated from the image data received by the camera. Then, the unprocessed work set up on the stock device, that is, the type and position thereof, is discriminated by the numerical control device and a corresponding machining program is prepared.

Further, even if there is a setup error of the set-up member to the stock device, for example, if there is a jig or tool unnecessary for processing, the automatic setup device automatically eliminates this error, which results in unmanned operation. The automatic setup can be continued. Therefore, the number of setup steps is reduced, and it is not necessary to write the identification element on the pallet in advance.

Therefore, according to the present invention, the setup is automatically set corresponding to the set-up members such as various kinds of works, jigs, and tools, and the machining is continued. Since the types of machining work can be expanded, the operator's input work can be omitted, and unmanned machining can be safely achieved for a longer time, the production efficiency is also improved.
In addition, since the jigs and tools are not limited to specific ones (for example, those with an identification element attached), they can be used universally,
Can be easily installed on existing equipment.

Although the example of the lathe cell has been described in the above embodiments, the present invention can be applied to a machining system or the like even in an automatic setup device in a machine tool such as a machining center.

Further, in the above embodiments, the transfer robot is described as the robot set between the numerically controlled machine tool and the work stock device. However, it is possible to use a polar coordinate type or a cylindrical coordinate type. The present invention can be applied to a joint robot.

[Brief description of drawings]

FIG. 1 is a front view showing the outline of a lathe cell for carrying out the present invention.

FIG. 2 is an explanatory diagram of a work stock device.

FIG. 3 is an explanatory view showing the structure of a work stock device.

FIG. 4 is an explanatory view showing another embodiment of the work stock device.

FIG. 5 is a sectional view of a jig / tool stock device.

FIG. 6 is a plan view of a jig / tool stocking device.

FIG. 7 is a block diagram showing a configuration of an automatic setup device.

FIG. 8 is an explanatory diagram showing a schedule registration screen.

FIG. 9 is an explanatory diagram showing tool data.

FIG. 10 is an explanatory diagram showing chuck claw data.

FIG. 11 is an explanatory diagram showing a tool name of a first turret tool post.

FIG. 12 is an explanatory diagram showing tool names of a second turret tool post.

FIG. 13 is an explanatory view showing a tool shape of a first turret tool post.

FIG. 14 is an explanatory view showing a tool shape of a second turret tool post.

FIG. 15 is an explanatory diagram showing the operation of the CCD camera.

FIG. 16 is an explanatory diagram of an image.

FIG. 17 is an explanatory diagram of an image.

FIG. 18 is an explanatory diagram showing the operation of the CCD camera.

FIG. 19 is an explanatory diagram of an image.

FIG. 20 is an explanatory diagram of an image.

FIG. 21 is an explanatory diagram showing an outline of C-axis correction of the work spindle of the numerically controlled lathe.

FIG. 22 is an explanatory view showing the action of tool exchange.

FIG. 23 is a plan view showing how chuck jaws are replaced.

FIG. 24 is a side view showing how chuck jaws are replaced.

FIG. 25 is an explanatory diagram showing an example of a soft nail forming program.

FIG. 26 is an explanatory view showing a shape pattern of an outer diameter grasping claw.

FIG. 27 is an explanatory view showing the shape pattern of the inner diameter grasping claw.

FIG. 28 is an explanatory diagram showing a barrier setting when the outer diameter grasping claw is attached to the chuck.

FIG. 29 is an explanatory diagram showing a barrier setting when the inner diameter grasping claw is attached to the chuck.

FIG. 30 is a flowchart showing an automatic setup program.

FIG. 31 is a flowchart showing an automatic setup program.

FIG. 32 is a flowchart showing an automatic setup program.

FIG. 33 is a flowchart showing an automatic setup program.

[Explanation of symbols]

 1 Lathe cell 60 Numerical control device 100 Numerical control lathe 200 Stock device 300 Work stock device 310 Work pallet 350 Work 360 360 Chuck claw 370 Tool 400 Jig tool stock device 450 Tool hand 460 Chuck claw hand 470 Work hand 500 Gantry robot 510 Arm 600 CCD camera

Claims (5)

[Claims] 1. A machine tool having a numerical control device, a stock device for mounting a set-up member such as a work, a jig and a tool, and the set-up member between the stock device and the machine tool. In an automatic setup device including a transport device that transports, the transport device is a hand that holds the setup target member,
It has a camera for identifying the work and an image processing device for processing the image data captured by the camera, and the numerical control device is a machine tool that processes the data of the work identified from the image data. Workpiece recognition means for discriminating the workpiece in comparison with the data of the workpiece, and machining program setting means for selecting the machining program of the numerical control device based on the discriminated result are included in the selected machining program. An automatic setup device, wherein the corresponding set-up member is set up by the transfer device. 2. The transfer device includes a robot control device for controlling a transfer robot, a guide beam arranged between a machine tool and a stock device, and a transfer robot traveling on the guide beam. The automatic setup device according to claim 1, wherein the robot includes a gripping hand attached to a vertically movable arm and a robot control device for controlling the transfer robot. 3. The numerical control device has a main spindle, a chuck for holding a work on the main spindle, and a jig attached to the chuck, and the jig is automatically molded. The automatic setup device described in 2. 4. The automatic controller according to claim 1, wherein the numerical control device has a chuck whose main shaft holds a work, and automatically sets a barrier around the chuck and the jig. Device. 5. A machine tool having a numerical control device, a stock device for mounting a set-up member such as a work, a jig and a tool, and the set-up member between the stock device and the machine tool. In the automatic setup device including a transport device that transports, the transport device includes a camera that identifies a tool, and an image processing device that processes image data captured by the camera, wherein the numerical control The apparatus includes a recognition means for discriminating the tool by comparing the data of the tool identified from the image data with the data of the tool to be machined by the machine tool, and the conveying device for conveying the tool based on the discrimination result. An automatic setup device characterized by being replaced by.