JPH0985583A - Confirming method and device for tool used in program controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid beforehand start of machining with the wrong tool attached by automatically judging whether a tool to be next used is the one specified by the operation controlling program or not without depending on an operator. SOLUTION: A tool to be next used is picked up by an image pick-up means 31. The tool is recognized by a shape recognizing means 45 from the tool image data obtained by the image pick-up. Whether the tool recognized by the shape recognizing means 45 coincides with the one specified by the tool data previously described in the operation controlling program such as the NC program or not is judged by a judging means 49.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for confirming a tool used in a program-controlled machine such as an NC machine, and in particular, whether or not the tool to be used next in the program-controlled machine is proper. The present invention relates to a used tool confirmation method and device for determining.

[0002]

2. Description of the Related Art A tool management system for an NC machine is disclosed in, for example, Japanese Patent Publication No. 6-616688.

In this tool management system, a tool (tool) loaded in each pot of the automatic tool changer is imaged by an image pickup means, and the shape recognition means identifies the tool image data by the image pickup. The tool actually stored in the pot is specified, and this tool identification data is compared with the contents of the tool data table that manages the tools stored in each pot, and the tool actually stored in each pot and the tool data table It is determined whether or not the tools of the pots described in 1. match.

[0004]

In the tool management system as described above, the identification of the tool set in each pot of the automatic tool changer and the correct tool described in the tool data table are set in each pot. You can check whether it is done or not.

However, in the tool management system as described above, it is not possible to confirm whether or not the tool to be used next is actually the tool designated by the NC program in the NC machine. The work is still performed visually by the operator. If this confirmation work is not performed accurately, machining is started with a tool mounting error, and predetermined machining is not performed.

In the visual confirmation work of the tool to be used, it is necessary for the worker to recognize in advance what the tool designated in the NC program is, and this confirmation work imposes a burden on the worker. It lacks certainty and hinders automatic unmanned operation of NC machines.

The present invention has been made in view of the above-mentioned problems, and a tool such as a tool to be used next is designated by an operation control program such as an NC program without depending on the operator. The purpose of the present invention is to provide a method and device for checking tools used in a program-controlled machine that automatically determines whether or not a tool is installed and avoids the start of work such as machining with a tool mounting error. There is.

[0008]

In order to achieve the above-mentioned object, a method for confirming a used tool in a program-controlled machine according to claim 1 is a method for confirming a used tool in a program-controlled machine operated by an operation command by an operation control program. In the method, the shape and dimensions of the tool to be used next are detected by the detection means, the tool is specified from the detection result by the detection means, and the tool specified by this tool and the tool data described in advance in the operation control program. It is characterized in that the discriminating means discriminates whether or not they match.

In this used tool confirmation method, the tool to be used next is specified from the detection result of the detection means, and the specified tool and the tool data specified in advance in the operation control program such as the NC program are specified. That is, the discriminating means discriminates whether or not the designated tool on the operation control program matches.

The tools here include cutting tools used in machine tools and assembly machines, press dies, welding torches, assembly tools, handling robot manipulators, effectors and the like.

In order to achieve the above-mentioned object, the method for confirming a used tool in a program-controlled machine according to a second aspect is the method for confirming a used tool in a program-controlled machine according to the first aspect, from the detection result of the tool. Specify the tool by tool type and tool size,
The operation control program is characterized in that a tool type and a tool size are described as tool data, and the discriminating means determines whether or not the tool is coincident with the tool type and the tool size.

In this used tool confirmation method, the tool type and the tool dimension are used as the tool data described in the operation control program, the shape recognition means discriminates the tool type and the tool dimension, and the discrimination means discriminates the tool. Determines whether the tools match the type and tool dimensions.

In order to achieve the above-mentioned object, the method for confirming a used tool in a program-controlled machine according to claim 3 is the method for confirming a used tool in a program-controlled machine according to claim 1 or 2. The device is an NC machine, and the operation control program is an NC program.

The NC machine mentioned here is an NC machine tool such as a machining center or a turret punch press, an NC automatic assembling apparatus, an NC robot, or the like.

In order to achieve the above-mentioned object, the method for confirming the used tool in the program-controlled machine according to a fourth aspect is the method for confirming a used tool in the program-controlled machine according to the third aspect, in which the tool size is NC.
The feature is that it is obtained from the tool diameter correction data and the tool offset correction data described in the program.

In order to achieve the above-mentioned object, the method of confirming a used tool in a program-controlled machine according to a fifth aspect is the method of confirming a used tool in a program-controlled machine according to any one of claims 1 to 4. The detecting means includes an optical detecting means for optically detecting the shape of the tool.

In order to achieve the above-mentioned object, the method for confirming a used tool in a program-controlled machine according to a sixth aspect is the method for confirming a used tool in a program-controlled machine according to claim 5, wherein the optical detecting means is used. Is an image pickup means, and the tool is imaged by the image pickup means, and the tool is identified and detected from the tool image data obtained by the image pickup.

As the image pickup means here, there are an area image sensor such as a CCD camera and a line image sensor which scans and moves.

In order to achieve the above-mentioned object, the method of confirming the tool used in the program-controlled machine according to claim 7 is the method of confirming the tool used in the program-controlled machine according to claim 6, wherein the tool by the image pickup means is used. The image pickup position of is a standby position for tool exchange by the automatic tool exchange device of the NC machine.

In order to achieve the above-mentioned object, the method for confirming a tool used in a program-controlled machine according to claim 8 is the method for confirming a tool used in a program-controlled machine according to claim 6, wherein the tool by the image pickup means is used. The image pickup position of is a tool gripping position by the tool changing arm of the automatic tool changing device of the NC machine.

In order to achieve the above-mentioned object, the method for confirming the tool used in the program-controlled machine according to claim 9 is the method for confirming the tool used in program-controlled machine according to claim 6, wherein the tool by the image pickup means is used. The imaging position of is a tool mounting position with respect to the main axis of the NC machine.

In order to achieve the above-mentioned object, a tool-confirming device for use in a program-controlled machine according to a tenth aspect of the invention is a tool-confirming device for use in a program-controlled machine which operates according to an operation command by an operation control program. Detecting means for detecting the shape and dimension, tool specifying means for specifying a tool from the detection result of the detecting means, tool specified by the tool specifying means and tool data specified by the tool data described in the operation control program And a determination means for determining whether or not and match.

Further, in order to achieve the above-mentioned object, the tool-confirming device for use in a program-controlled machine according to claim 11 is the tool-confirming device for use in a program-controlled machine according to claim 12, wherein the tool specifying means is It is characterized in that the tool is specified by the tool type and the tool size from the detection result by the detecting means, and the judging means judges whether the tool matches the tool type and the tool size described in the operation control program.

In order to achieve the above-mentioned object, the tool check device for use in a program-controlled machine according to claim 12 is the tool check device for use in a program-controlled machine according to claim 10 or 11, wherein The device is characterized by being an NC machine.

In order to achieve the above-mentioned object, the tool checking device for use in a program-controlled machine according to claim 13 is the tool checking device for use in a program-controlled machine according to any one of claims 10 to 12. The detecting means includes an optical detecting means for optically detecting the shape of the tool.

In order to achieve the above-mentioned object, the use tool confirmation device in the program-controlled machine according to claim 14 is the use tool confirmation device in the program-controlled machine according to claim 13, wherein the optical detecting means is used. Is an image pickup means for picking up an image of the tool, and is characterized in that the tool is identified and detected from the tool image data of the tool picked up by the image pickup means.

Further, in order to achieve the above-mentioned object, the tool checking device for use in a program-controlled machine according to a fifteenth aspect is the tool checking device for use in a program-controlled machine as set forth in claim 14, wherein an automatic tool changer is used. A dark box is provided at a standby position for tool exchange by the automatic tool exchanging device, and the imaging means images the tool in the dark box.

[0028]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings. 1 and 2 show one embodiment of an NC machine tool with an automatic tool (tool) changing device to which a tool confirmation device according to the present invention is applied.

The NC machine tool has a saddle 5 on a column 3 provided on a bed 1, and a spindle 9 on which a tool 7 is replaceably mounted on the saddle 5.

An automatic tool changer 1 is provided on the side of the bed 1.
One tool magazine 13 is provided. The tool magazine 13 has a plurality of pots 17 on a loop-shaped moving zone 15, and each pot 17 detachably holds a tool 7. In the tool change standby position, the pot 17 can be rotationally displaced 90 degrees about the vertical axis as shown in the drawing.
The tool 7 stored in the pot 17 is taken out by the tool changing arm 19. The tool exchanging arm 19 takes out the tool 7 stored in the pot 17 at the tool exchanging standby position and mounts it on the spindle 9.

A dark box 21 is provided at the tool replacement standby position. The dark boxes 21 are provided on the upper and lower sides of the tool change standby position, and receive the pot 17 and the tool 7 of the pot 17 which are rotationally displaced 90 degrees about the vertical axis at the tool change standby position.

The dark box 21 is provided with a pot 17 and an inlet 23 for the tool 7 of the pot 17 and an outlet 25 by the tool exchanging arm 19. The inlet 23 and the outlet 25 can be opened and closed by a door 27. , 29.

At the upper part of the dark box 21, CC as an image pickup means is provided.
The D camera 31 is arranged toward the tool 7 in the tool change standby position, and two light sources 33 for illuminating the tool 7 in the tool change standby position are arranged in the lower part of the dark box 21. That is, the CCD camera 31 is provided on one side of the tool change standby position.
However, the light sources 33 for illumination are arranged on the other side.

The light source 33 is surrounded by a CCD
A light shielding plate 35 is provided so as not to be imaged by the camera 31.

With these configurations, the tool 7 at the tool change standby position is imaged with its edge emphasized by the CCD camera 31 in a state where the light source 33 in the dark box 21 illuminates the outer portion with high illuminance. In other words, the CCD camera 31 images the tool 7 illuminated by the light source 33 without shadow in the dark box 21 with a black background in high contrast and outputs an analog image signal.

FIG. 3 shows a tool confirmation system N according to the present invention.
The system configuration when applied to the C machine tool is shown. An image conversion unit 41 is connected to the CCD camera 31. The image conversion unit 41 converts the analog image signal output from the CCD camera 31 into a digital image signal, binarizes the digital image signal, and stores it in the frame memory 43 as tool image data.

The tool identifying unit 45 fetches the tool image data from the frame memory 43, compares the tool image data with the standard tool image data stored in advance in the tool image database 47 for each type of tool, and recognizes the shape. The type of tool is identified by the technique, the tool size is acquired from the tool image data of the tool, and the tool 7 is specified by the tool type and the tool size.

The shape recognition for identifying the tool type by the tool identifying unit 45 prepares standard tool image data obtained by previously capturing an image of a tool to be used, and performs pattern matching to compare this with the tool image data to be identified. Publicly known method such as a feature value comparison method in which the shape feature value of the tool to be used is registered in the tool image database 47 in advance and the feature of the tool to be identified is extracted by a two-dimensional FFT and the feature values are compared. It can be performed by a shape recognition method.

The tool type here is, for example, a milling type,
The drill, end mill, tap, reamer system, boring system, and side cutter system are used, and standard tool image data for each tool type as shown in FIGS. 4A to 4D is stored in the tool image database 41. deep. Note that FIG.
Is a milling system, FIG. 4 (b) is a drill / end mill / tap / reamer system, and FIG. 4 (c) is a boring system.
(D) shows each side cutter system.

The tool size is the tool diameter in the milling system,
Number of flutes, tool diameter and tool axis length for drills, end mills, taps and reamers, boring length and effective length for boring systems, and cutter diameter and cutter width for side cutter systems.

The tool coincidence discriminating unit 49 takes in the tool data described in the NC program to be executed next from the NC program decoding unit 51, that is, the tool type and the tool size, and the tool identified by the tool specifying unit 45. It is determined whether or not the type and the tool size match.

The image conversion unit 41, the frame memory 43, the tool identification unit 45, the tool image database 47, and the tool coincidence determination unit 49 are image processes by a computer system to which an external storage device such as a hard disk or a CD / ROM is connected. In addition to this, the tool matching determination unit 49 can be realized by a sequencer of a CNC device,
The tool image database 47 can also be constructed using an external storage device of the CNC device.

When using this tool confirmation apparatus, the tool type and the tool size are described as tool data in the NC program. The description of the tool type and the tool dimension is performed in the order of the tool type, the tool diameter, and the tool length, using a code that is not specified in the auxiliary function, for example, M12. In addition, a start command code for checking the tool used is described in the NC program. This start command code is M17.

FIG. 5 shows an example of the NC program. In this NC program, the first line is a line for designating the tool number by the T code. By executing this first line, the tool to be used next moves to the tool standby position of the automatic tool changer 11, and the dark box 21 Can be put inside.

A start command for checking the tool to be used is output by M17 on the second line, and the operation to check the tool to be used is started. This start command causes the CCD camera 31 to capture an image of the tool in the dark box 21, and pre-reads the type of tool, the tool diameter, and the tool length by M12 described in the third line, and the tool coincidence determination unit 49 reads this. Writing to a built-in buffer memory or the like is performed.

A start command for checking the tool to be used may be output by the input of the limit switch signal from the machine side, which indicates the completion of execution of the T code. In this case, the description of M17 is omitted.

Since the NC program has the description of the tool position offset by G43 (7th line) and the description of the tool radius correction by G41 (or G42) (8th line), the tool length is the tool position offset by G43. The value and the tool diameter can be obtained by pre-reading the tool diameter correction value by G41 (or G42). In this case, the description of the tool dimension in M12 can be omitted, and M
The description by 12 is only required for the type of tool.

Tool position offset value by G43 and G4
The description of the tool radius correction value by 1 (or G42) may be directly specified by a real value or may be specified by a coded numerical value of about two digits. In the example of FIG. 5, the tool position offset value is H. The code and the tool radius correction value are described by the D code. The relationship between the H code and the tool position offset value and the relationship between the D code and the tool radius correction value are user-defined by the contrast data table.

FIG. 6 is a flow chart showing an implementation procedure when the tool confirmation method according to the present invention is applied to an NC machine tool.

First, the tool type and the tool size described in the NC program are pre-read, and these data are latched (step 10).

Next, the CCD camera 31 captures an image of the tool in the dark box 21 (step 20), the tool identifying section 45 identifies the tool type from the image data of the imaged tool, and the tool dimension is measured from the image data. (Step 30).

Next, the tool matching determination unit 49 determines whether the tool type identified from the tool image data matches the tool type described in the NC program (step 40). If they do not match, an error code to that effect is set (step 50). As a result, it is possible to prevent the machining from being started while the tool is incorrectly mounted.

On the other hand, in the case of coincidence, the tool coincidence discriminating unit 49 discriminates whether or not the tool dimension measured from the tool image data coincides with the tool dimension described in the NC program (step 60). In case of disagreement,
An error code to that effect is set (step 50). As a result, it is possible to prevent the machining from being started while the tool is incorrectly mounted.

The image pick-up position of the tool by the CCD camera 31 is not limited to the tool change standby position, and this image pick-up position may be a tool gripping position by the tool change arm 19 or a tool mounting position on the spindle 9. Any position may be used as long as it can image the tool to be used next before the start of processing.

In the above, the present invention has been described in detail with respect to specific embodiments, but the present invention is not limited to these, and various embodiments are possible within the scope of the present invention. It will be apparent to those skilled in the art that it is possible.

[0056]

As can be understood from the above description, in the method and apparatus for confirming the tool to be used in the program-controlled machine according to the first, third, tenth and twelfth aspects, the tool to be used next is determined from the detection result by the detecting means. It is determined by the determining means whether or not the tool specified and the tool specified by the tool data previously described in the operation control program such as the NC program, that is, the designated tool on the operation control program, match. Therefore, the tool to be used can be surely confirmed without the operator's visual observation, and it is possible to prevent the processing from being started while the tool is not properly attached.

According to the method and the device for confirming the tool used in the program-controlled machine according to claims 2 and 11, since the tool type and the tool size are discriminated from each other, it is possible to confirm not only the tool type but also the tool type. The dimension is also performed, and it is more surely avoided that the machining is started while the tool is incorrectly mounted.

In the method for confirming the tool used in the program-controlled machine according to claim 4, since the tool dimension is acquired from the tool diameter correction data and the tool position offset correction data described in the NC program, the NC program for checking the tool used Description has been simplified, and N
It also reduces the possibility of errors in the description of tool dimensions in C programs.

In the method and apparatus for confirming the tool used in the program-controlled machine according to claims 5 and 13, since the shape of the tool is optically detected by the optical detecting means, the type of the tool and the type of the tool can be efficiently detected without touching the tool. The dimensions can be detected.

In the method and apparatus for confirming the tool used in the program-controlled machine according to claims 6 and 14, CC
Since the tool is imaged by the imaging means such as a D camera and the tool is identified and detected by the shape recognition means from the tool image data obtained by the imaging, it is possible to accurately and accurately detect the type and size of the tool without touching the tool. it can.

According to the method for confirming the tool to be used in the program-controlled machine according to claim 7, the tool to be used next is imaged at the standby position for tool exchange by the automatic tool changer, and used in the program-controlled machine according to claim 8. In the tool confirmation method, the tool to be used next is imaged at the tool gripping position by the tool exchange arm,
In the method for checking a tool to be used in the program-controlled machine device according to claim 9, the tool to be used next is imaged at the tool mounting position with respect to the spindle of the machine tool. Therefore, in any case, the tool is surely imaged before use. You can

In the tool check device for use in the program-controlled machine according to the fifteenth aspect, since the tool is imaged by the imaging means in the dark box provided at the standby position for the tool exchange by the automatic tool exchange device, the image of the tool imaged The data clearly shows the tool image with a black background, and the tool can be reliably identified by this tool image data.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing an embodiment of an NC machine tool to which a used tool confirmation device according to the present invention is applied.

FIG. 2 is a side view showing an embodiment of a tool magazine portion of an automatic tool changer for an NC machine tool to which a tool confirmation device for use according to the present invention is applied.

FIG. 3 is a block diagram showing a system configuration when the tool confirmation device according to the present invention is applied to an NC machine tool.

4A to 4D are explanatory diagrams showing examples of types of tools used.

FIG. 5 is a program list diagram showing an actual example of an NC program.

FIG. 6 is a flow chart showing an implementation procedure when the tool check method according to the present invention is applied to an NC machine tool.

[Explanation of symbols]

 1 bed 3 column 5 saddle 7 tool 9 spindle 11 automatic tool changer 13 tool magazine 15 moving zone 17 pot 19 tool change arm 21 dark box 31 CCD camera 33 light source 41 image conversion unit 45 tool identification unit 47 tool image database 49 tool match discrimination Section 51 NC Program Decoding Section

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Norio Hiyoshi 2068-3 Ooka, Numazu-shi, Shizuoka Toshiba Machine Co., Ltd. Numazu Business Office (72) Hirohiko Honda Honda 368-2038 Ooka, Numazu-shi, Shizuoka Toshiba Machine Co., Ltd. Numazu Business In-house (72) Inventor Kyoichi Tatsuno 1 Komukai Toshiba-cho, Kouki-ku, Kawasaki-shi, Kanagawa Stock Company Toshiba Research and Development Center

Claims (15)

[Claims] 1. A method for checking a tool to be used in a program-controlled machine that operates according to a motion command from a motion control program, wherein the shape and size of the tool to be used next is detected by a detection means, and the tool is detected from the detection result by the detection means. Identify,
A method for checking a tool to be used in a program-controlled machine, characterized in that the discriminating means discriminates whether or not this tool and the tool specified by the tool data previously described in the operation control program match. 2. A tool is specified based on the tool type and the tool size from the detection result of the tool, the tool type and the tool size are described as tool data in the operation control program, and the discrimination means determines the tool type and the tool size. 2. The method for checking a tool to be used in a program-controlled machine according to claim 1, characterized in that the tool coincidence determination is performed. 3. The method for checking a tool used in a program-controlled machine according to claim 1, wherein the program-controlled machine is an NC machine, and the operation control program is an NC program. 4. The method of confirming a tool to be used in a program-controlled machine according to claim 3, wherein the tool size is acquired from tool diameter correction data and tool offset correction data described in the NC program. 5. The tool used in the program-controlled machine according to claim 1, wherein the detecting means includes an optical detecting means for optically detecting the shape of the tool. Method. 6. The optical detection means is an image pickup means,
The method of confirming a tool to be used in a program-controlled machine apparatus according to claim 5, wherein the tool is imaged by the imaging means, and the tool is identified and detected from the tool image data obtained by the imaging. 7. The method of confirming a tool to be used in a program-controlled machine apparatus according to claim 6, wherein the image pickup position of the tool by the image pickup means is a standby position for tool change by the automatic tool changer of the NC machine. 8. The used tool confirmation in the program-controlled machine device according to claim 6, wherein the image pickup position of the tool by the image pickup means is a tool gripping position by the tool change arm of the automatic tool change device of the NC machine. Method. 9. The method for confirming a tool to be used in a program-controlled machine apparatus according to claim 6, wherein an image pickup position of the tool by the image pickup means is a tool mounting position with respect to a spindle of the NC machine. 10. A tool-use confirming device in a program-controlled machine that operates according to an operation command from an operation control program, and detecting means for detecting the shape and size of the tool, and tool specifying for specifying the tool from the detection result by the detecting means. Means, and a determining means for determining whether or not the tool specified by the tool specifying means and the tool specified by the tool data described in the operation control program are coincident with each other. A tool confirmation device used in a program-controlled machine. 11. The tool specifying unit specifies a tool based on the tool type and the tool size from the detection result of the detecting unit, and the judging unit judges whether the tools match the tool type and the tool size described in the operation control program. 11. The tool check device for use in a program-controlled machine according to claim 10, wherein the tool check is performed. 12. The tool checking device for use in a program-controlled machine according to claim 10, wherein the program-controlled machine is an NC machine. 13. The tool used in the program-controlled machine according to claim 10, wherein the detecting means includes an optical detecting means for optically detecting the shape of the tool. apparatus. 14. The program according to claim 13, wherein the optical detecting unit is an image capturing unit that captures an image of the tool, and the tool is identified and detected from the tool image data of the tool captured by the image capturing unit. Used tool confirmation device in control machinery. 15. An automatic tool changer, wherein a dark box is provided at a standby position for tool change by the automatic tool changer, and the image pickup means picks up an image of the tool in the dark box. A tool checking device for use in the program-controlled mechanical device described in.