JPS5856758A - Automatic centering device for larger works - Google Patents

Automatic centering device for larger works

Info

Publication number
JPS5856758A
JPS5856758A JP15219981A JP15219981A JPS5856758A JP S5856758 A JPS5856758 A JP S5856758A JP 15219981 A JP15219981 A JP 15219981A JP 15219981 A JP15219981 A JP 15219981A JP S5856758 A JPS5856758 A JP S5856758A
Authority
JP
Japan
Prior art keywords
reference line
workpiece
image
amount
detection device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP15219981A
Other languages
Japanese (ja)
Inventor
Ryoji Hoashi
帆足 亮二
Hideo Kimura
英夫 木村
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP15219981A priority Critical patent/JPS5856758A/en
Publication of JPS5856758A publication Critical patent/JPS5856758A/en
Pending legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/26Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/27Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
    • G01B11/272Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes using photoelectric detection means

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automatic Control Of Machine Tools (AREA)
  • Machine Tool Sensing Apparatuses (AREA)

Abstract

PURPOSE:To have an automatic centering on the basis of the amount of deviation by catching the reference line drawn on a three-dimensionally curving surface in the form of a picture projected on an image sensing device, converting into a line on a two-dimensional plane, and by determining thereby the amount of deviation with respect to the machine tool at the reference line. CONSTITUTION:In a position where a reference line marked on the surface of a work 2 is visible, a TV camera 8 is fixed out of the table 1, which is to bear the work 2 and rotate. An image signal caught by the TV camera is transmitted to an image processing device 9, which is to find out the reference line 3 from difference in brightness between the line 3 and its surroundings. The change of the intersecting point of the reference line with the normal l in the view field 11 and that of distance d from one end of the view field 11 are determined, and jacks 4-4'' are shifted according to their respective differences from the mean value using the d value and the mean value of maxium and minimum to have centering alignment of the table 1 with reference line 3. Thereby an accurate centering alignment can be made even though the work has uneven surfaces.

Description

【発明の詳細な説明】 本発明は自動段取り装置に係シ、特に、工作機械におい
て表面が不規則な工作物の段取りに好適な画像検出装置
および画像処理装置を備えた自動芯出し装置に関する。
DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic setup device, and more particularly to an automatic centering device equipped with an image detection device and an image processing device suitable for setting up a workpiece with an irregular surface in a machine tool.

従来の段取り装置としてはらら刀・しめ加工された面を
接触式又は非接触式の変位計により工作物と工作機械の
基準面との偏差を測定し、工作物を移−する方式や、不
規則な工作物の狭面形状を三次元測定子により測定し、
演算により加工基準面を算出する方法等があるが、前者
は基準を面としているため、あらかじめ、基準となる面
を加工しておかなければならないという欠点がある。後
者は、基準面を演算によって算出するため、あらかじめ
、工作物の形状寸法を入力しなければならないという#
雑さがある。
Conventional setup devices include methods that measure the deviation between the workpiece and the reference surface of the machine tool using a contact or non-contact displacement meter on the surface of the machined surface, and then move the workpiece. Measure the narrow surface shape of a regular workpiece with a three-dimensional measuring head,
There are methods of calculating the machining reference plane by calculation, but the former uses a plane as the reference, and has the disadvantage that the plane that will serve as the reference must be machined in advance. The latter requires inputting the shape and dimensions of the workpiece in advance because the reference plane is calculated by calculation.
There is a complexity.

本発明の目的は工作物にあらかじめ付けられた基準線を
画像検出装置により検出し、工作物と工作機械の基準と
の偏差を九ることにより、工作物を工作機械の基準に容
易に一致せしめる自動芯出し装#を提供するにある。
The purpose of the present invention is to easily match the workpiece to the machine tool standard by detecting a reference line pre-marked on the workpiece using an image detection device and minimizing the deviation between the workpiece and the machine tool standard. To provide automatic centering equipment.

第3図に工作物の一例を示す。この図のように未加工部
品の表面は不規則な形状になっていることが多い。本発
明はこのような三次元曲面上に付けられた基準線を、画
像検出装置の画像としてとらえることにより、二次元平
面上の線に変換してその基準線の工作愼械に対する偏差
量を求め、工作物を移動するジヤツキに移d指令を出す
ことによって段取シを行うものである。
Figure 3 shows an example of a workpiece. As shown in this figure, the surfaces of unprocessed parts often have irregular shapes. The present invention captures such a reference line on a three-dimensional curved surface as an image of an image detection device, converts it into a line on a two-dimensional plane, and calculates the amount of deviation of the reference line with respect to the machine tool. The setup is performed by issuing a move command to the jack that moves the workpiece.

以下、本発明の一実施例を第1図ないし第4図により説
明する。本実施yIJは工作物2を移動するジヤツキ4
および5、ジヤツキ4および5の移動量を制御するジヤ
ツキ制御装置10、ジヤツキ4および5の移動すべき盪
を演算する演算装置6、工作物2につけられた基準線3
ft撮影する画像検出装置としてのテレビカメラ8、撮
影された画像を処理し、画像内の基準線の位置を検出す
る画像処理装置9、およびテーブルの回転角度全検出す
る回転角検出器7から構成されている。
An embodiment of the present invention will be described below with reference to FIGS. 1 to 4. This implementation yIJ is a jack 4 that moves the workpiece 2.
and 5, a jack control device 10 that controls the amount of movement of the jacks 4 and 5, a calculation device 6 that calculates the distance that the jacks 4 and 5 should move, and a reference line 3 attached to the workpiece 2.
ft Consists of a television camera 8 as an image detection device for photographing, an image processing device 9 for processing the photographed image and detecting the position of a reference line in the image, and a rotation angle detector 7 for detecting all rotation angles of the table. has been done.

以下、−例として工作物2にあらかじめ付けられた基準
線3の中心Owとテーブルエの回転中心0を一致させる
方法を説明する。
Hereinafter, as an example, a method of aligning the center Ow of the reference line 3 previously attached to the workpiece 2 with the rotation center 0 of the table will be explained.

一般的には大型加工部品においては溶接構造物や鋳物品
が多い。そのため加工部品の表面形状は第3図のように
不規則な凹凸になっている。工作物を目的の寸法に加工
するためには、テーブル1上で刀ロエしようとする而す
べてについて、収り代かめるような位置に、工作9Jを
設置しなければならない。第1凶の例では、基準線3の
径、又rまそれと同芯の円の径に刀ロエしようとしてい
る。そのためには基準a3の中心とテーブル10回転中
心を一致させなければならない。
Generally, large-sized processed parts are often welded structures or cast products. Therefore, the surface shape of the processed part has irregular irregularities as shown in FIG. In order to process the workpiece to the desired dimensions, the workpiece 9J must be placed in a position that will accommodate all the objects that are to be cut on the table 1. In the first example, we are trying to use the sword to the diameter of the reference line 3, or the diameter of a circle that is concentric with the reference line 3. For this purpose, the center of the reference a3 and the rotation center of the table 10 must be aligned.

第1図において、テーブル1を回転したとき、テーブル
1の外の静止したところから基準線3を真上から見たと
き、基準線3の中心Qwとテーブル1の回転中心Oとが
一致していれば、基準線31よ、法線方向にVi変化せ
ず、逆に、上記のOwと回転中心0が一致していなけれ
ば、基準線3は法線方向に父化する。本実施例では、こ
の基準線3が萩野に入る様な適当な位置にテレビカメラ
8をテーブル外に設置固定し、テーブルを回転する。
In Fig. 1, when the table 1 is rotated and the reference line 3 is viewed from directly above from a stationary place outside the table 1, the center Qw of the reference line 3 and the rotation center O of the table 1 are aligned. If so, the reference line 31 does not change Vi in the normal direction, and conversely, if the above Ow and the rotation center 0 do not coincide, the reference line 3 changes in the normal direction. In this embodiment, the television camera 8 is installed and fixed outside the table at an appropriate position such that the reference line 3 enters the Hagino field, and the table is rotated.

テレビカメラは視野11でかこまれた部分の画像を得る
。視野ll内の法線tと基準線3の交点と視野11の一
方の端からの距離dが、一定となったとき、基準線3の
中心Owとテーブル1の回転中心Oが一致したことにな
る。上記のQwと0が一致していないと゛きは、テーブ
ルとともに回転する座標X−Yのxiと、静止した座標
X軸とのなす角θと、上記距離dとの関係は、第4図に
示すような周期関数となる。不実1例ではテレビカメラ
8でとらえた画像信号を画像処理装置9へ伝送する。画
像処理装置9では、基準線3とその同曲の明度差から、
基準73ft見つけ出し、距離dl求めて演算装置6に
伝送する。演算装置6は、上記距離dと、上記テレビカ
メラ8が画像をとらえた時のテーブル1のX軸と静止し
た座標X軸との角度θを回転角検出器7からとりこみ、
順序よく対応させてテーブル−回転分記憶する。その後
、演算装置6は、記憶したデータから第4図におけるd
の最大値と最小値を見つけ、それらの平均線りを求め、
前記平均4Lと各ジヤツキ4.4’。
The television camera obtains an image of the area surrounded by the field of view 11. When the distance d from the intersection of the normal t and the reference line 3 in the visual field ll and one end of the visual field 11 becomes constant, the center Ow of the reference line 3 and the rotation center O of the table 1 coincide. Become. If the above Qw and 0 do not match, the relationship between the angle θ formed by the xi of the coordinate X-Y that rotates with the table and the stationary coordinate X-axis, and the above distance d is shown in Figure 4. It becomes a periodic function like this. In a false example, an image signal captured by a television camera 8 is transmitted to an image processing device 9. In the image processing device 9, based on the brightness difference between the reference line 3 and the same song,
The reference 73ft is found, the distance dl is determined, and the distance dl is transmitted to the arithmetic unit 6. The calculation device 6 receives the distance d and the angle θ between the X axis of the table 1 and the stationary coordinate X axis when the television camera 8 captures the image from the rotation angle detector 7,
Table rotations are stored in orderly correspondence. Thereafter, the arithmetic unit 6 calculates d in FIG. 4 from the stored data.
Find the maximum and minimum values of and find their average line,
The average 4L and each jack 4.4'.

4// 、 4/l/が法諜tを通過したときの上記各
距離dと、平均線りの距離1との差’I  * d2 
e d3sd4を求め、ジヤツキ制御装置10へ、上記
型dr  、 d2 、 ds 、 d4 ′t−伝送
する。ンヤツキ制@裟直は谷ジヤツキを谷々dl + 
d2 + d3 +d4だけ移動するように制御する。
The difference between each of the above distances d when 4//, 4/l/ passes through t and the distance 1 of the average line 'I * d2
e d3sd4 is determined and transmitted to the jack control device 10 in the above-mentioned form dr, d2, ds, d4't-. Nyatsuki system @ Nao is Tani Jyatsuki Tani dl +
It is controlled to move by d2 + d3 + d4.

以上により、工作物2につけらnた基準線3の中心OW
はテーブル1の回転中心0に近づく。上=i4作τくり
〃・えすことによシ、上記中心Owi’[、回転中心O
に収束していき、偏差が許容値以下となったところで芯
出しが完了する。
As a result of the above, the center OW of the reference line 3 attached to the workpiece 2
approaches the rotation center 0 of the table 1. Top = i4 work τkuri〃・Esutoyoshi, above center Owi'[, center of rotation O
The centering is completed when the deviation is below the allowable value.

同、本実施例μ立型施盤における芯出しについて述べた
が、直祿的に移動して刀ロエする水平ボーリングマシン
や、プレー二/グアンドミーリングマシン号にも同体の
原理で芯出しがOTI]l:でめり、立l施盤において
、テーブル回転軸に対し直角な面における芯出しにおい
てもoT能である。
In the same, we have described the centering of the μ vertical drilling machine in this example, but the centering is OTI based on the same principle in the horizontal boring machine that moves in a straight direction and performs cutting, and in the Plei/Guand milling machine. ]l: For vertical and vertical machining lathes, OT is also effective for centering in a plane perpendicular to the table rotation axis.

父、本実施νりでは、第2図において、垂直方向、水平
方向に取りつけら扛た2台のテレビカメラを用いている
が、反射g!、i45°l’lりつけたり、取り除くこ
とよりテレビカメラ1台でも垂直方向、水1方向の両方
向tテレビの祇シつけの方向を変えることなく基準線3
および3′全とらえることができる。
In this implementation, we use two television cameras mounted vertically and horizontally in Figure 2, but the reflection g! , i45°l'l Rather than attaching or removing a single TV camera, it can be used both vertically and horizontally, without changing the direction of mounting the TV.
and 3' all can be captured.

本発明によれば、工作物につけら扛た基準線を1面像検
出装置によって横出しこの基準+W’にもって工作gJ
を工作機械の基準に一致させるため、工作物表面が不規
則な而であっても迅速、かつ、精度よ〈訓差賞を慎出し
段取り姿行うことができる。
According to the present invention, the reference line drawn on the workpiece is horizontally drawn out by the one-plane image detection device, and the workpiece gJ is
In order to match the standard of the machine tool, even if the surface of the workpiece is irregular, it is possible to carry out the setup quickly and accurately.

【図面の簡単な説明】[Brief explanation of drawings]

第1図は、本発明の一犬施yllの芯出し方法を説明す
る概念図、゛第2凶は本発明の一芙厖例の屑成を示すm
ll面図、第3図は本発明?使用しうる工作粉のーνり
を示す斜視図、第4図は、本発明の一芙鵬タリの、テー
ブル回転角と画像から傅らnた基準線の変化差を表わす
グラフである。
FIG. 1 is a conceptual diagram illustrating the method for centering a one-dog machine according to the present invention.
Is the ll side view and Figure 3 the invention? FIG. 4, which is a perspective view showing the temperature of usable machining powder, is a graph showing the difference in change between the table rotation angle and the reference line obtained from the image in one embodiment of the present invention.

Claims (1)

【特許請求の範囲】[Claims] 1、工作物を設置するテーブル上に固定され、前記工作
物を指令によって駆動可能なジヤツキを備えた工作機械
において、前記工作物にあらかじめ設けられた基準−を
検出する画像検出装置と、この画像検出装置からの画像
情報よシ画像内の前記基準線の位Aを検出する画像処理
装置と、前記画像検出装置と工作物の相対移動量を検出
する移動量検出装置および、前記画像処理装置からの前
記基準線の位置と、前記移動量検出装置からの前記工作
物と前記画像検出装置との相対移動量から、前記工作機
械と前記工作物の偏差量を演算する演算装置、および、
前記駆動可能なジヤツキの移動量を制御する制御装置を
備えたことを特徴とする大型工作物の自動芯出し装置。
1. In a machine tool equipped with a jack that is fixed on a table on which a workpiece is installed and that can drive the workpiece in response to a command, an image detection device that detects a reference previously set on the workpiece; an image processing device that detects the position A of the reference line in the image based on image information from the detection device; a movement amount detection device that detects the amount of relative movement between the image detection device and the workpiece; and from the image processing device. a calculation device that calculates a deviation amount between the machine tool and the workpiece from the position of the reference line and the relative movement amount between the workpiece and the image detection device from the movement amount detection device;
An automatic centering device for a large workpiece, comprising a control device for controlling the amount of movement of the drivable jack.
JP15219981A 1981-09-28 1981-09-28 Automatic centering device for larger works Pending JPS5856758A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP15219981A JPS5856758A (en) 1981-09-28 1981-09-28 Automatic centering device for larger works

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP15219981A JPS5856758A (en) 1981-09-28 1981-09-28 Automatic centering device for larger works

Publications (1)

Publication Number Publication Date
JPS5856758A true JPS5856758A (en) 1983-04-04

Family

ID=15535218

Family Applications (1)

Application Number Title Priority Date Filing Date
JP15219981A Pending JPS5856758A (en) 1981-09-28 1981-09-28 Automatic centering device for larger works

Country Status (1)

Country Link
JP (1) JPS5856758A (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62192846U (en) * 1986-05-28 1987-12-08
JPS62192847U (en) * 1986-05-28 1987-12-08
JPS63180445A (en) * 1987-01-19 1988-07-25 Nec Corp Centering device for working optical cable terminal
JPH04105885A (en) * 1990-08-27 1992-04-07 Mitsutoyo Corp Simple type fine positioning mechanism and method thereof
US5319567A (en) * 1992-11-23 1994-06-07 Ford Motor Company Non-contact method of obtaining dimensional information about a reference feature of an object
US5384717A (en) * 1992-11-23 1995-01-24 Ford Motor Company Non-contact method of obtaining dimensional information about an object
FR2716329A1 (en) * 1994-02-15 1995-08-18 Mitsui Mining & Smelting Co Copper foil for PCB and its process
US5638301A (en) * 1994-06-02 1997-06-10 Ford Motor Company Method and system for inspecting die sets using free-form inspection techniques
WO2001001073A1 (en) * 1999-06-26 2001-01-04 Bae Systems Plc Apparatus and method for determining the position and orientation of a first axis of a part relative to a known frame of reference
US7651783B2 (en) 2001-10-30 2010-01-26 Nikko Materials Co., Ltd. Surface treated copper film
CN109648149A (en) * 2018-12-18 2019-04-19 中国航发哈尔滨轴承有限公司 One kind makes retainer lock claw thickness process consistent device and method

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62192846U (en) * 1986-05-28 1987-12-08
JPS62192847U (en) * 1986-05-28 1987-12-08
JPS63180445A (en) * 1987-01-19 1988-07-25 Nec Corp Centering device for working optical cable terminal
JPH04105885A (en) * 1990-08-27 1992-04-07 Mitsutoyo Corp Simple type fine positioning mechanism and method thereof
US5319567A (en) * 1992-11-23 1994-06-07 Ford Motor Company Non-contact method of obtaining dimensional information about a reference feature of an object
US5384717A (en) * 1992-11-23 1995-01-24 Ford Motor Company Non-contact method of obtaining dimensional information about an object
FR2716329A1 (en) * 1994-02-15 1995-08-18 Mitsui Mining & Smelting Co Copper foil for PCB and its process
US5638301A (en) * 1994-06-02 1997-06-10 Ford Motor Company Method and system for inspecting die sets using free-form inspection techniques
WO2001001073A1 (en) * 1999-06-26 2001-01-04 Bae Systems Plc Apparatus and method for determining the position and orientation of a first axis of a part relative to a known frame of reference
US7651783B2 (en) 2001-10-30 2010-01-26 Nikko Materials Co., Ltd. Surface treated copper film
CN109648149A (en) * 2018-12-18 2019-04-19 中国航发哈尔滨轴承有限公司 One kind makes retainer lock claw thickness process consistent device and method

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