KR20100090458A - Cnc machinery tool having vision system - Google Patents

Abstract

PURPOSE: A CNC(computer numerical control) machine tool with a vision system is provided to minimize machining error and process failure because an operator checks the arrangement of workpieces and the problem of process in real time. CONSTITUTION: A CNC machine tool with a vision system comprises a base, a vertical frame, multiple tables, multiple worktables(410), a head unit, a main controller, and a vision system. The vertical frame is vertically connected to the base. The tables are installed on the upper side of the base. A workpiece(420) is mounted on the worktable. The head unit comprises multiple spindles and a machining tool. The main controller controls the head unit, the table, and the worktable. Multiple camera parts of the vision system are vertically installed in a Z-axis supporter.

Description

CNC Machinery tool having vision system

The present invention relates to a CNC machine tool equipped with a vision system, and more particularly, to a vision system that makes it easier and more precise to work with a vision system provided separately for a series of processes for cutting a workpiece. It relates to a CNC machine tool.

CNC (computer numerical control) is applied to various fields of machinery. Especially, NC machine tools are widely used to be competitive in cost reduction and productivity improvement. Automated conveying devices that carry workpieces and tools to multiple CNC machine tools, and factory automation, which manages them with computers by connecting them to automated warehouses and robots, are also rapidly spreading.

However, in the related art, in order to perform the table transfer, X, Y, and Z axis feed handles corresponding to driving ranges of left, right, up and down, front and rear are basically provided, and the X, Y, and Z axes are moved. Each servomotor is provided to transport the workpiece to the desired position.

However, in the case of cutting by manually or manually operating the transfer handle as described above, since the operator directly manipulates the transfer handle while visually confirming the machined part of the workpiece, simple cutting operation is possible, but the oblique machining and the circular shape are complicated. Machining, etc., was cumbersome and deteriorated in precision, which prevented efficient cutting.

Accordingly, in recent years, an operation panel for inputting various programs or setting cutting conditions is separately provided, and a complicated milling process can be automatically performed by the spread of CNC machine tools that control a cutting process through a computer.

That is, as shown in Figure 1, the CNC machine tool is provided with a tool (tool) is provided with a machining tool and the like for machining the workpiece, the frame 14 having a base 12; Shanghai conveying member 16 is installed to be upright with respect to the base 12 is installed to reciprocate in the Z-axis direction (up and down); Table member 18 which is installed to reciprocate in the X-axis direction (left and right) with respect to the upper surface of the shanghai conveying member (16); A front and rear transfer member 20 installed in the frame 14 to reciprocate in the Y-axis direction (front and rear) that intersects the sliding direction of the table member 18; A key input unit 32 for inputting various data set values required for machining a workpiece on the side surface of the main body; An operation panel provided with a function control panel 34 for executing driving operations required for cutting operations such as the rotational speed of the machining tool, the feed direction of the work table, and the feedrate and the X, Y, and Z axes, respectively. 30), the operator automatically moves the work table in the X-, Y-, and Z-axis directions through various button operations of the operation panel 30, and sets the rotational speed of the machining tool to perform the cutting process. It was done automatically.

At this time, the operator confirmed the position of the workpiece to be worked by referring to the coordinate values of the axis appearing in the CRT 36 when the work table is transferred in the X-axis, Y-axis, and Z-axis directions according to the servomotor driving.

In other words, the CNC (Computer Numerical Control) machine tool is a machine tool capable of performing plane cutting, curved cutting, cutting various grooves as well as cutting of screws, gears, cams, etc. using a machining tool having a rotating blade tip. In order to perform vertical and horizontal milling and parallel, side and slope machining of the workpiece, the workpiece is processed by adjusting the feed of the table having the driving range up, down, front, back, left and right.

However, in the conventional machine tool as described above, as shown in FIG. 2, the PC parts for controlling the signal and applying the signal to the workpiece process supplied from the continuous feed part were to be provided, respectively, in a single table. . As a result, control difficulties and space constraints due to the installation have been accompanied in many tables and many CNC milling operations.

In addition, problems such as machining error and process defect have occurred due to the difficulty of realizing a precision control system equipped with a vision camera.

SUMMARY OF THE INVENTION An object of the present invention for solving the above-described problems is to set / control cutting conditions such as the feed rate, coordinate values, etc. of a work table for each of X, Y, and Z axes during cutting through a CNC machine tool. The present invention provides a CNC machine tool for improving installation space efficiency and work efficiency by allowing a remote control of multiple work tables and work processes while providing a single number of PC units having a control unit.

In addition, by applying a vision system equipped with a vision camera has another object to minimize the processing error and process defects by allowing the operator to identify the workpiece in real time, such as the alignment and correction of the workpiece, problems in the machining process.

In addition, another object is to reduce an error portion that may occur when an operator loads a workpiece into a jig and to shorten the loading time.

In order to solve the conventional problems and to achieve the technical problem, the machine tool of the computer numerical control (CNC) method according to the present invention includes an X-axis to cut a workpiece seated on a work table according to a preset coordinate input value. A computer numerical control (CNC) type machine tool provided with an operation panel for automatically feeding in the Y-axis and Z-axis directions, comprising: a base; A plurality of work benches provided on the base and the workpieces to be processed placed therein to perform a planar motion on the base; A head part provided in the base and equipped with a plurality of spindles and processing tools for processing the workpiece; A main controller part provided at one side of the base to control the head part, the spindle, and the work table; And a vision system including a plurality of camera units installed in a vertical direction on the Z-axis support to recognize a workpiece alignment position placed on the workbench and a shape before processing. Multiple signal and sensor operations for alignment and shape recognition of the workpiece are controlled from a single PC unit.

Here, the PC unit is characterized in that configured in the control panel unit or the main controller unit provided on one side of the base.

The vision system may include a vision camera; A PC unit including an image processing unit for processing the captured image, a signal controller for controlling a plurality of sensor input signals and an output signal of an actuator, and a motion controller for controlling a plurality of servo motor operations; In / Out module for providing to the PC unit via a plurality of input and output signals; And a PLC for electricity supply and transmission data processing in association with the module.

In this case, the vision camera is characterized by using a CCD or CMOS image sensor.

On the other hand, the vision system is characterized by using a pattern recognition method through template matching (Template matching).

At this time, the image extraction for the pattern recognition is characterized by performing the contour and edge extraction after alignment by recognizing the center of the template and the workpiece.

And, when the workpiece is a rectangular shape during the contour extraction or edge extraction characterized in that the correction through the inclination angle measurement.

In addition, the motion control unit and the PLC, the sensor recognition signal and the drive signal transmission is characterized by using a wireless communication using a serial communication method.

As described above, in the milling process using the machine tool according to the present invention, the cutting conditions such as the feed rate, coordinate values, and the like of the work table for the X, Y, and Z axes are respectively set during cutting through the CNC machine tool. It is possible to improve the installation space efficiency and work efficiency by allowing the remote control of multiple work tables and work processes while providing a single number of PCs with a control unit that can be controlled.

In addition, by applying a vision system equipped with a vision camera to enable the operator in real time to identify the workpiece alignment and correction, processing problems, etc. has the effect of minimizing the processing error and process defects.

In addition, it is possible to reduce the error portion that may occur when the operator loads the workpiece into the jig, and to shorten the loading time.

Hereinafter, a preferred embodiment of a CNC machine tool using a vision system according to the present invention with reference to the accompanying drawings will be described in detail.

3 is a schematic configuration diagram of a CNC machine tool according to the present invention, FIG. 4 is a side view of a CNC machine tool according to the present invention, FIG. 5 is a front view of a CNC machine tool according to the present invention, and FIG. 6 is hardware of a vision system according to the present invention. 7 is a view illustrating a vision system according to the present invention, FIG. 8 is a view illustrating pattern recognition in a vision system according to the present invention, FIG. 9 is a view illustrating a pattern image in a vision system according to the present invention, and FIG. This is a pattern recognition process diagram of vision system.

As shown, the configuration of the machine tool 100 according to the present invention is operated to automatically feed in the X-axis, Y-axis, Z-axis direction to cut the workpiece seated on the work table in accordance with a preset coordinate input value In the CNC machine tool provided with a panel, a vertical frame which is connected to the base 510 which is a horizontal frame and perpendicular to the base 510 to serve as a structural backbone of the machine tool 100. It is provided with a frame 520, the base 510 is provided on the upper surface to form a plurality of table members 415 capable of vertical and forward transfer operation.

The work piece 420 is placed on the upper surface of the table member 415 and is provided with a work table 410 capable of horizontal movement in the X axis, and is vertically spaced apart from the work table 410, and the work piece 420 is processed. And a head portion 270 on which a plurality of spindles 250 and a processing tool 260 are mounted to perform the operation. The head portion is provided on one side of the base 510 or inside the machine tool 100. A main controller unit for controlling the member 415 and the work table 410 is configured.

The base 510 and the frame 520 form a spindle unit, and the spindle 250 and the processing tool 260 rotate during processing, and the table member 415 is formed on the workpiece table. It is preferable to mount the 420 so that each table 415 can be individually moved forward or backward by a lower driving device.

More preferably, it is possible to install and control the motor to achieve a cross feed unit when driving the X-axis and Y-axis.

In addition, the table member 415 facilitates movement and adsorption of a driving member such as a piston using the pneumatic device 630 installed to maintain a vacuum state.

The main control unit applies a control signal and a command signal to the device driving device and the driving device of each member. To this end, the main controller unit is formed of a keypad for setting an execution command and a display showing the numerical control information of the setting contents or the figure to the user. The main controller unit is usually mounted on the control panel 600 having a plurality of circuits and software, and the control panel 600 is composed of a CRT, a key input unit, and a function control panel.

In this case, it may be possible to control the respective axes for each of the x-axis / y-axis / z-axis, and it is preferable to construct a system to enable the control at the same time.

In addition, the main controller unit applies an execution command and a control signal to the driving device of the device and the swinging device of each member. That is, information of a design designed by CAD / CAM is converted into a numerical control language, and a table member 415 and a robot member (not shown) execution command are set and transmitted according to operation. In this case, the table member 415 and the robot member command are executed by the transfer member mounted with the motor on the worktable 410 by placing the component that is the workpiece 420 on the work table 410.

At this time, the drawing to be processed by the CAD / CAM program of the computer connected to the main controller is drawn, and the technology for transferring the drawing to the main controller is obvious, so a detailed description thereof will be omitted.

In addition, the vision system includes a plurality of cameras 300 installed in the vertical direction on the Z-axis support 530 in order to recognize the workpiece position 420 placed in the work table 410 alignment position and the shape before processing. In this case, a plurality of signal and sensor operations for alignment and shape recognition for the plurality of workpieces 420 placed on the plurality of worktables 410 are configured to be controlled by a single PC unit 310. This is preferred.

Furthermore, it is also possible to build a system that connects and controls several CNC machine tools to one PC unit 310. In this case, it improves workability and productivity and combines them to operate as a single CNC machine tool group. You need a computer that can control and manage the software and software for the DNC.

Here, in the existing single table configuration, other machine tools except for the part configured to control the problem of having to configure the PC unit 310 constituting the controller unit for each work table separately for each work table in a single table configuration ( 100) The configuration and operation are the same, detailed description of the configuration of other machine tools will be omitted.

Next, a vision system including the vision camera 300 will be described in detail.

In this case, the image measurement is roughly divided in three ways.

Edge measurement is the measurement of part edges, which generally employs a bottom edge light source, which can be used as an auxiliary light by adding surface light if necessary. The edge of the workpiece is sharpened to facilitate the measurement.

Surface measurement is a major function of image measurement. The size of any object surface figure that can be seen can be measured almost entirely by image-measuring instruments under surface light illumination. For example, if a measuring object is black plastic or rubber, such as the size of a circuit foil on a circuit board or an IC circuit, the image measuring device can easily measure the size.

The Z-axis measurement allows the image measuring device to make Z-axis measurements when an objective lens is added and the target is sufficiently aimed to determine the precision. For example, it is desirable to measure the stair height of a part, the degree of depth of a dark hole, and to use surface light illumination for the measurement.

In addition, the machine vision system refers to executing a computer vision process after image acquisition through a contactless sensing mechanism. To this end, image acquisition using a camera equipped with a CCD or CMOS image sensor, image processing using a PC or a DSP board, and image analysis with visual pseudo judgment criteria are required.

The PC 310 includes an image processor 311, an input / output controller 312, and an operation controller 313. The image processor 311 processes an image acquired from a CCD or CMOS camera, and input / output controller ( 312 is connected to the input operation of the sensor and the output operation of the motor, the operation control unit 313 is connected to the step servo motor 316 and PLC 360, a robot, a touch panel. In this case, the operation controller 313 generally uses the wireless serial communication 210, and the PC unit 310 may be connected to an external network.

The hardware configuration of the vision system, in general, the CNC type non-contact image measuring device should be equipped with a high resolution CCD camera 350, a continuous magnification change objective lens, a monitor, data measurement software, a motor motion controller and the like. In this case, a 2D survey may be used, and a 3D auxiliary survey may be performed. This system is widely applicable to various precision processing industries such as electronic parts, precision molds, out-of-processing, camera parts, mobile phone parts, etc., and the electric type uses X, Y, Z axis linear motor driving method. Read and analyze the data. The workpiece is placed on a workbench, immobilized and driven by a linear bearing through a motor.

6 shows a hardware configuration of a vision system according to the present invention. Camera 300 equipped with a CCD or CMOS image sensor, Vision controller 310 and monitor unit 320 for processing the captured image, In / Out terminal 350 for mediating the sensor and motor signal input and output operations and associated with It is configured to include a PLC 360.

Here, the zoom lens zoom range is ~, and the total image frequency ratio is preferably configured to be.

Here, the color CCD camera 300 converts an image obtained from the zoom lens into an electronic signal and transmits it to the color monitor through the terminal again. The color monitor 320 converts the image signal transmitted from the CCD camera 300 into TV graphics. At this time, it is preferable to adopt an LED light source 305 that can adjust the brightness to give a lighting effect when photographing the camera to enable more accurate image recognition.

In the vision system according to the present invention, image recognition uses a pattern recognition process through template matching, where template matching is performed in the image to be inspected by using a predetermined template image when the image to be inspected is given. By finding a similar image pattern in, the template is a model image.

In this case, the template image is superimposed on the image to be inspected. A small template is superimposed on the starting point at the top left of the image, and the overlapped portion of the image to be inspected and the template image are compared with each other. Can be. After saving the calculated comparison reference, move the template one pixel to the left. Then, the overlapping part of the test image and the template image are compared.

In the template matching, an image processing process application using an external contour feature of a workpiece is possible, where the contour is a line element that characterizes the image, and contour extraction, also called edge extraction, extracts a feature object through an extracted contour, area or The circumference may be measured, or two image corresponding points may be obtained and compared.

FIG. 8 illustrates various types of shape and position alignment errors in workpiece alignment in such template matching. That is, when the workpiece has a rectangular shape such as a mobile phone label, it is possible to recognize the twisted error angle and shape error according to the edge extraction according to the captured image coordinate point to enable tracking.

9 is a simplified illustration of a vision system process according to the present invention. Referring to this, the workpiece is placed on the workbench and the camera is turned on (S500). Subsequently, the workpiece image is captured and captured (S510). Next, the image characteristic information is extracted (S520), and the captured capture area is tracked (S530). Finally, the determination of the template matching (S540) is executed, if the match is completed, the alignment process is completed (S550), if there is a mismatch to track the capture area again.

10 illustrates a shape of a workpiece photographed as an example. As shown in the drawing, the error is corrected and corrected according to the diameter and the input parameter of the center axis of the x-axis and the y-axis.

Hereinafter, a brief description of the CNC machine tool operation method applying the vision system according to the present invention.

First, the workpiece 420 is mounted on the table member 415 horizontally maintained.

Subsequently, the tools 250 and 260 to be used at the time of processing the workpiece 420 are placed on the tool tool.

Subsequently, drawing CAD / CAM data from a computer PC and defining the drawing information of the shape to be processed in the workpiece 420, that is, elements for figures such as points, straight lines, circles, arcs, and splines, The defined figure is formed into a two-dimensional or three-dimensional figure and transmitted to each driving device and the driving member from the main controller 600 converted into a numerical control (NC) language together with the tool number to be processed.

Subsequently, the machining tool is picked and transferred by a robot member separately provided according to a command signal applied from the main controller roller 600.

Subsequently, the spindle unit stops at a predetermined distance from the vertical upper portion of the robot member.

Subsequently, after the electromagnet ON and high pressure air are sucked into the spindle 250 to prepare for processing, the spindle unit is moved according to the value transmitted by the main controller, and the spindle and the processing tool are rotated to process the workpiece 420. .

When the machining process for the workpiece 420 is completed as described above, the new workpiece 420 is supplied from the feeder unit linked to one side of the worktable 410, and the milling process is repeated.

Among the above processes, the vision system according to the present invention is mainly used in the workpiece alignment process after the workpiece is loaded. This is to increase the milling accuracy. However, it can of course be used as a monitoring system during workpiece machining with spindles and machining tools.

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto and is intended by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.

1 is a perspective view of a conventional general CNC machine tool

2 is a general configuration diagram of a conventional CNC machine tool

3 is a schematic configuration diagram of a CNC machine tool according to the present invention;

4 is a side view of a CNC machine tool according to the present invention;

5 is a front view of a CNC machine tool according to the present invention

6 is a hardware configuration diagram of a vision system according to the present invention

7 is a schematic diagram of a vision system according to the present invention

8 is an exemplary view of pattern recognition in a vision system according to the present invention.

9 is a diagram illustrating a pattern image in a vision system according to the present invention.

10 is a pattern recognition process diagram of a vision system according to the present invention

*** Description of the main parts of the drawing ***

100: CNC machine tool 250: spindle

260: processing tool 300: camera

305: lighting device 310: PC

320: monitor 350: in / out module

360: PLC 410: Workbench

415: table member 420: workpiece

510: base 520: vertical frame

600: control panel 630: pneumatic device

Claims (8)

Computer numerical control (CNC) type machine tool provided with a control panel for automatically feeding the X-, Y-, and Z-axes to cut the workpiece seated on the work table according to preset coordinate input values. To A base which is a horizontal frame; A vertical frame connected to the base in a vertical direction and responsible for the structural backbone of the machine tool; A plurality of tables provided on an upper surface of the base and capable of vertically and horizontally transferring movement; A plurality of work benches installed on the table and configured to have a workpiece to be processed to perform horizontal movement in the X-axis plane; A head portion provided vertically spaced from the work table and equipped with a plurality of spindles and processing tools for processing the workpiece; A main controller part provided at one side of the base to control the head part, a table, and a work table; And And a vision system including a plurality of cameras installed in a vertical direction on the Z-axis support in order to recognize a workpiece alignment position placed on the work table and a shape before processing. CNC machine tool with a vision system, characterized in that the control of multiple signals and sensors for the alignment and shape recognition for the plurality of workpieces placed on the plurality of workbench in a single PC unit The method of claim 1, The PC unit CNC machine tool having a vision system, characterized in that configured in the control panel unit or the main controller unit provided on one side of the base The method according to claim 1 or 2, The vision system, A vision camera; A PC unit including an image processing unit for processing the captured image, a signal controller for controlling a plurality of sensor input signals and an output signal of an actuator, and a motion controller for controlling a plurality of servo motor operations; In / Out module for providing to the PC unit via a plurality of input and output signals; And CNC machine tool with a vision system, characterized in that consisting of; PLC for the electrical supply and transmission data processing in connection with the module The method of claim 3, wherein The vision camera is a CNC machine tool with a vision system, characterized in that it uses a CCD or CMOS image sensor. The method of claim 4, wherein The vision system is a CNC machine tool having a vision system, characterized in that it uses a pattern recognition method through template matching. The method of claim 5, The image extraction for pattern recognition is performed by using a contour system or edge extraction after alignment by recognizing the center of the template and the workpiece. The method of claim 6, CNC machine tool with a vision system, characterized in that for correcting by measuring the inclined angle when the workpiece is a rectangular shape during the contour extraction or edge extraction The method of claim 3, wherein The motion control unit and the PLC, the sensor recognition signal and the drive signal transmission is a CNC machine tool with a vision system, characterized in that using a wireless communication using a serial communication method

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