WO2015104945A1 - Device for detecting tool breakage in machine tool - Google Patents

Device for detecting tool breakage in machine tool Download PDF

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Publication number
WO2015104945A1
WO2015104945A1 PCT/JP2014/082778 JP2014082778W WO2015104945A1 WO 2015104945 A1 WO2015104945 A1 WO 2015104945A1 JP 2014082778 W JP2014082778 W JP 2014082778W WO 2015104945 A1 WO2015104945 A1 WO 2015104945A1
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Prior art keywords
tool
breakage
image
magazine
imaging
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PCT/JP2014/082778
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French (fr)
Japanese (ja)
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佑介 谷澤
山本　英明
浩史 大石
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三菱重工業株式会社
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Publication of WO2015104945A1 publication Critical patent/WO2015104945A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
    • B23Q17/2452—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces
    • B23Q17/2457—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces of tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
    • B23Q17/0904—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool before or after machining
    • B23Q17/0909—Detection of broken tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/15513—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
    • B23Q3/1572—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means
    • B23Q3/15722—Rotary discs or drums
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B23Q2003/155404—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper
    • B23Q2003/155407—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper linearly movable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
    • B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable

Definitions

  • the present invention relates to a tool breakage detection device for a machine tool, and more particularly to a technique for detecting tool breakage in a machine tool having a tool magazine and an automatic tool changer.
  • a standby unit for holding a tool for standby is provided between the spindle and the tool magazine, and a tool changer is arranged between the spindle and the standby unit.
  • a tool transfer device is provided between the standby unit and the tool magazine, and a tool breakage detection device is provided at a position corresponding to the linear movement region among the movement regions where the tool moves by the tool transfer device. It is well known that a breakage of a tool is detected by an optical sensor or a contact while the tool is moving in a linear movement region by a delivery device (see, for example, Patent Document 1 below).
  • the conventional machine tool described above detects breakage of a tool with an optical sensor
  • the breakage is detected depending on whether the detection light emitted from the light emitting element of the optical sensor is blocked by the tip of the tool. It is necessary to move the moving body that supports the optical sensor by the moving motor according to the tool length in the absence of the tool. In short, to adjust the position of the optical sensor according to the tool to be inspected, In addition to the transport apparatus provided in the apparatus, a separate transport apparatus for transporting the optical sensor is required, and there is a problem that the number of objects to be maintained increases.
  • an object of the present invention is to provide a tool breakage detection device for a machine tool that can suppress an increase in maintenance management and can detect a breakage of a tool efficiently in a short time.
  • a tool breakage detection device for a machine tool comprising: a spindle, a tool magazine capable of storing a plurality of tools, and an automatic tool changer that automatically changes a tool between the spindle and the tool magazine.
  • An image recognition device comprising: an imaging unit that images a tool conveyed by the automatic tool changer; and an image processing unit that analyzes an image obtained by imaging the tool by the imaging unit;
  • the imaging means images the unprocessed tool transferred from the tool magazine to the spindle by the automatic tool changer and the processed tool transferred from the spindle to the tool magazine by the automatic tool changer.
  • the image processing means detects breakage of the tool by comparing the image of the tool before processing and the image of the tool after processing.
  • a tool breakage detecting device for a machine tool according to a second invention is a tool breakage detecting device for a machine tool according to the first invention.
  • Illuminating means for illuminating a tool conveyed by the automatic tool changer is provided.
  • a tool breakage detecting device for a machine tool according to a third invention is a tool breakage detecting device for a machine tool according to the second invention,
  • the imaging means images the tool from above the tool,
  • the illumination means illuminates the tool from below the tool.
  • the tool breakage detection device for a machine tool according to the fourth invention is a tool breakage detection device for a machine tool according to the second or third invention,
  • the imaging means and the illumination means are arranged at a tool change standby position provided between the main shaft and the tool magazine.
  • FIG. 1 is a front view showing a machine tool according to an embodiment of the present invention.
  • 1 is a side view showing a machine tool according to an embodiment of the present invention.
  • FIG. 3A is an explanatory diagram showing an example of imaging a tool before machining
  • FIG. 3B is an explanatory diagram showing an example of imaging a tool after machining. It is explanatory drawing which shows an example of the breakage detection algorithm by the tool breakage detection apparatus of the machine tool which concerns on the Example of this invention. It is explanatory drawing which shows the example which installs two or more imaging devices.
  • FIGS. 1 and 2 An embodiment of a tool breakage detecting device for a machine tool according to the present invention will be described with reference to FIGS.
  • a column 12 is placed on a bed 11 that constitutes the base of the machine tool 1.
  • a spindle head 13 is supported on one side surface 12a of the column 12 so as to be slidable in the vertical direction (Z-axis direction).
  • a spindle 14 is rotatably supported on the spindle head 13, and a tool 15 is detachably supported on the spindle 14.
  • a tool magazine 16 is disposed on the other side surface 12b (side surface opposite to the side surface 12a) of the column 12.
  • a plurality of magazine pots 16a are arranged in an elliptical shape, and the magazine pot 16a is configured to be capable of circular movement along the elliptical path.
  • Each magazine pot 16a can be detachably inserted with different types of tools 15, for example.
  • an automatic tool changer 17 for automatically changing the tool 15 is disposed between the spindle 14 and the tool magazine 16.
  • the automatic tool changer 17 includes a tool gripping portion 17a that grips a tool, and a guide rail 17b that is supported by the column 12 and guides the tool gripping portion 17a in a slidable manner.
  • the tool gripping part 17a rotates and advances and retracts an arm (not shown) so that the tool 15 and the tool mounted on the spindle 14 positioned at a position for exchanging the tool 15 (hereinafter referred to as a tool exchanging position).
  • the tool 15 gripped by the gripping part 17a is configured to be attached / detached and exchanged at the same time, and the tool 15 inserted into the magazine pot 16a and the tool 15 gripped by the tool gripping part 17a are configured. And can be attached and detached simultaneously.
  • the guide rail 17b is arranged between the spindle 14 positioned at the tool change position and the tool magazine 16 so as to guide the tool gripping portion 17a between the spindle 14 positioned at the tool change position and the tool magazine 16. It extends in the horizontal direction along the 12 side surfaces.
  • a standby position where the tool gripping portion 17a waits until the magazine pot 16a in which the desired tool 15 is inserted is transported to the tool change position by the circular movement.
  • An image recognition device 19 and a lighting device 21 are disposed (hereinafter referred to as a tool change standby position).
  • the image recognition device 19 includes an imaging device 19a and an image processing device 19b.
  • the imaging device 19a is imaging means such as a CCD camera, for example, and is supported by the column 12 via the imaging device support 20 above the guide rail 17b corresponding to the tool change standby position, and is gripped by the tool gripping portion 17a. The entire tool 15 positioned at the replacement standby position is imaged. An image obtained by imaging the tool 15 by the imaging device 19a is input to the image processing device 19b.
  • the illumination device 21 is supported by the column 12 via the illumination device support 22 below the guide rail 17b corresponding to the tool change standby position, and is held by the tool holding portion 17a and positioned at the tool change standby position. Do the whole lighting.
  • a table 23 is disposed in front of the column 12.
  • the machine tool breakage detecting apparatus configured as described above, first, when the tool 15 is transported from the tool magazine 16 to the spindle 14 by the automatic tool changer 17 before machining a workpiece (not shown). Then, the movement of the tool gripping portion 17a is temporarily stopped at the tool change standby position, and the silhouette of the entire tool 15 illuminated by the illumination device 21 is imaged by the imaging device 19a from below to obtain a pre-processing image.
  • the movement of the tool gripping portion 17a is once again stopped at the tool change standby position, and from below.
  • the silhouette of the entire tool 15 illuminated by the illumination device 21 is imaged by the imaging device 19a, and a processed image is acquired. That is, before the tool 15 is returned to the magazine pot 16a, an image is taken by the imaging device 19a.
  • the image processing device 19b binarizes the pre-processing image and the post-processing image based on preset threshold values to differentiate the tool 15 from the background.
  • a binary image before processing and a binarized image after processing are converted, and the binarized image before processing and the binarized image after processing are overlapped to obtain a difference between the two binarized images.
  • the difference between the two binarized images is compared with a breakage detection threshold set in advance to determine whether or not the tool 15 is broken. If the difference is equal to or greater than the breakage detection threshold, the tool 15 breaks. Judge that you are doing. On the other hand, if the difference is less than the breakage detection threshold, it is determined that the tool 15 is not broken.
  • the tool 15 after machining the workpiece is broken as shown in FIG. 3 (b) with respect to the tool 15 before machining the workpiece shown in FIG. 3 (a).
  • a pre-processing binarized image I B2 obtained by binarizing the pre-processing image I B1 obtained by imaging the pre-processing tool 15B
  • a post-processing image I A1 obtained by imaging the processed tool 15A.
  • the difference 24 surrounded by the broken line is equal to or greater than the breakage detection threshold, and breakage of the tool 15 is detected.
  • the positional relationship between the tool 15 and the imaging device 19a can be fixed in a non-contact manner, in other words, since the movement of the imaging device 19a is unnecessary, a conventional detection device using an optical sensor or a contactor The movable part such as a transfer device which is necessary in the above becomes unnecessary, and the number of objects to be maintained can be reduced as compared with the conventional case.
  • the image recognition device 19 is installed above the guide rail 17b and the light receiving portion is directed downward, it is possible to prevent stickers, dust, and the like from adhering to the light receiving portion of the image recognition device 19. it can. In addition, even if a small piece or the like adheres to the lighting device 21 installed below the guide rail 17b, the influence is small because it is smaller than the size of the breakage. Further, since the imaging device 19a performs imaging by illuminating the tool 15 to be imaged with a backlight by the illumination device 21, a bright and dark image can be obtained, and it is easy to use binarization. The tool shape can be recognized. Further, since the breakage of the tool 15 occurs in a size of approximately 10 to 20 [mm], it is suitable for quick detection by image recognition.
  • the relative position between the tool 15 and the image recognition device 19 is fixed at the time of imaging. A broken portion can be easily detected by simply superimposing an image obtained by capturing the tool 15.
  • the tool breakage detection device for machine tools is not limited to the above-described embodiments, and it goes without saying that various modifications can be made without departing from the spirit of the present invention.
  • a plurality of imaging devices two imaging devices 19a- 1, 19a-2 may be installed.
  • the present invention is suitable for application to a tool breakage detecting device for detecting tool breakage in a machine tool.
  • imaging device 11 bed 12 column 13 spindle head 14 spindle 15, 15A, 15B tool 16 tool magazine 16a magazine pot 17 automatic tool changer 17a tool gripping part 17b guide rail 19 image recognition device 19a imaging device 19b image processing device 20 imaging device support 21 Illuminating device 22 Illuminating device support 23 Table 24 Difference I A1 post-processing image I A2 post-processing binarized image I B1 pre-processing image I B2 pre-processing binarized image I superimposed image

Abstract

The purpose of the present invention is to provide a device for detecting tool breakage in a machine tool wherein the device makes it possible to efficiently detect tool breakage while also limiting increases in maintenance. A device for detecting tool breakage in a machine tool, which is equipped with a main shaft (14), a tool magazine (16) capable of holding multiple tools (15), and an automatic tool-exchanging device (17) for automatically exchanging tools (15) between the main shaft (14) and the tool magazine (16), is provided with an image recognition unit comprising: an imaging means (19a) for imaging a pre-processing tool (15) that is conveyed from the tool magazine (16) to the main shaft (14) by the automatic tool-exchanging device (17) and the post-processing tool (15) conveyed from the main shaft (14) to the tool magazine (16) by the automatic tool-exchanging device (17); and an image-processing means (19b) for detecting tool breakage by comparing the images of the pre-processing tool (15) and the post-processing tool (15) taken by the imaging means (19a).

Description

工作機械の工具折損検知装置Tool breakage detector for machine tools
　本発明は、工作機械の工具折損検知装置に関し、とくに工具マガジンと自動工具交換装置とを備えた工作機械において工具の折損の検知を行う技術に関する。 The present invention relates to a tool breakage detection device for a machine tool, and more particularly to a technique for detecting tool breakage in a machine tool having a tool magazine and an automatic tool changer.
　従来、主軸と工具マガジンとを備える工作機械において、主軸と工具マガジンとの間に工具交換のために工具が待機保持される待機部を設け、主軸と待機部との間に工具交換装置を配設し、待機部と工具マガジンとの間に工具受け渡し装置を配設するとともに、工具受け渡し装置により工具が移動する移動領域のうち、直線移動領域に対応する位置に工具折損検出装置を設け、工具受け渡し装置により工具が直線移動領域を移動する途中で、光センサまたは接触子により工具の折損を検出するようにしたものが公知となっている（例えば、下記特許文献１参照）。 Conventionally, in a machine tool including a spindle and a tool magazine, a standby unit for holding a tool for standby is provided between the spindle and the tool magazine, and a tool changer is arranged between the spindle and the standby unit. And a tool transfer device is provided between the standby unit and the tool magazine, and a tool breakage detection device is provided at a position corresponding to the linear movement region among the movement regions where the tool moves by the tool transfer device. It is well known that a breakage of a tool is detected by an optical sensor or a contact while the tool is moving in a linear movement region by a delivery device (see, for example, Patent Document 1 below).
特開２０００－２８０１３９号公報JP 2000-280139 A
　しかしながら、上述した従来の工作機械は、光センサにより工具の折損を検出する場合、光センサの発光素子から照射される検知光が工具の先端によって遮られるかどうかによって折損の検知を行うため、折損がない状態の工具長に合わせて光センサを支持する移動体を移動用モータによって移動させる必要がある、要するに、検査対象の工具に合わせて光センサの位置を調整するため、工具の自動交換用に設けられる搬送装置に加えて別途光センサを搬送するための搬送装置が必要であり、保守管理を行う対象が増加するという問題があった。 However, since the conventional machine tool described above detects breakage of a tool with an optical sensor, the breakage is detected depending on whether the detection light emitted from the light emitting element of the optical sensor is blocked by the tip of the tool. It is necessary to move the moving body that supports the optical sensor by the moving motor according to the tool length in the absence of the tool. In short, to adjust the position of the optical sensor according to the tool to be inspected, In addition to the transport apparatus provided in the apparatus, a separate transport apparatus for transporting the optical sensor is required, and there is a problem that the number of objects to be maintained increases.
　また、例えばタップ加工においては、下穴ドリル加工で工具の折損が生じ、下穴の加工が正常に終了していない場合、そのままタップ加工を実施すると工具が破損するおそれがあるため、次工程の加工は工具の折損検知を行ってから実施することとなる。しかしながら、上述した光センサにより工具の折損の検知を行う従来の方法では、光センサの位置調整に時間を要するため、生産効率が低下するおそれがあるという問題があった。これは、光センサの位置に合わせて工具を移動させる場合であっても同様である。
　また、光センサの位置調整を誤った場合、検知光が遮られずに工具が正常な状態であっても折損有りと誤判定してしまうおそれがあるという問題もあった。 Also, for example, in tapping, if a tool breaks during pilot hole drilling and the drilling of the pilot hole is not completed normally, the tool may be damaged if tapped as it is. Machining is performed after detecting breakage of the tool. However, in the conventional method of detecting breakage of a tool by the above-described optical sensor, there is a problem that the production efficiency may be lowered because it takes time to adjust the position of the optical sensor. This is the same even when the tool is moved in accordance with the position of the optical sensor.
In addition, when the position adjustment of the optical sensor is wrong, there is a problem that it may be erroneously determined that there is a break even if the tool is in a normal state without being blocked by the detection light.
　また、接触子により工具の折損を検知する場合、光センサを用いる場合と同様に、工具に接触子を接触させるための搬送装置が必要であり、保守管理を行う対象が増加するという問題、及び、上述したように折損の検知を次工程に移行する以前に行う必要があるのに対し、工具に接触子を接触させる際の速度には安全上の制限があるため工具の折損の検知に時間を要し、生産効率の低下を招くおそれがあるという問題があった。 In addition, when detecting breakage of a tool using a contactor, as in the case of using an optical sensor, a transport device for bringing the contactor into contact with the tool is necessary, and there is an increase in the number of targets for maintenance management, and As mentioned above, it is necessary to detect the breakage before moving to the next process, but the speed when the contact is brought into contact with the tool has a safety limit, so it takes time to detect the breakage of the tool. There is a problem that production efficiency may be reduced.
　このようなことから本発明は、保守管理の増大を抑制するとともに、短時間で効率よく工具の折損を検知することを可能とした工作機械の工具折損検知装置を提供することを目的とする。 Therefore, an object of the present invention is to provide a tool breakage detection device for a machine tool that can suppress an increase in maintenance management and can detect a breakage of a tool efficiently in a short time.
　上記の課題を解決するための第１の発明に係る工作機械の工具折損検知装置は、
　主軸と、複数の工具を収納可能な工具マガジンと、前記主軸と前記工具マガジンとの間で工具の交換を自動的に行う自動工具交換装置とを備えた工作機械の工具折損検知装置であって、
　前記自動工具交換装置によって搬送される工具を撮像する撮像手段と、前記撮像手段によって工具を撮像した画像を解析する画像処理手段と
を有する画像認識装置を備え、
　前記撮像手段は、前記自動工具交換装置によって前記工具マガジンから前記主軸へ搬送される加工前の工具と、前記自動工具交換装置によって前記主軸から前記工具マガジンへ搬送される加工後の工具とを撮像し、
　前記画像処理手段は、前記加工前の工具の画像と前記加工後の工具の画像との比較により工具の折損の検知を行う
ことを特徴とする。 A tool breakage detection device for a machine tool according to the first invention for solving the above-mentioned problem,
A tool breakage detection device for a machine tool, comprising: a spindle, a tool magazine capable of storing a plurality of tools, and an automatic tool changer that automatically changes a tool between the spindle and the tool magazine. ,
An image recognition device comprising: an imaging unit that images a tool conveyed by the automatic tool changer; and an image processing unit that analyzes an image obtained by imaging the tool by the imaging unit;
The imaging means images the unprocessed tool transferred from the tool magazine to the spindle by the automatic tool changer and the processed tool transferred from the spindle to the tool magazine by the automatic tool changer. And
The image processing means detects breakage of the tool by comparing the image of the tool before processing and the image of the tool after processing.
　また、第２の発明に係る工作機械の工具折損検知装置は、第１の発明に係る工作機械の工具折損検知装置において、
　前記自動工具交換装置によって搬送される工具を照明する照明手段を備える
ことを特徴とする。 A tool breakage detecting device for a machine tool according to a second invention is a tool breakage detecting device for a machine tool according to the first invention.
Illuminating means for illuminating a tool conveyed by the automatic tool changer is provided.
　また、第３の発明に係る工作機械の工具折損検知装置は、第２の発明に係る工作機械の工具折損検知装置において、
　前記撮像手段は前記工具を当該工具の上方から撮像し、
　前記照明手段は前記工具を当該工具の下方から照明する
ことを特徴とする。 A tool breakage detecting device for a machine tool according to a third invention is a tool breakage detecting device for a machine tool according to the second invention,
The imaging means images the tool from above the tool,
The illumination means illuminates the tool from below the tool.
　また、第４の発明に係る工作機械の工具折損検知装置は、第２又は第３の発明に係る工作機械の工具折損検知装置において、
　前記撮像手段および前記照明手段は、前記主軸と前記工具マガジンとの間に設けられた工具交換待機位置に配設される
ことを特徴とする。 Further, the tool breakage detection device for a machine tool according to the fourth invention is a tool breakage detection device for a machine tool according to the second or third invention,
The imaging means and the illumination means are arranged at a tool change standby position provided between the main shaft and the tool magazine.
　上述した本発明に係る工作機械の工具折損検知装置によれば、保守管理の増大を抑制するとともに、短時間で効率よく工具の折損を検知することができる。 According to the above-described tool breakage detection device for a machine tool according to the present invention, it is possible to suppress an increase in maintenance management and to detect a tool breakage efficiently in a short time.
本発明の実施例に係る工作機械を示す正面図である。1 is a front view showing a machine tool according to an embodiment of the present invention. 本発明の実施例に係る工作機械を示す側面図である。1 is a side view showing a machine tool according to an embodiment of the present invention. 図３（ａ）は加工前の工具を撮像する例を示す説明図、図３（ｂ）は加工後の工具を撮像する例を示す説明図である。FIG. 3A is an explanatory diagram showing an example of imaging a tool before machining, and FIG. 3B is an explanatory diagram showing an example of imaging a tool after machining. 本発明の実施例に係る工作機械の工具折損検知装置による折損検知アルゴリズムの一例を示す説明図である。It is explanatory drawing which shows an example of the breakage detection algorithm by the tool breakage detection apparatus of the machine tool which concerns on the Example of this invention. 撮像装置を複数設置する例を示す説明図である。It is explanatory drawing which shows the example which installs two or more imaging devices.
　以下、図面を参照しつつ本発明に係る工作機械の工具折損検知装置の詳細を説明する。 Hereinafter, the details of the tool breakage detection device for a machine tool according to the present invention will be described with reference to the drawings.
　図１ないし図５を用いて本発明に係る工作機械の工具折損検知装置の一実施例を説明する。
　図１及び図２に示すように、本実施例に係る工作機械１において、当該工作機械１の土台を構成するベッド１１上にはコラム１２が載置されている。そしてこのコラム１２の一つの側面１２ａには、主軸ヘッド１３が上下方向（Ｚ軸方向）に摺動自在に支持されている。主軸ヘッド１３には主軸１４が回動自在に支持され、主軸１４には工具１５が着脱自在に支持されている。 An embodiment of a tool breakage detecting device for a machine tool according to the present invention will be described with reference to FIGS.
As shown in FIGS. 1 and 2, in the machine tool 1 according to the present embodiment, a column 12 is placed on a bed 11 that constitutes the base of the machine tool 1. A spindle head 13 is supported on one side surface 12a of the column 12 so as to be slidable in the vertical direction (Z-axis direction). A spindle 14 is rotatably supported on the spindle head 13, and a tool 15 is detachably supported on the spindle 14.
　また、コラム１２の他の側面１２ｂ（上記側面１２ａとは反対側の側面）側には、工具マガジン１６が配設されている。工具マガジン１６には、複数のマガジンポット１６ａが楕円状に配設されており、当該マガジンポット１６ａは前記楕円状の軌道に沿って周回移動可能に構成されている。それぞれのマガジンポット１６ａは例えば異なる種類の工具１５を着脱自在に嵌挿可能となっている。 Further, a tool magazine 16 is disposed on the other side surface 12b (side surface opposite to the side surface 12a) of the column 12. In the tool magazine 16, a plurality of magazine pots 16a are arranged in an elliptical shape, and the magazine pot 16a is configured to be capable of circular movement along the elliptical path. Each magazine pot 16a can be detachably inserted with different types of tools 15, for example.
　さらに、主軸１４と工具マガジン１６との間には、工具１５の自動交換を行うための自動工具交換装置１７が配設されている。自動工具交換装置１７は、工具を把持する工具把持部１７ａと、コラム１２に支持されて工具把持部１７ａを摺動自在に案内する案内レール１７ｂとを有している。 Furthermore, an automatic tool changer 17 for automatically changing the tool 15 is disposed between the spindle 14 and the tool magazine 16. The automatic tool changer 17 includes a tool gripping portion 17a that grips a tool, and a guide rail 17b that is supported by the column 12 and guides the tool gripping portion 17a in a slidable manner.
　工具把持部１７ａは、図示しないアームを回動及び進退移動することにより、工具１５を交換するための位置（以下、工具交換位置という）に位置付けられた主軸１４に装着されている工具１５と工具把持部１７ａに把持されている工具１５とを同時に脱着交換することができるように構成されているとともに、マガジンポット１６ａに嵌挿されている工具１５と工具把持部１７ａに把持されている工具１５とを同時に脱着交換することができるように構成されている。 The tool gripping part 17a rotates and advances and retracts an arm (not shown) so that the tool 15 and the tool mounted on the spindle 14 positioned at a position for exchanging the tool 15 (hereinafter referred to as a tool exchanging position). The tool 15 gripped by the gripping part 17a is configured to be attached / detached and exchanged at the same time, and the tool 15 inserted into the magazine pot 16a and the tool 15 gripped by the tool gripping part 17a are configured. And can be attached and detached simultaneously.
　案内レール１７ｂは工具把持部１７ａを工具交換位置に位置付けられた主軸１４と工具マガジン１６との間で案内するように、工具交換位置に位置付けられた主軸１４と工具マガジン１６との間に、コラム１２の側面に沿って水平方向に延設されている。 The guide rail 17b is arranged between the spindle 14 positioned at the tool change position and the tool magazine 16 so as to guide the tool gripping portion 17a between the spindle 14 positioned at the tool change position and the tool magazine 16. It extends in the horizontal direction along the 12 side surfaces.
　さらに本実施例においては、工具交換のため、すなわち、所望の工具１５が嵌挿されたマガジンポット１６ａが周回移動により工具交換位置に搬送されるまでの間、工具把持部１７ａを待機させる待機位置（以下、工具交換待機位置という）に、画像認識装置１９と照明装置２１とが配設されている。 Furthermore, in the present embodiment, for tool change, that is, a standby position where the tool gripping portion 17a waits until the magazine pot 16a in which the desired tool 15 is inserted is transported to the tool change position by the circular movement. An image recognition device 19 and a lighting device 21 are disposed (hereinafter referred to as a tool change standby position).
　画像認識装置１９は撮像装置１９ａと画像処理装置１９ｂとを備えている。撮像装置１９ａは、例えばＣＣＤカメラ等の撮像手段であり、工具交換待機位置に対応する案内レール１７ｂの上方において撮像装置支持体２０を介してコラム１２に支持され、工具把持部１７ａによって把持され工具交換待機位置に位置づけられた工具１５の全体を撮像する。撮像装置１９ａによって工具１５を撮像した画像は画像処理装置１９ｂに入力される。 The image recognition device 19 includes an imaging device 19a and an image processing device 19b. The imaging device 19a is imaging means such as a CCD camera, for example, and is supported by the column 12 via the imaging device support 20 above the guide rail 17b corresponding to the tool change standby position, and is gripped by the tool gripping portion 17a. The entire tool 15 positioned at the replacement standby position is imaged. An image obtained by imaging the tool 15 by the imaging device 19a is input to the image processing device 19b.
　また、照明装置２１は工具交換待機位置に対応する案内レール１７ｂの下方において照明装置支持体２２を介してコラム１２に支持され、工具把持部１７ａによって把持され工具交換待機位置に位置づけられた工具１５全体の照明を行う。
　なお、コラム１２の前方にはテーブル２３が配設されている。 The illumination device 21 is supported by the column 12 via the illumination device support 22 below the guide rail 17b corresponding to the tool change standby position, and is held by the tool holding portion 17a and positioned at the tool change standby position. Do the whole lighting.
A table 23 is disposed in front of the column 12.
　このように構成される本実施例に係る工作機械の工具折損検知装置においては、まず、図示しないワークを加工する前に工具１５を自動工具交換装置１７により工具マガジン１６から主軸１４へ搬送する際、工具交換待機位置で工具把持部１７ａの移動を一旦停止させ、下方から照明装置２１により照明される工具１５全体のシルエットを撮像装置１９ａにより撮像し、加工前画像を取得する。 In the machine tool breakage detecting apparatus according to the present embodiment configured as described above, first, when the tool 15 is transported from the tool magazine 16 to the spindle 14 by the automatic tool changer 17 before machining a workpiece (not shown). Then, the movement of the tool gripping portion 17a is temporarily stopped at the tool change standby position, and the silhouette of the entire tool 15 illuminated by the illumination device 21 is imaged by the imaging device 19a from below to obtain a pre-processing image.
　その後、前記ワークの加工が終了したら、工具１５を自動工具交換装置１７により主軸１４から工具マガジン１６へ搬送する際に、再度工具交換待機位置で工具把持部１７ａの移動を一旦停止させ、下方から照明装置２１により照明される工具１５全体のシルエットを撮像装置１９ａにより撮像し、加工後画像を取得する。すなわち、工具１５をマガジンポット１６ａに返却する前に、撮像装置１９ａによる撮像を行う。 Thereafter, when the machining of the workpiece is completed, when the tool 15 is transferred from the spindle 14 to the tool magazine 16 by the automatic tool changer 17, the movement of the tool gripping portion 17a is once again stopped at the tool change standby position, and from below. The silhouette of the entire tool 15 illuminated by the illumination device 21 is imaged by the imaging device 19a, and a processed image is acquired. That is, before the tool 15 is returned to the magazine pot 16a, an image is taken by the imaging device 19a.
　そして、加工後の工具１５の撮像を行ったら、画像処理装置１９ｂにおいて加工前画像と加工後画像とをそれぞれあらかじめ設定したしきい値に基づいて二値化して工具１５と背景とを差別化した加工前二値化画像と加工後二値化画像とに変換し、加工前二値化画像と加工後二値化画像とを重ね合わせて、二つの二値化画像の差分を求める。
　この二つの二値化画像の差分を、工具１５の折損の有無を判断するためにあらかじめ設定した折損検知しきい値と比較し、差分が折損検知しきい値以上であれば、工具１５が折損していると判断する。一方、差分が折損検知しきい値未満であれば、工具１５に折損が生じていないと判断する。 When the processed tool 15 is imaged, the image processing device 19b binarizes the pre-processing image and the post-processing image based on preset threshold values to differentiate the tool 15 from the background. A binary image before processing and a binarized image after processing are converted, and the binarized image before processing and the binarized image after processing are overlapped to obtain a difference between the two binarized images.
The difference between the two binarized images is compared with a breakage detection threshold set in advance to determine whether or not the tool 15 is broken. If the difference is equal to or greater than the breakage detection threshold, the tool 15 breaks. Judge that you are doing. On the other hand, if the difference is less than the breakage detection threshold, it is determined that the tool 15 is not broken.
　このような構成としたことにより、図３（ａ）に示す前記ワークの加工前の工具１５に対し、図３（ｂ）に示すように前記ワークの加工後の工具１５が折損していた場合、図４に示すように加工前の工具１５Ｂを撮像した加工前画像ＩB1を二値化してなる加工前二値化画像ＩB2と、加工後の工具１５Ａを撮像した加工後画像ＩA1を二値化してなる加工後二値化画像ＩA2とを重ね合わせた画像Ｉにおいて、破線で囲んだ差分２４が折損検知しきい値以上となり、工具１５の折損が検知される。 When such a configuration is adopted, the tool 15 after machining the workpiece is broken as shown in FIG. 3 (b) with respect to the tool 15 before machining the workpiece shown in FIG. 3 (a). 4, a pre-processing binarized image I B2 obtained by binarizing the pre-processing image I B1 obtained by imaging the pre-processing tool 15B, and a post-processing image I A1 obtained by imaging the processed tool 15A. In the image I obtained by superimposing the binarized post-processing binarized image I A2 formed by binarization, the difference 24 surrounded by the broken line is equal to or greater than the breakage detection threshold, and breakage of the tool 15 is detected.
　上述した本実施例に係る工作機械の工具折損検知装置によれば、前記ワークの加工前と加工後とに画像認識装置１９により撮像した工具１５の画像を比較することで工具１５の折損の有無を検知することができるため、従来の接触子を用いた検知装置のように工具１５に対するアプローチを考慮する必要がなく、短時間で効率よく、しかも確実に工具１５の折損を検知することが可能となる。そのため、折損検知は次の工具１５による加工を実施する前に行う必要があるが、本実施例では計測動作としては画像の撮影のみであるため、検知に必要な時間を大幅に短縮することができる。 According to the above-described tool breakage detection device for a machine tool according to the present embodiment, whether the tool 15 is broken by comparing the images of the tool 15 captured by the image recognition device 19 before and after the workpiece is machined. Therefore, it is not necessary to consider the approach to the tool 15 as in the conventional detection device using a contactor, and it is possible to detect breakage of the tool 15 efficiently and reliably in a short time. It becomes. For this reason, breakage detection must be performed before processing with the next tool 15, but in this embodiment, only measurement of images is performed as the measurement operation, so that the time required for detection can be significantly reduced. it can.
　さらに、非接触式で且つ工具１５と撮像装置１９ａとの位置関係を固定することができる、換言すると、撮像装置１９ａの移動が不要であるため、従来の光センサまたは接触子を用いた検知装置において必要であった搬送装置等の可動部が不要となり、従来に比較して保守管理を行う対象を低減することができる。 Furthermore, since the positional relationship between the tool 15 and the imaging device 19a can be fixed in a non-contact manner, in other words, since the movement of the imaging device 19a is unnecessary, a conventional detection device using an optical sensor or a contactor The movable part such as a transfer device which is necessary in the above becomes unnecessary, and the number of objects to be maintained can be reduced as compared with the conventional case.
　さらに、折損検知と同時に工具１５の輪郭を検出することが可能であるため、工具長、工具径等の工具形状の計測を実施可能であり、工具１５の状態を時系列的に管理でき、品質管理に利用できる。 Furthermore, since it is possible to detect the contour of the tool 15 at the same time as detecting breakage, it is possible to measure the tool shape such as the tool length and the tool diameter, and to manage the state of the tool 15 in time series. Can be used for management.
　さらに加えて、案内レール１７ｂの上方に画像認識装置１９を設置し受光部を下に向ける構成としたことにより、画像認識装置１９の受光部に切子、ほこり等が付着することを防止することができる。なお、案内レール１７ｂの下方に設置した照明装置２１に多少切子等が付着したとしても、折損の大きさに比べて小さいため影響は少ない。
　また、撮影対象の工具１５に対して、照明装置２１によりバックライトを照射して撮像装置１９ａによる撮影を実施するため、明暗がはっきりした画像を得ることができ、二値化を利用して容易に工具形状を認識することができる。
　また、工具１５の折損は、概ね１０～２０［ｍｍ］の大きさで生じるため、画像認識により素早く検知するのに適している。 In addition, since the image recognition device 19 is installed above the guide rail 17b and the light receiving portion is directed downward, it is possible to prevent stickers, dust, and the like from adhering to the light receiving portion of the image recognition device 19. it can. In addition, even if a small piece or the like adheres to the lighting device 21 installed below the guide rail 17b, the influence is small because it is smaller than the size of the breakage.
Further, since the imaging device 19a performs imaging by illuminating the tool 15 to be imaged with a backlight by the illumination device 21, a bright and dark image can be obtained, and it is easy to use binarization. The tool shape can be recognized.
Further, since the breakage of the tool 15 occurs in a size of approximately 10 to 20 [mm], it is suitable for quick detection by image recognition.
　しかも、工具１５を工具交換待機位置に一旦停止させた状態で撮像装置１９ａによる撮影を行うため、撮影時において工具１５と画像認識装置１９の相対位置とが固定された状態となるため、加工前後に工具１５を撮像した画像を単純に重ね合わせることで、容易に折損部分を検知することができる。 In addition, since the imaging by the imaging device 19a is performed while the tool 15 is temporarily stopped at the tool change standby position, the relative position between the tool 15 and the image recognition device 19 is fixed at the time of imaging. A broken portion can be easily detected by simply superimposing an image obtained by capturing the tool 15.
　なお、本発明に係る工作機械の工具折損検知装置は、上述した実施例に限定されるものではなく、本発明の趣旨を逸脱しない範囲で種々の変更が可能であることは言うまでもない。例えば、工具１５が長尺であって、一つの撮像装置１９ａでは工具１５全体を撮像することが困難な場合は、図５に示すように複数の撮像装置（図５では二つの撮像装置１９ａ－１，１９ａ－２）を設置することで対応してもよい。また、上述した実施例では工具交換待機位置で一旦停止させた工具１５を撮像する例を示したが、移動中の工具１５を撮像するようにしてもよい。 It should be noted that the tool breakage detection device for machine tools according to the present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be made without departing from the spirit of the present invention. For example, if the tool 15 is long and it is difficult to image the entire tool 15 with a single imaging device 19a, a plurality of imaging devices (two imaging devices 19a- 1, 19a-2) may be installed. Moreover, although the example which imaged the tool 15 once stopped in the tool replacement standby position was shown in the Example mentioned above, you may make it image the tool 15 in movement.
　本発明は、工作機械において工具の折損を検知する工具折損検知装置に適用して好適なものである。 The present invention is suitable for application to a tool breakage detecting device for detecting tool breakage in a machine tool.
　１１　ベッド
　１２　コラム
　１３　主軸ヘッド
　１４　主軸
　１５，１５Ａ，１５Ｂ　工具
　１６　工具マガジン
　１６ａ　マガジンポット
　１７　自動工具交換装置
　１７ａ　工具把持部
　１７ｂ　案内レール
　１９　画像認識装置
　１９ａ　撮像装置
　１９ｂ　画像処理装置
　２０　撮像装置支持体
　２１　照明装置
　２２　照明装置支持体
　２３　テーブル
　２４　差分
　ＩA1　加工後画像
　ＩA2　加工後二値化画像
　ＩB1　加工前画像
　ＩB2　加工前二値化画像
　Ｉ　重ね合わせ画像 11 bed 12 column 13 spindle head 14 spindle 15, 15A, 15B tool 16 tool magazine 16a magazine pot 17 automatic tool changer 17a tool gripping part 17b guide rail 19 image recognition device 19a imaging device 19b image processing device 20 imaging device support 21 Illuminating device 22 Illuminating device support 23 Table 24 Difference I A1 post-processing image I A2 post-processing binarized image I B1 pre-processing image I B2 pre-processing binarized image I superimposed image

Claims (4)

  1. 　主軸と、複数の工具を収納可能な工具マガジンと、前記主軸と前記工具マガジンとの間で工具の交換を自動的に行う自動工具交換装置とを備えた工作機械の工具折損検知装置であって、
    　前記自動工具交換装置によって搬送される工具を撮像する撮像手段と、前記撮像手段によって工具を撮像した画像を解析する画像処理手段と
    を有する画像認識装置を備え、
    　前記撮像手段は、前記自動工具交換装置によって前記工具マガジンから前記主軸へ搬送される加工前の工具と、前記自動工具交換装置によって前記主軸から前記工具マガジンへ搬送される加工後の工具とを撮像し、
    　前記画像処理手段は、前記加工前の工具の画像と前記加工後の工具の画像との比較により工具の折損の検知を行う
    ことを特徴とする工作機械の工具折損検知装置。     A tool breakage detection device for a machine tool, comprising: a spindle, a tool magazine capable of storing a plurality of tools, and an automatic tool changer that automatically changes a tool between the spindle and the tool magazine. ,
    An image recognition device comprising: an imaging unit that images a tool conveyed by the automatic tool changer; and an image processing unit that analyzes an image obtained by imaging the tool by the imaging unit;
    The imaging means images the unprocessed tool transferred from the tool magazine to the spindle by the automatic tool changer and the processed tool transferred from the spindle to the tool magazine by the automatic tool changer. And
    The tool breakage detection device for a machine tool, wherein the image processing means detects breakage of a tool by comparing the image of the tool before machining and the image of the tool after machining.
  2. 　前記自動工具交換装置によって搬送される工具を照明する照明手段を備える
    ことを特徴とする請求項１記載の工作機械の工具折損検知装置。     The tool breakage detection device for a machine tool according to claim 1, further comprising an illumination unit that illuminates a tool conveyed by the automatic tool changer.
  3. 　前記撮像手段は前記工具を当該工具の上方から撮像し、
    　前記照明手段は前記工具を当該工具の下方から照明する
    ことを特徴とする請求項２記載の工作機械の工具折損検知装置。     The imaging means images the tool from above the tool,
    The tool breakage detection device for a machine tool according to claim 2, wherein the illumination means illuminates the tool from below the tool.
  4. 　前記撮像手段および前記照明手段は、前記主軸と前記工具マガジンとの間に設けられた工具交換待機位置に配設される
    ことを特徴とする請求項２又は請求項３に記載の工作機械の工具折損検知装置。     4. The tool of a machine tool according to claim 2, wherein the imaging unit and the illumination unit are disposed at a tool change standby position provided between the spindle and the tool magazine. 5. Breakage detection device.
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