WO2022172973A1 - Dispositif d'imagerie d'outil, machine-outil et dispositif d'imagerie - Google Patents

Dispositif d'imagerie d'outil, machine-outil et dispositif d'imagerie Download PDF

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Publication number
WO2022172973A1
WO2022172973A1 PCT/JP2022/005244 JP2022005244W WO2022172973A1 WO 2022172973 A1 WO2022172973 A1 WO 2022172973A1 JP 2022005244 W JP2022005244 W JP 2022005244W WO 2022172973 A1 WO2022172973 A1 WO 2022172973A1
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WIPO (PCT)
Prior art keywords
imaging
tool
unit
angle
blade
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PCT/JP2022/005244
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English (en)
Japanese (ja)
Inventor
純一 窪田
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Dmg森精機株式会社
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Publication of WO2022172973A1 publication Critical patent/WO2022172973A1/fr

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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
    • 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
    • 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

Definitions

  • This invention relates to a tool imaging device and a machine tool.
  • Machine tools use tools to process workpieces. For example, a machining center cuts a workpiece by rotating a rotary tool having a plurality of blades on its circumference.
  • the blade of the tool is imaged using some kind of device and the blade is observed by imaging.
  • out-of-focus images such as those in FIGS. 6(a) and 6(c) are not used. That is, as shown in FIG. 6B, a clear image can be obtained only at a specific imaging angle, and the blade cannot be imaged by adjusting the imaging angle.
  • the present invention provides the device and the like described in the claims.
  • the blade of the tool can be imaged clearly.
  • FIG. 1 is a configuration diagram of a machine tool; FIG. It is a front view of a tool. 1 is a perspective view of an imaging unit; FIG. It is a perspective view which shows the positional relationship of an imaging part and a tool.
  • FIG. 5A is a front view of a tool with a rotation angle ⁇ of 0 degrees.
  • FIG. 5B is a diagram showing the imaging position of the rake face of the first tip.
  • FIG. 5(C) is a diagram showing the imaging position of the rake face of the second tip.
  • FIG. 5(D) is a diagram showing the imaging position of the rake face of the third tip.
  • FIG. 5(E) is a diagram showing the imaging position of the rake face of the fourth tip.
  • FIG. 5A is a front view of a tool with a rotation angle ⁇ of 0 degrees.
  • FIG. 5B is a diagram showing the imaging position of the rake face of the first tip.
  • FIG. 5(C)
  • FIG. 5F is a diagram showing the imaging position of the rake face of the fifth tip. It is an example of rake face imaging.
  • FIG. 4 is a diagram schematically showing a shadow image;
  • FIG. 4 is a diagram showing a graph of association data;
  • 4 is a structural diagram of imaging position data;
  • This is rake face imaging with the imaging angle adjusted in the positive direction.
  • FIG. 11A is a diagram showing a state in which the cutting edge is tilted toward the imaging section.
  • FIG. 11B is a diagram showing a state in which the cutting edge is tilted to the opposite side of the imaging section.
  • FIG. 12A is a diagram showing the relationship between the cutting edge tilted toward the imaging unit and the depth of field.
  • FIG. 12B is a diagram showing the movement of the tool when the cutting edge is tilted toward the imaging section.
  • FIG. 13A is a diagram showing the relationship between the cutting edge tilted in the direction opposite to the imaging unit side and the depth of field.
  • FIG. 13B is a diagram showing the movement of the tool when the cutting edge is tilted in the direction opposite to the imaging unit side.
  • FIG. 14A is a diagram showing the imaging position of the rake face of the first tip.
  • FIG. 14B is a diagram showing the imaging position of the flank face of the first tip.
  • FIG. 15A is a diagram showing the imaging position of the flank face of the second tip.
  • FIG. 15B is a diagram showing the imaging position of the flank face of the third tip.
  • FIG. 15(C) is a diagram showing the imaging position of the flank face of the fourth tip.
  • FIG. 15D is a diagram showing the imaging position of the flank face of the fifth tip. It is a screen figure of an operation screen.
  • 1 is a functional block diagram of an image processing device;
  • FIG. 4 is a flow chart showing a main processing process; It is a flow chart of the equal pitch tool processing process. It is a flow chart of the equal pitch tool processing process. It is a flow chart of the uneven pitch tool processing process. It is a flow chart of the uneven pitch tool processing process. It is a figure which shows the structural example of the tool imaging system which concerns on the modified example 1.
  • FIG. It is a figure which shows the structural example of the tool imaging device which concerns on the modified example 2.
  • FIG. 27A is a diagram showing a state in which the viewing surface does not fall within the range of depth of field.
  • FIG. 27B is a diagram showing a state in which the viewing plane falls within the range of depth of field.
  • FIG. 10 is a screen diagram of an operation screen showing an imaging range;
  • the present embodiment relates to technology for imaging a tool used in a machine tool. For example, it is assumed that a milling tool is attached to the spindle of a machining center to perform cutting. Cutting is generally controlled by an NC (Numerical Control) program.
  • NC Numerical Control
  • FIG. 1 is a configuration diagram of a machine tool 200.
  • the machine tool 200 processes a target work.
  • the machine tool 200 includes a processing unit 300 that processes a workpiece in a processing chamber by selectively using various tools, a numerical controller 400 that controls the processing unit 300, and an imaging unit 500 that is used to capture an image of the cutting edge of the tool. and an image processing device 600 that processes image data captured by the imaging unit 500 .
  • Machine tool 200 is an example of a tool imaging device.
  • the processing unit 300 includes a spindle, a servomotor that rotates the spindle, a pallet, an ATC (Automatic Tool Changer), a tool magazine, etc. for milling, boring, and drilling. and processing such as tapping.
  • the processing unit 300 includes a rotating shaft, a servomotor for rotating the rotating shaft, a turret, an ATC (automatic tool changer), a tool magazine, etc., and mainly performs turning processing.
  • the processing section 300 has a mounting section 302 and a changing section 306 .
  • a tool having a plurality of blades is attached to the mounting portion 302, and the mounting portion 302 holds this tool in a rotatable state.
  • the main shaft corresponds to the mounting portion 302 .
  • the turret holder corresponds to the mounting portion 302 .
  • the mechanism of the mounting portion 302 is used for tool imaging and workpiece machining.
  • the attachment portion 302 of the processing portion 300 is used for tool imaging. In other words, the processing units that process the workpiece share the mechanism of the attachment unit 302 that is used for tool imaging.
  • the changing unit 306 changes the imaging angle when imaging the rake face or flank face of the tool blade. Changes in the rake face, the flank face, and the imaging angle will be described later.
  • a mechanism that includes a servomotor and rotates the spindle corresponds to the changing unit 306 .
  • the changing unit 306 corresponds to a mechanism including a motor (for example, a servo motor or a stepping motor) to rotate the holder of the turret.
  • the processing unit 300 includes a motor (which may be shared with the changing unit 306, or may be an actuator other than the motor) that moves the attachment unit 302. FIG.
  • the mechanics (eg, servo motors) of the modifier 306 are used in tool imaging and workpiece machining.
  • a servo motor or the like of the processing unit 300 is used for tool imaging.
  • the processing unit that processes the workpiece shares the mechanism of the changing unit 306 that is used for tool imaging.
  • the numerical control device 4 is a device that performs numerical control on the servomotor, ATC, etc. of the processing unit 300.
  • the imaging unit 500 has an imaging unit 502 , a shutter 504 , a first lighting unit 506 , a second lighting unit 508 and the imaging unit 500 .
  • the imaging unit 12 is, for example, a camera equipped with an imaging device such as a CCD or CMOS.
  • the imaging unit 12 outputs the captured image data to the image processing device 600 . Details of the imaging unit 500, such as the shutter 504, the first illumination section 506, and the second illumination section 508, are described below in connection with FIG.
  • the image processing device 600 includes a control section 620 that controls movement of the attachment section 302, for example. Details of the control unit 620 will be described in detail with reference to FIG.
  • FIG. 2 is a front view of the tool 100.
  • FIG. Here, an example of a “face milling cutter” is shown as the tool 100 .
  • a face milling cutter is used to efficiently cut a wide flat surface of a workpiece by milling.
  • An example of an indexable tool in which a plurality of indexable inserts are attached to the body 110 is shown below. Throwaway chips are simply called "chips". Although the shape of the actual chip has a curved surface suitable for cutting, it is shown here as a rectangle for simplification.
  • An integrated milling tool in which the tip is welded to the body 110 may be used instead of the indexable tool.
  • the tool 100 other than a milling tool, such as a drill tool, may be used.
  • a uniform pitch tool is shown, but a non-uniform pitch tool may also be used.
  • Chips are attached at equal intervals to the outer periphery of the cylindrical body 110 with a large diameter. That is, the chips are arranged at equal pitches. In this example, 5 chips are attached. For convenience of explanation, they are distinguished as a first chip 121 , a second chip 122 , a third chip 123 , a fourth chip 124 and a fifth chip 125 .
  • Tool 100 is attached to mounting portion 302 and is rotated counterclockwise as shown by the rotational force of mounting portion 302 . By rotating, the first tip 121 to the fifth tip 125 grind the workpieces in contact with each other. As shown, the face toward which the first tip 121 advances is the rake face, and the outer face of the first tip 121 is the flank face. The same applies to the second chip 122 to the fifth chip 125 as well.
  • the distance between the center of the body 110 and the cutting edge is called "cutting edge radius" and is represented by a variable r.
  • the wear of the cutting edge of the tip progresses and it gradually becomes difficult to cut.
  • the operator checks the state of wear to determine whether the tool 100 can be used continuously or whether the tool 100 needs to be replaced.
  • the operator judges the degree of damage to the cutting edge based on the amount of wear and worn shape of the cutting edge, considering the material and processing method of the cutting edge.
  • the structure of the tip may become defective, degenerate, or change in shape. Using such a deteriorated chip may damage the workpiece.
  • rake face imaging imaging of the rake face from the tangential direction of the outer periphery
  • flank face imaging imaging of the flank from the direction toward the center of the body 110
  • a conventional method of tool observation by an operator will be described.
  • a worker observes the cutting edge of the tool 100 using a microscope. Therefore, the tool is temporarily removed from the machine tool 200 and set on the installation portion of the microscope.
  • the mount has a range of motion that allows manual movement and rotation. The worker moves and rotates the tool by manipulating the installation portion, and aligns the tool so that the cutting edge is within the field of view.
  • the operator also performs operations for focusing the microscope. By performing such an operation, the worker observes the edge of each chip.
  • FIG. 3 is a perspective view of the imaging unit 500.
  • an imaging unit 500 provided inside the machine tool 200 is used to image the cutting edge of the tool 100 while the tool 100 is attached to the attachment portion 302 (for example, the spindle).
  • the imaging unit 500 includes an imaging section 502, a shutter 504, a first lighting section 506 and a second lighting section 508, as shown.
  • An imaging section 502 provided on the upper portion of the imaging unit 500 images the lower side.
  • the imaging unit 500 is set so that the cutting edge of the tool 100 is on the optical axis of the imaging unit 502 when imaging.
  • the shutter 504 moves away from the measurement lens of the imaging unit 502 .
  • the first illumination unit 506 is provided on the side of the imaging unit 502 and illuminates the cutting edge, which is a subject, from obliquely above.
  • the first illumination unit 506 is used as reflection illumination when rake face imaging and flank face imaging are performed.
  • the first illumination unit 506 is provided on the imaging unit 502 side with respect to the tool 100, and is parallel to the rotation axis (see FIGS. 3 and 4) around which the tool 100 is rotated and intersects the plane containing the optical axis. Shine the light on the blade. The angle between this plane and the direction is, for example, within the range of 5 degrees to 20 degrees.
  • a second illumination unit 508 is used when capturing a shadow image of a subject.
  • FIG. 4 is a perspective view showing the positional relationship between the imaging unit 502 and the tool 100.
  • the image pickup unit 500 is set at a position where the image pickup unit 502 takes an image of the cutting edge of the tool 100 as shown in the drawing. In this example, it is assumed that the rake face is imaged first.
  • This figure shows only the body 110 of the tool 100 and omits the tip.
  • the front circular surface indicated by the dashed line is the front surface of the body 110 .
  • the centerline of body 110 coincides with the rotation axis of mounting portion 302 . Therefore, the rotation axis of the tool 110 and the rotation axis of the mounting portion 302 are aligned.
  • the direction toward the tip of the rotating shaft is the positive direction of the Z-axis.
  • the counterclockwise rotation viewed from the front direction is defined as the positive direction of the rotation angle ⁇ of the tool 100 .
  • the imaging range near the cutting edge of the tool 100 is schematically shown in a plane.
  • the distance from the imaging unit 502 to the imaging range matches the focal length of the imaging unit 502 .
  • Subjects included in the imaging range are clearly captured without blurring.
  • the positive direction of the Y-axis is parallel to the direction of the optical axis toward the imaging unit 502 .
  • the rotation axis and the optical axis intersect.
  • the shortest distance between the rotation axis and the optical axis is called the "axis distance". Adjust the center distance to the cutting edge radius r (see FIG. 2).
  • the positive direction of the X-axis is parallel to the cutting edge direction of the line segment corresponding to the inter-axis distance.
  • the X, Y and Z axes are perpendicular to each other.
  • the optical axis does not have to be vertical.
  • the optical axis may be set horizontally.
  • the optical axis may be oriented in an oblique direction other than the vertical or horizontal direction.
  • the angle formed by the line obtained by translating the optical axis so as to intersect the rotation axis and the rotation axis may not be perpendicular. That is, the imaging unit 502 may image the subject from a position closer to the positive direction of the Z axis than the position shown in FIG. 4, or from a position closer to the negative direction of the Z axis than the position shown in FIG. You may image a to-be-photographed object.
  • the imaging unit 502 may image the subject from a position closer to the positive direction of the X axis than the position shown in FIG. 4, or from a position closer to the negative direction of the X axis than the position shown in FIG. You may image a to-be-photographed object. As shown in FIG.
  • the direction of the rotation axis of the mounting portion 302 is called the first direction.
  • a direction of the optical axis of the imaging unit 502 that intersects with the first direction is referred to as a second direction.
  • the first illumination unit 506 is provided on the imaging unit 502 side with respect to the tool 100, and is parallel to the rotation axis around which the tool 100 is rotated and intersects the plane including the optical axis. Light the blade.
  • FIG. 5A is a front view of the tool 100 with a rotation angle ⁇ of 0 degrees.
  • the orientation of the tool 100 is arbitrary at the time the imaging unit 500 is set, but the rotation angle ⁇ of the tool 100 in a certain orientation is defined as 0 degrees in the initialization process. In this example, when the rotation angle ⁇ is 0 degrees, the blade edge is not included in the imaging range, so even if the imaging unit 502 takes an image, the blade edge is not captured.
  • the center position (X, Y, Z) of the front surface of the body 110 is (0, 0, 0).
  • 5B to 5F the front center position (X, Y, Z) of the body 110 is (0, 0, 0).
  • FIG. 5(B) shows a state in which the mounting portion 302 is rotated 31 degrees in the forward direction from the state in FIG. 5(A).
  • the cutting edge of the first tip 121 enters the imaging range. Therefore, when an image is captured by the image capturing unit 502, the cutting edge of the first tip 121 is captured on the rake surface. That is, the imaging position of the first tip 121 is specified by the rotation angle ⁇ of the tool 100 of 31 degrees.
  • FIG. 5(C) shows a state in which the mounting portion 302 is rotated forward by 72 degrees from the state in FIG. 5(B).
  • the cutting edge of the second tip 122 enters the imaging range. Therefore, when an image is captured by the image capturing unit 502, the cutting edge of the second tip 122 is imaged on the rake face. That is, the imaging position of the second tip 122 is specified by the rotation angle ⁇ of the tool 100: 103 degrees.
  • FIG. 5(D) shows a state in which the mounting portion 302 is rotated forward by 72 degrees from the state in FIG. 5(C).
  • the cutting edge of the third tip 123 enters the imaging range. Therefore, when an image is captured by the image capturing unit 502, the cutting edge of the third tip 123 is captured on the rake surface. That is, the imaging position of the third tip 123 is specified by the rotation angle ⁇ of the tool 100 of 175 degrees.
  • FIG. 5(E) shows a state in which the mounting portion 302 is rotated forward by 72 degrees from the state in FIG. 5(D).
  • the cutting edge of the fourth tip 124 enters the imaging range. Therefore, when an image is captured by the image capturing unit 502, the cutting edge of the fourth tip 124 is captured on the rake surface. That is, the imaging position of the fourth chip 124 is specified by the rotation angle ⁇ of the tool 100: 247 degrees.
  • FIG. 5(F) shows a state in which the mounting portion 302 is rotated forward by 72 degrees from the state in FIG. 5(E).
  • the cutting edge of the fifth tip 125 enters the imaging range. Therefore, when an image is captured by the image capturing unit 502, the cutting edge of the fifth tip 125 is imaged on the rake face. That is, the imaging position of the fifth chip 125 is specified by the rotation angle ⁇ of the tool 100 of 319 degrees.
  • the imaging position of each chip shown in FIGS. 5(B) to 5(F) can be automatically determined by arithmetic processing. In the present embodiment, how many times the mounting portion 302 is rotated to enter the imaging range is obtained in advance.
  • FIG. 6 is an example of rake face imaging.
  • the lower side of the subject corresponds to the front of the tool 100 .
  • the rake face imaging captures the rake face of the insert with the cutting edge protruding the most.
  • the chip is shown approximately to the right of the dashed line.
  • the right side of the subject corresponds to the flank of the chip. Workers can easily grasp the amount of wear by viewing the cutting edge from the rake face side of the chip.
  • About the first chip 121 to the fifth chip 125, scooping imaging substantially similar to that in FIG. 6 can be obtained.
  • the lower left end of the rake face imaging is the origin of the imaging coordinate system.
  • the rightward direction is the positive direction of the x-coordinate axis
  • the upward direction is the positive direction of the y-coordinate axis.
  • the position (three-dimensional offset value) of the spatial coordinate system corresponding to the origin of the imaging coordinate system is specified in initialization processing after setting. Therefore, by adding a three-dimensional offset value to the imaging position of the imaging coordinate system, the position (X value, Y value, Z value) of the spatial coordinate system corresponding to the imaging position can be obtained.
  • FIG. 7 is a diagram schematically showing a shadow image.
  • the imaging position of each chip is obtained.
  • a shadow image of the tool 100 over the rotation angle ⁇ is picked up to extract the outline of the tool 100 .
  • the first lighting unit 506 is turned off and the second lighting unit 508 is turned on.
  • shadow images captured by the imaging unit 502 are obtained at angles at predetermined intervals (for example, 1 degree). For example, images are taken at rotation angles ⁇ of the tool 100 of 0 degree, 1 degree, 2 degrees, .
  • the imaging range in the shadow image (see FIG. 4) is the same as in the rake face imaging.
  • the black area is the shadow of tool 100 including the chip. This shaded edge outlines the tool 100 .
  • the contour position at a predetermined height in the contour of the tool 100 is measured.
  • a contour position (X value, Y value, Z value) in the spatial coordinate system is obtained by adding a three-dimensional offset value to the coordinates of the edge at a predetermined height in the imaging coordinate system of the shadow image. Even if the rotation angle ⁇ of the tool 100 changes, the Z value and Y value of the contour position do not change, so it is sufficient to obtain only the X value.
  • the X value indicates the distance from the axis of rotation to the edge of the tool 100 at a given height.
  • the predetermined height is based on, for example, the lowest end of the chip or the front surface of the body 110 .
  • association data Data that associates each rotation angle with the contour position is referred to as "association data”.
  • association data In the shadow image captured at the position where the cutting edge protrudes most, the X value of the contour position matches the cutting edge radius r of the tool 100 (see FIG. 2). For shadow images taken without a tip, the X value of the contour location matches the body radius.
  • FIG. 8 is a diagram showing a graph of association data.
  • the horizontal axis indicates the rotation angle ⁇ of the tool 100 .
  • the vertical axis indicates the contour position (X value). That is, it represents the contour position (X value) of the rotation angle series of the tool 100 .
  • the value of the contour position increases at the rotation angle ⁇ at which the tip protrudes.
  • the maxima of the five contour positions (X values) corresponding to the rotation angles ⁇ at which the five chips overhang are seen.
  • the imaging position of each chip is calculated based on such association data. So far, an example of uniform pitch has been shown, but it is assumed that images are also captured with irregular pitch. The case of a uniform pitch tool will be explained first, and the case of a non-uniform pitch tool will be explained later.
  • the number of chips that is, the number of blades.
  • the period included in one circumference (360 degrees) of the mounting portion 302 is obtained by FFT (Fast Fourier Transform) for a function with the rotation angle ⁇ of the tool 100 as an independent variable and the contour position (X value) at each rotation angle ⁇ as a dependent variable. Identify the number of In this example, the number of cycles "5" is determined. The number of cycles corresponds to the number of edges included in the circumference of tool 100 . This is because the blades are periodically arranged on the outer circumference.
  • FFT is an example of a Fourier transform. Then, one round (360 degrees) is divided by the number of blades to obtain an inter-blade angle ⁇ representing the difference in rotation angle ⁇ between adjacent blades.
  • FIG. 26 is a diagram showing a graph of analysis result data by FFT.
  • FFT is an analysis technique used in speech analysis, vibration measurement, and the like.
  • time-series data such as voice is decomposed into a plurality of frequency components, and their magnitudes are expressed as a spectrum. In this embodiment, it is applied to the contour position of the rotation angle series.
  • the frequency is represented by the number of cycles/second, but in this example, the number of cycles/one turn (360 degrees) is defined as the frequency. In other words, one round corresponds to one second. Although it does not match the speed at which the changing portion 306 actually rotates the mounting portion 302, there is no problem in terms of analysis.
  • the vertical axis shows the spectrum.
  • the horizontal axis shows the frequency defined above. This frequency corresponds to the number of blades included in the equal pitch tool. In this example, frequency 5 shows the maximum spectrum. This means that one round (360 degrees) includes five cycles. It can be seen from this that the equal pitch tool has five blades.
  • the maximum contour position (X value) is specified, and the rotation angle ⁇ indicating the maximum contour position (X value) is obtained.
  • this rotation angle ⁇ it is possible to specify an imaging position where an image of the slide surface with the most overhanging cutting edge can be obtained.
  • the maximum value of the contour position (X value) is shown when the rotation angle ⁇ is 31 degrees. That is, when the rotation angle ⁇ is 31 degrees as shown in FIG. 5B, the contour position is farthest from the rotation axis.
  • the imaging positions of other cutting edges are obtained.
  • the imaging positions of the other cutting edges are obtained by adding a natural number multiple of the inter-blade angle ⁇ to the rotation angle ⁇ indicating the maximum contour position. If the number of blades is n, adding ⁇ , 2 ⁇ , .
  • the maximal value of the contour position (X value) of the rotation angle series is specified, and the imaging position of each blade is specified by the rotation angle ⁇ indicating each maximal value.
  • the value of the derivative (differential value) of the function with the rotation angle ⁇ of the tool 100 as the independent variable and the contour position (X value) at each rotation angle ⁇ as the dependent variable switches from positive to negative. Identify the rotation angle ⁇ .
  • a function with the rotation angle ⁇ of the tool 100 as an independent variable and the contour position (X value) at each rotation angle ⁇ as a dependent variable can be obtained, for example, by an existing function approximation method that obtains a continuous function that approximates discrete data. .
  • the contour position (X value) at each rotation angle ⁇ is compared with the contour position (X value) at the previous and subsequent rotation angles ⁇ , and the contour position (X value) at the previous and subsequent rotation angles ⁇ is determined. , it may be determined that the contour position (X value) at the rotation angle ⁇ is the maximum value.
  • the imaging position obtained in this way is stored in the imaging position data.
  • FIG. 9 is a structural diagram of imaging position data.
  • the imaging position data is set with the imaging position of each blade.
  • the imaging position is specified by the rotation angle ⁇ of the tool 100 .
  • the rotation angle ⁇ of the tool 100 shown in FIG. 9 is as shown in FIGS. 5(B) to 5(F).
  • the first to fifth blades shown in FIG. 9 correspond to the first tip 121 to the fifth tip 125, respectively.
  • ⁇ Change of imaging angle> The operator can first observe the cutting edge at the imaging position determined as described above. However, there are cases in which the state of the cutting edge cannot be determined by just looking at the blade from the side. In such a case, it is easier to grasp the state of the cutting edge by tilting the blade slightly.
  • the reflection of the light impinging on the rake face from the first illumination unit 506 is not directed toward the imaging unit 502, so the cutting edge is dark and difficult to see.
  • the operator slightly rotates the tool 100 to change the way the light hits the rake face to make it easier to see.
  • FIG. 10 shows rake face imaging with the imaging angle adjusted in the positive direction.
  • the rotation angle ⁇ of the tool 100 is slightly rotated in the positive direction, the cutting edge is slightly lifted toward the imaging unit 502 .
  • the chip is shown roughly to the right of the dashed line. Since the angle of the rake face changes, the imaging part 502 receives the reflection of the light impinging on the rake face from the first lighting part 506, and the cutting edge becomes bright. In this way, if the operator can arbitrarily minutely rotate the mounting portion 302, the tilt of the rake face can be changed to adjust the intensity of the reflected light, making it easier to see the image.
  • FIG. 11(A) is a diagram showing a state in which the cutting edge is tilted toward the imaging unit 502 side.
  • the rotation angle ⁇ of the tool 100 is adjusted by +5 degrees.
  • the imaging angle to be rotated for adjustment at this time is represented by ⁇ .
  • the imaging angle ⁇ is +5 degrees.
  • FIG. 11(B) is a diagram showing a state in which the cutting edge is tilted to the opposite side of the imaging unit 502.
  • FIG. 11(B) is a diagram showing a state in which the cutting edge is tilted to the opposite side of the imaging unit 502.
  • the rotation angle ⁇ of the tool 100 is adjusted by -5 degrees.
  • the imaging angle ⁇ is -5 degrees.
  • FIG. 12A is a diagram showing the relationship between the cutting edge tilted toward the imaging unit 502 and the depth of field. As shown, the cutting edge approaches the imaging unit 502 by r ⁇ sin( ⁇ ) [r: cutting edge radius, ⁇ : imaging angle]. As a result, the cutting edge may fall outside the range of depth of field. If the cutting edge is out of the depth of field, the image of the cutting edge in rake face imaging becomes blurred and difficult to see.
  • FIG. 12B is a diagram showing movement of the tool 100 when the cutting edge is tilted toward the imaging unit 502 side.
  • the entire tool 100 in order to prevent the image of the cutting edge from blurring, the entire tool 100 is moved away from the imaging unit 502 in the second direction (see FIG. 3) so that the cutting edge is within the range of the depth of field.
  • the front center position of the body 110 is moved to (0, -r ⁇ sin ⁇ , 0).
  • the control unit 620 instructs the motor to move the mounting unit 302 by a distance of ⁇ r ⁇ sin ⁇ in the Y-axis direction. is moved in the Y-axis direction by a distance of ⁇ r ⁇ sin ⁇ .
  • the cutting edge is positioned at the focal length of the imaging unit 502, so that a clear image is captured in the rake face imaging.
  • FIG. 13A is a diagram showing the relationship between the blade tip tilted in the direction opposite to the imaging unit 502 side and the depth of field. As illustrated, the cutting edge moves away from the imaging unit 502 by r ⁇ sin( ⁇ ) [r: cutting edge radius, ⁇ : imaging angle]. In this case as well, the cutting edge is out of the depth of field, and the image of the cutting edge in the rake face imaging becomes blurred and difficult to see.
  • FIG. 13B is a diagram showing the movement of the tool 100 when the cutting edge is tilted in the direction opposite to the imaging unit 502 side.
  • the entire tool 100 is brought closer to the imaging unit 502 so that the cutting edge is within the depth of field. That is, the front center position of the body 110 is moved to (0, ⁇ r ⁇ sin ⁇ , 0) so that the cutting edge is positioned at the focal length of the imaging unit 502 .
  • the control unit 620 instructs the motor to move the mounting unit 302 by a distance of ⁇ r ⁇ sin ⁇ in the Y-axis direction. is moved in the Y-axis direction by a distance of ⁇ r ⁇ sin ⁇ .
  • the distance between the imaging unit 502 and the cutting edge is kept constant, and defocusing of imaging when the tool 100 is rotated is prevented. Since the user can obtain an image in focus in one step, there is no need for an operation for focusing. Also, when the cutting edge is tilted in the direction opposite to the imaging unit 502 side, the rake face faces the illumination light emitted from the upper right first illumination unit 506 as shown in the figure. Therefore, the direction of the reflected light can be moved away from the optical axis direction, and the lightness of the rake face in imaging can be reduced. The viewability of imaging, which is affected by the direction of illumination in this way, can be adjusted by rotating the tool.
  • FIG. 14A shows the imaging position of the rake face of the first tip 121 .
  • FIG. 14B shows the imaging position of the flank of the first tip 121 .
  • the tool 100 is rotated in the positive direction by 90 degrees with the imaging position of the rake face as a reference. That is, the imaging position of the flank face of the first tip 121 is the rotation angle ⁇ of 121 degrees obtained by adding 90 degrees to the rotation angle ⁇ of 31 degrees corresponding to the imaging position of the rake face of the first tip 121 .
  • the tool 100 is moved away from the imaging unit 502 in the Y-axis direction by the cutting edge radius r, and further moved closer to the optical axis in the X-axis direction by the cutting edge radius r.
  • the front center position of the body 110 is moved to (r, -r, 0) so that the cutting edge of the first tip 121 is positioned at the focal length on the optical axis.
  • the control unit 620 instructs the motor to move the mounting unit 302 by a distance of r in the X-axis direction and a distance of -r in the Y-axis direction.
  • the mounting portion 302 is moved by a distance of r in the X-axis direction and by a distance of ⁇ r in the Y-axis direction.
  • the imaging unit 502 can image the flank face of the first chip 121 while facing the flank face.
  • FIG. 15(A) shows the imaging position of the flank surface of the second tip 122 .
  • the central position of the front face of the body 110 is (r, -r, 0) as in FIG. 14(B).
  • the rotation angle ⁇ for specifying the imaging position of the flank face of the second tip 122 is 193°, which is obtained by adding 90° to the rotation angle ⁇ corresponding to the imaging position of the rake face of the second tip 122: 103°.
  • FIG. 15(B) shows the imaging position of the flank surface of the third tip 123 .
  • the central position of the front face of the body 110 is (r, -r, 0) as in FIG. 14(B).
  • the rotation angle ⁇ for specifying the imaging position of the flank face of the third tip 123 is 265°, which is obtained by adding 90° to the rotation angle ⁇ corresponding to the imaging position of the rake face of the third tip 123: 175°.
  • FIG. 15(C) shows the imaging position of the flank surface of the fourth tip 124 .
  • the central position of the front face of the body 110 is (r, -r, 0) as in FIG. 14(B).
  • the rotation angle ⁇ for specifying the imaging position of the flank face of the fourth tip 124 is 337°, which is obtained by adding 90° to the rotation angle ⁇ corresponding to the imaging position of the rake face of the fourth tip 124: 247°.
  • FIG. 15(D) shows the imaging position of the flank surface of the fifth tip 125 .
  • the central position of the front face of the body 110 is (r, -r, 0) as in FIG. 14(B).
  • the rotation angle ⁇ for specifying the imaging position of the flank face of the fifth tip 125 is 49° (409°) obtained by adding 90° to the rotation angle ⁇ corresponding to the imaging position of the rake face of the fifth tip 125: 319°. Become.
  • ⁇ User interface> A user interface for a worker to perform operations related to tool imaging will be described.
  • FIG. 16 is a screen diagram of an operation screen.
  • the operation screen for accepting operations by the operator includes a slide bar 701, a "start” button 702, a “next” button 703, and a check box 704 for "uneven pitch tool”.
  • the operation screen is displayed on a display section (see FIG. 17), which will be described later.
  • the operator touches the "start” button 702 while the "unequal pitch tool” check box 704 is OFF (no check mark). By this operation, imaging of the equipitch tool is started. On the other hand, if the tool 100 to be imaged is an uneven pitch tool, the operator turns ON (check mark present) the check box 704 of the “uneven pitch tool” and touches the “start” button 702 . This operation initiates imaging of the uneven pitch tool.
  • the images showing the cutting edge are displayed one by one.
  • the operator operates the slide bar 701 to change the imaging angle ⁇ of the cutting edge.
  • An image captured at the imaging angle ⁇ indicated by the slide bar 701 is displayed. This allows the operator to observe the cutting edge in a desired direction.
  • FIG. 17 is a functional block diagram of the image processing device 600. As shown in FIG.
  • the image processing device 600 has an arithmetic unit 610 , a storage unit 630 , an input unit 650 , a display unit 660 and a communication unit 670 .
  • the computing unit 610 is a controller that controls the entire image processing apparatus 600 .
  • the calculation unit 610 reads out and executes the control program 638 stored in the storage unit 630 to perform processing as the image processing unit 612, the data processing unit 614, the display instruction unit 616, the reception unit 618, and the control unit 620. to run.
  • the arithmetic unit 610 is not limited to one that realizes a predetermined function through cooperation of hardware and software, and may be a hardware circuit designed exclusively for realizing a predetermined function. That is, the arithmetic unit 610 can be realized by various processors such as CPU, MPU, GPU, FPGA, DSP, and ASIC.
  • the storage unit 630 is a recording medium for recording various information.
  • the storage unit 630 is realized by, for example, RAM, ROM, flash memory, SSD (Solid State Device), hard disk, other storage devices, or an appropriate combination thereof.
  • the storage unit 630 stores a control program 638 executed by the calculation unit 610 as well as various data used by the machine tool 200 .
  • storage unit 630 stores image data 632 , association data 634 , imaging position data 636 and control program 638 .
  • the input unit 650 is input means such as a keyboard, mouse, and touch panel used for inputting data and operation signals.
  • the display unit 660 is output means such as a display used to output data.
  • the communication unit 670 is an interface circuit (module) for enabling data communication.
  • the communication unit 670 can perform data communication with the imaging unit 502 .
  • the image processing unit 612 detects the contour position of the tool 100 from the captured image data 632, and performs processing for associating the contour position with the rotation angle ⁇ at the time of imaging.
  • the data processing unit 614 Fourier-transforms the association data 634 and processes the numerical value having the maximum value on the numerical axis as the number of blades of the tool 100 .
  • the display instruction unit 616 instructs the display unit 660 to display the screen. Accepting portion 618 accepts a user operation on input portion 650 .
  • the control unit 620 mainly performs control to move the mounting unit 302 and control to rotate the mounting unit 302 .
  • the control unit 620 controls, for example, the changing unit 306 to change the imaging angle, and the mounting unit 302 is moved to a position where the rake face or the flank face falls within the range of the depth of field of the imaging unit 502 with respect to the motor. controls the movement of the
  • FIG. 18 is a flow chart showing the main processing steps.
  • the tool 100 is attached to the attachment portion 302, and the attachment portion 302 holds the tool 100 rotatably. Also, as shown in FIG. 4, an imaging unit 500 is set.
  • the display instruction unit 616 causes the display unit 660 to display a tool type selection screen including a "rotary tool” button and a "turning tool” button. If the tool to be imaged is a rotary tool (for example, a milling tool), the worker touches the "rotary tool” button. Moreover, when the tool to be imaged is a turning tool, the worker touches the "turning tool” button. In this manner, the receiving unit 618 receives the tool type selection on the tool type selection screen (S10).
  • a rotary tool for example, a milling tool
  • the worker touches the "rotary tool” button.
  • the receiving unit 618 receives the tool type selection on the tool type selection screen (S10).
  • the receiving unit 618 When the receiving unit 618 receives the touch of the "rotary tool” button, the image of the rotating tool is captured by the processing from S12 onward. When the reception unit 618 receives the touch of the "turning tool” button, the processing after S12 is not performed. The imaging of the turning tool is omitted.
  • the control unit 620 performs initialization processing (S12).
  • initialization processing S12
  • the reference of the rotation angle ⁇ of the tool 100 orientation of the mounting portion 302 corresponding to the rotation angle ⁇ of 0 degrees of the tool 100
  • the position reference of the tool 100 the center of the front surface of the body 110 is set in the spatial coordinate system.
  • the tool position when the origin (0, 0, 0) of is set.
  • an offset value used for conversion between the imaging coordinate system and the spatial coordinate system is also calculated.
  • the display instruction unit 616 causes the display unit 660 to display the operation screen (FIG. 16) (S14). If the check box 704 of the "unequal pitch tool” is OFF when the receiving unit 618 receives the touch of the "start” button 702 (N of S16), the equal pitch tool processing is executed (S18). Equal pitch tool processing is described below in connection with FIGS. 19 and 20. FIG. On the other hand, when the receiving unit 618 receives the touch of the "start” button 702, if the "uneven pitch tool” check box 704 is ON (Y in S16), the uneven pitch tool process is executed ( S20). Uneven pitch tool processing is described below in connection with FIGS. 21 and 22. FIG.
  • 19 and 20 are flowcharts of the equal pitch tool processing process.
  • the image processing unit 612 detects the contour position of the tool 100 from the image data of the captured shadow image, and performs processing for associating the contour position with the rotation angle at the time of imaging ( S30). Association data 634 is generated by this process.
  • the data processing unit 614 Fourier-transforms the association data 634 and processes the numerical value having the maximum value on the numerical axis as the number of blades of the tool 100 (S32). For example, if the frequency showing the maximum spectrum in the FFT analysis result data illustrated in FIG. 26 is not a natural number such as 4.9 or 5.1, an approximate natural number such as 5 is adopted. A natural number representing the number of blades can be obtained by rounding off the frequency showing the maximum spectrum.
  • the first lighting unit 506 is turned on, and the imaging unit 502 starts imaging.
  • the display instruction unit 616 causes the display unit 660 to display the image captured by the imaging unit 502 (S34).
  • the imaging unit 502 may capture a moving image, and the display instruction unit 616 may continue to display the captured moving image on the display unit 660 .
  • the imaging unit 502 may capture a still image at the timing when the captured image is displayed on the display unit 660, and the display instruction unit 616 may cause the display unit 660 to display the captured still image.
  • the changing unit 306 aligns the tool 100 with the imaging position of the rake face of the first blade (S36).
  • the imaging position of the rake face of the first blade is specified by the rotation angle (hereinafter referred to as “maximum rotation angle”) indicating the maximum contour position (X value) in the association data 634 .
  • the control unit 602 instructs the changing unit 306 to match the rotation angle of the attachment unit 302 to the maximum rotation angle. Rotate the mounting portion 302 . In this way, the first rake face imaging of the blade is displayed on the display unit 660 as a moving or still image. At this time, the imaging angle ⁇ is 0 degrees.
  • the changing unit 306 changes the imaging angle ⁇ of the rake face (S40).
  • the control unit 602 instructs the changing unit 306 to increase or decrease the rotation angle of the mounting unit 302 according to the imaging angle ⁇ , and the changing unit 306 rotates the mounting unit 302 so that the angle shown in FIGS. As illustrated in (B), FIG. 12(A) and FIG. 13(A), the rotation angle ⁇ of the tool 100 is increased or decreased according to the imaging angle ⁇ .
  • the motor moves the mounting portion 302 according to the imaging angle ⁇ of the rake face (S42). Specifically, as described with reference to FIGS. 12B and 13B, the control unit 602 controls the motor to move the mounting unit 302 in the Y-axis direction by a distance of ⁇ r ⁇ sin ⁇ . , and the motor moves the mounting portion 302 so that the displacement is ⁇ r ⁇ sin ⁇ in the Y-axis direction. This movement maintains the distance between the cutting edge and the imaging unit 502 to match the focal length. In this way, when the imaging angle ⁇ is adjusted, a clear image of the rake face is displayed on the display unit 660 as a moving image or a still image.
  • the changing unit 306 aligns the tool 100 with the imaging position of the rake face of the adjacent blade (S48).
  • the imaging positions of the rake faces of adjacent blades are identified by the maximum rotation angle plus the sequential inter-blade angle ⁇ , as described in connection with FIG.
  • the control unit 602 instructs the changing unit 306 to match the rotation angle of the mounting unit 302 to the rotation angle to which the inter-blade angle ⁇ is added, and the changing unit 306 adjusts the rotation angle to the rotation angle to which the inter-blade angle ⁇ is added.
  • the attachment portion 302 is rotated so that the rotation angle ⁇ of the tool 100 is matched. In this way, the image of the rake face of the adjacent blade is displayed on the display unit 660 as a moving image or a still image. At this time, the imaging angle ⁇ is 0 degrees.
  • the flank is imaged.
  • the changing unit 306 aligns the tool 100 with the imaging position of the flank face of the first blade (S60).
  • the control unit 602 instructs the changing unit 306 to adjust the rotation angle of the attachment unit 302 to the rotation angle added by 90 degrees, and the change unit 306 adjusts the rotation angle of the tool 100 to the rotation angle added by 90 degrees. Rotate the mounting portion 302 so that ⁇ matches.
  • the motor moves the attachment part 302 so as to match the imaging of the flank (S62).
  • the control unit 602 controls the motor to move the mounting unit 302 by a distance of r in the X-axis direction and a distance of -r in the Y-axis direction.
  • the motor moves the mounting portion 302 so that the displacement is +r in the X-axis direction and -r in the Y-axis direction.
  • the image of the flank face of the first blade is displayed on the display unit 660 as a moving image or a still image.
  • the imaging angle ⁇ is 0 degrees.
  • the changing unit 306 changes the flank imaging angle ⁇ (S66).
  • the control unit 602 instructs the changing unit 306 to increase or decrease the rotation angle of the mounting unit 302 according to the imaging angle ⁇ . is rotated to increase or decrease the rotation angle ⁇ of the tool 100 according to the imaging angle ⁇ .
  • the motor moves the mounting portion 302 according to the imaging angle ⁇ of the flank (S68).
  • the cutting edge moves away from the imaging unit 502 regardless of whether the imaging angle ⁇ is increased or decreased.
  • the far distance is obtained by r ⁇ (1 ⁇ cos ⁇ ). Therefore, the control unit 602 instructs the motor to move the mounting unit 302 by a distance of r ⁇ (1-cos ⁇ ) in the Y-axis direction, and the motor displaces +r ⁇ (1-cos ⁇ ) in the Y-axis direction.
  • the mounting portion 302 is moved so that This movement maintains the distance between the cutting edge and the imaging unit 502 to match the focal length. Therefore, the flank faces fall within the depth of field of the imaging unit 502 . In this way, when the imaging angle ⁇ is adjusted, a clear image of the flank is displayed on the display unit 660 as a moving image or a still image.
  • the changing unit 306 aligns the tool 100 with the imaging position of the flank face of the adjacent blade (S74).
  • the control unit 602 instructs the changing unit 306 to match the rotation angle of the mounting unit 302 to the rotation angle calculated in this way, and the changing unit 306 rotates the tool 100 to the rotation angle calculated in this way. Rotate the mounting portion 302 so that the angle ⁇ matches. In this way, the imaging of the flank of the adjacent blade is displayed on the display section 660 as a moving image or still image. At this time, the imaging angle ⁇ is 0 degrees.
  • the receiving unit 618 receives the touch of the “next” button 703 (Y of S70), if imaging of the flanks of all blades has been completed (Y of S72), the equal pitch tool processing is completed, and the main processing is performed. Finish processing.
  • 21 and 22 are flow charts of the process of processing uneven pitch tools.
  • the processing shown in S80 is the same as in the case of equal pitch tool processing (S30 in FIG. 19).
  • the data processing unit 614 identifies the maximum value of the contour position in the association data, as described with reference to FIG. In this example, five local maxima are identified, one of which is the maximum (S82).
  • the changing unit 306 aligns the tool 100 with the imaging position of the rake face of the adjacent blade (S98).
  • the imaging position of the rake face of the adjacent blade is specified by the next maximum rotation angle in the association data 634 .
  • the control unit 602 instructs the changing unit 306 to match the rotation angle of the mounting unit 302 to the rotation angle indicating the next maximum contour position (X value) (hereinafter referred to as the “maximum rotation angle”),
  • the changing part 306 rotates the mounting part 302 so that the rotation angle ⁇ of the tool 100 matches the rotation angle of the next maximum value.
  • the image of the rake face of the adjacent blade is displayed on the display unit 660 as a moving image or a still image.
  • the imaging angle ⁇ is 0 degree.
  • the processing shown in S110 to S122 in FIG. 22 is the same as the case of equal pitch tool processing (S60 to S72 in FIG. 20).
  • the changing unit 306 aligns the tool 100 with the imaging position of the flank face of the adjacent blade (S124).
  • the imaging position of the flank face of the adjacent blade is identified by adding 90 degrees to the next maximum rotation angle in the association data 634 .
  • the control unit 602 instructs the changing unit 306 to match the rotation angle of the mounting unit 302 to the specified rotation angle, and the changing unit 306 adjusts the rotation angle ⁇ of the tool 100 to match the specified rotation angle. , rotates the mounting portion 302 . In this way, the imaging of the flank of the adjacent blade is displayed on the display section 660 as a moving image or still image. At this time, the imaging angle ⁇ is 0 degrees.
  • the receiving unit 618 receives the touch of the “next” button 703 (Y of S120), if the imaging of the flanks of all blades has been completed (Y of S122), the uneven pitch tool processing is completed, and further Finish main processing.
  • FIG. 23 is a diagram showing a configuration example of a tool imaging system according to Modification 1.
  • the machine tool 200 includes the image processing device 600 in the embodiment, the image processing device 600 may be provided separately from the machine tool 200 .
  • the image processing device 600 may communicate with the machine tool 200 and operate in the same manner as in the embodiment.
  • the entire tool imaging system including the machine tool 200 and the image processing device 600 may be considered to correspond to the tool imaging device in the concept of the present invention.
  • FIG. 24 is a diagram showing a configuration example of a tool imaging device according to Modification 2.
  • the machine tool 200 has shown the example which is a tool imaging device in embodiment and the modification 1, devices other than the machine tool 200 may be sufficient as a tool imaging device.
  • it may be a tool imaging device 800 that is used simply by an operator to observe the blade of the tool.
  • the tool imaging device 800 has a mechanism section 802 instead of the processing section 302 .
  • the mechanism section 802 includes an attachment section 302 and a modification section 306 . Further, the mechanism section 802 includes a motor for moving the attachment section 302 and the like.
  • FIG. 25 is a diagram illustrating a configuration example of a tool imaging system according to Modification 3.
  • the image processing device 600 may be provided separately from the tool imaging device 800.
  • the image processing device 600 may communicate with the tool imaging device 800 and operate in the same manner as in the embodiment.
  • the entire tool imaging system including the tool imaging device 800 and the image processing device 600 may be considered to correspond to the tool imaging device in the concept of the present invention.
  • the control unit 620 performs control to move the mounting unit 302 so that at least part of the rake face falls within the range of the depth of field of the imaging unit 502. You may do so. In other words, even if part of the rake face does not fall within the range of depth of field, it is conceivable that a necessary region of the rake face is within the range of depth of field. For example, the center of the rake face may be aligned with the focal length. However, it is preferable that the entire rake face be within the range of depth of field.
  • FIG. 27A is a diagram showing a state in which the viewing surface does not fall within the range of depth of field.
  • FIG. 27 ((B)) is a diagram showing a state in which the observation plane falls within the range of the depth of field.
  • the cutting edge of the chip in this example is assumed to be sharp as shown. Assume that the operator specifically wants to observe a portion of the rake face. A plane to be observed is called an "observation plane", and in FIGS. 27A and 27B, points corresponding to the observation plane (observation points) are indicated by black circles. As shown in FIG. 27(A), it is assumed that the viewing plane is initially not included in the range of depth of field.
  • the amount of rotation of the mounting portion 302 and the tool 100 may be determined by the user's operation, and the amount of movement of the mounting portion 302 and the tool 100 may be determined by the user's operation.
  • the receiving unit 618 receives an operation of the slide bar 701 (FIG. 16), and the changing unit 306 changes the imaging angle ⁇ of the rake face according to the amount of rotation instructed by the operation.
  • the control unit 602 instructs the changing unit 306 to increase or decrease the rotation angle of the mounting unit 302 according to the imaging angle ⁇ , and the changing unit 306 rotates the mounting unit 302 .
  • a slide bar for movement is provided on the operation screen (FIG.
  • the reception unit 618 receives an operation of the slide bar for movement, and the motor rotates the mounting unit 302 according to the movement amount instructed by the operation. to move.
  • the control unit 602 instructs the motor to move the mounting unit 302 according to the movement amount, and the motor moves the mounting unit 302 according to the instruction.
  • the amount of rotation of the attachment portion 302 and the tool 100 may be determined by the processing of the control portion 602
  • the amount of movement of the attachment portion 302 and the tool 100 may be determined by the processing of the control portion 602 .
  • a straight line connecting a point indicating the viewing surface and the center of the body 110 is called a "straight line A”.
  • a straight line that connects a point indicating the observation plane down to the imaging plane in parallel with the optical axis (called an "orthogonal point") and the center of the body 110 is called a "straight line B".
  • a straight line connecting the point indicating the viewing plane and the orthogonal point is called a "straight line C”.
  • Straight lines A, B, and C form a right-angled triangle.
  • the mounting portion 302 and the tool 100 are moved to the left by (1-cos 6.5 degrees).
  • the central position of the front face of the body 110 is ( ⁇ length of straight line A ⁇ (1 ⁇ cos 6.5 degrees), 0, 0). If one observation position (for example, an orthogonal point) is determined, and the reference position of the tool blade (for example, a point indicating the observation surface) is specified from imaging, the control unit 602 performs imaging based on the triangular relationship described above. The amount of rotation and the amount of movement of the angle ⁇ can be calculated.
  • the reference position of the blade of the tool may be other than the point indicating the viewing plane.
  • the length of the straight line A, the length of the straight line B, and the angle between the straight lines A and B are determined in advance, and the control unit 602 uses these values to calculate the amount of rotation and the amount of movement of the imaging angle ⁇ .
  • the length of the straight line A and the length of the straight line B may be a predetermined distance within a range from 0.7 ⁇ the distance between the axes to 1.3 ⁇ the distance between the axes, for example.
  • the angle formed by the straight lines A and B may be, for example, a predetermined angle within the range of 2 degrees to 10 degrees.
  • the amount of rotation of the mounting portion 302 and the tool 100 may be determined by user operation, and the amount of movement of the mounting portion 302 and the tool 100 may be determined according to the amount of rotation by the processing of the control portion 602 .
  • the method of obtaining the amount of movement of the mounting portion 302 and the tool 100 may be the same as in the case of the second method.
  • control unit 620 may perform control to move the attachment unit 302 so that at least part of the flank faces falls within the range of the depth of field of the imaging unit 502 .
  • the control unit 620 may perform control to move the attachment unit 302 so that at least part of the flank faces falls within the range of the depth of field of the imaging unit 502 .
  • the center of the flank may be aligned with the focal length.
  • an illumination unit coaxial with the imaging unit 502 may be used instead of the first illumination unit 506, an illumination unit coaxial with the imaging unit 502 may be used.
  • the tool imaging device may be an automated guided vehicle with a robotic arm.
  • the automatic guided vehicle with robot arm runs by rotating the wheels provided at the bottom of the main body by the drive unit, and the grip part (mounting part (Example of )), and the position, orientation, and rotation angle of the tool can be freely changed by the movement of the robot arm.
  • a tool imaging camera is fixed to the main body of an automatic guided vehicle with a robot arm, and the robot arm is moved to photograph the tool so that the positional relationship between the tool imaging camera and the tool is the same as in the embodiments and modifications. , the function as a tool imaging device can be realized.
  • a tool 100 (see FIG. 2, an uneven pitch tool may be used) having a blade having a rake face and a flank face is attached to a machine tool (an example of a tool imaging device) mounting portion 302 (see FIG. 1, for example, a spindle or a turret). holder).
  • the mounting portion 302 moves under the control of the control portion 620 as illustrated in FIGS. 12 to 14 and the like.
  • the imaging unit 502 is installed such that the optical axis is in the second direction that intersects the first direction of the rotation axis.
  • a changing unit 306 (see FIG. 1, for example, a servomotor), which is a part of the processing unit 300 of the machine tool 200, is used when imaging the rake face of the blade as illustrated in FIGS. 11A and 11B. change the imaging angle ⁇ to . That is, the changing unit 306 rotates the mounting unit 302 so that the imaging angle ⁇ changes. When the imaging angle ⁇ is changed, as illustrated in FIGS. The mounting portion 302 is moved (S42 in FIG. 19, S92 in FIG. 21).
  • the changing unit 306 may change the imaging angle ⁇ (S66 in FIG. 20, S116 in FIG. 22).
  • the control unit 203 may move the mounting unit 302 to a position where the flank faces are within the range of the depth of field of the imaging unit 502 (S68 in FIG. 20, S118 in FIG. 22).
  • the first illumination section 506 is provided on the imaging section 502 side. Assuming a plane parallel to the rotation axis and containing the optical axis, the first illumination unit 506 illuminates the blade from a third direction that intersects the plane at an angle within the range of, for example, 5 degrees to 20 degrees. guess.
  • the control unit 203 moves the mounting unit 302 to a position away from the imaging unit 502 in the second direction (see FIG. 3) (S42 in FIG. 19, S92 in FIG. 21).
  • the spindle and the servomotor are also used when machining the workpiece.
  • the holder of the turret of the turning center is used as the attachment portion 302 and the motor for driving the turret is used as the change portion 306, the holder and motor of the turret are also used when machining the workpiece.
  • FIG. 28 is a screen diagram of an operation screen. 17 shows an example of an operation screen different from the operation screen shown in FIG. 16.
  • FIG. This operation screen includes a flank check box 710, a rake face check box 712, a brightness slide bar 714, an angle slide bar 716, a focus slide bar 718, an upward arrow 720, a downward arrow 722, a left arrow 724, Includes a right pointing arrow 726 and a live display portion 728 .
  • the live display portion 728 displays the flank or rake face imaging.
  • control unit 620 executes the processing of S60 to S74 shown in FIG. 20 or the processing of S110 to S124 shown in FIG. .
  • the rake face check box 712 When the rake face check box 712 is turned on, the rake face is imaged. That is, when the receiving unit 618 receives ON of the rake face check box 712, the control unit 620 executes the processing of S36 to S48 shown in FIG. 19 or the processing of S86 to S98 shown in FIG. .
  • the brightness slide bar 714 When the brightness slide bar 714 is moved, the brightness of the flank surface imaging and the rake surface imaging displayed in the live display portion 728 is adjusted.
  • the imaging unit 502 changes the brightness of the image according to the degree of brightness received by the receiving unit 618 .
  • the changing unit 306 changes the imaging angle ⁇ of the flank face and the rake face according to the degree of the angle accepted by the accepting unit 618 .
  • Moving the focus slide bar 718 changes the focal length.
  • the imaging unit 502 changes the focal length according to the degree of focus received by the receiving unit 618 .
  • the flank or rake face imaging is reduced. Also, pinching out the live display portion 728 enlarges the flank or rake face imaging. That is, when the accepting unit 618 accepts pinch-in of the live display portion 728 , the display unit 660 reduces the flank surface imaging or the rake surface imaging and displays it on the live display portion 728 . When the receiving unit 618 receives the pinch-out of the live display portion 728 , the display unit 660 enlarges the flank surface imaging or the rake surface imaging and displays it on the live display portion 728 .
  • a pull-down menu 730 for the number of blades accepts designation of the number of blades.
  • the accepting unit 618 accepts designation of the number of blades in the pull-down menu 730
  • the number of blades calculated in S32 of FIG. 19 is changed. For example, when capturing an image of only one blade of a two-blade end mill, specify "1".
  • the imaging positions of the left-hand tool and the right-hand tool are switched.
  • the operation when the “move to opposite end face” button 732 is touched while the rake face of the first tip 121 is being imaged as shown in FIG. 5B will be described.
  • the mounting portion 302 is rotated forward by 180 degrees.
  • the tool rotates so that the rotation angle ⁇ changes from 31 degrees to 211 degrees, and the first tip 121 moves from the right end to the left end.
  • the mounting portion 302 is moved in the positive direction of the X-axis (rightward in FIG. 5B) so that the cutting edge moved to the left end is positioned on the optical axis.
  • the cutting edge of the first tip 121 can be imaged from the opposite side. That is, the position for imaging the rake face of the right-hand tool and the position for imaging the rake face of the left-hand tool can be switched. If the rake face is not projected because the hand direction is different, by touching the "move to opposite end face" button 732, the position of the tool can be changed so that the rake face is correctly projected.
  • FIG. 29 is a screen diagram of an operation screen showing an imaging range.
  • the worker can specify the imaging range 740 when saving the image.
  • the receiving unit 618 receives a slide operation for expanding or contracting the imaging range 740 indicated by a rectangle in the vertical direction or expanding or contracting it in the horizontal direction.
  • control unit 620 saves the image included in the designated imaging range in storage unit 630 .
  • the orientation of the flank to be imaged is changed.
  • the "CW/CCW” button 734 is touched when imaging the flank surface of the first chip 121 as shown in FIG. rotates slightly in the positive or negative direction with reference to the rotation angle ⁇ : 121 degrees.
  • the mounting portion 302 rotates, the tool also rotates.
  • CW clockwise
  • CCW counterclockwise
  • the mounting portion 302 is slightly moved in the positive or negative direction of the X axis (rightward or leftward in FIG. 14B) so that the cutting edge is positioned on the optical axis, and the tool is moved slightly. You may do so.
  • the posture of the first chip 121 in this way, the flank can be imaged from two different directions.
  • a cutting tool (cutting tool) having a blade is shown as an example of a tool to be imaged, and an example of imaging the blade is shown, but other tools (for example, a polishing tool having a grindstone) may be attached to the attachment portion 302 to image a predetermined portion (for example, the grinding surface) of the attached tool.
  • a device for example, a ruler for measuring length
  • a device for example, a measuring device having a contact sensor
  • the attached device or device can be A part (for example, a scale of a ruler or a contact point of a contact sensor) may be imaged.
  • the tool imaging device and the machine tool described in all claims of the present disclosure are realized not only by machine elements but also by cooperation with hardware resources such as processors, memories, and programs.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

Ce dispositif d'imagerie d'outil comprend : une unité de fixation à laquelle un outil comprenant une lame est fixé ; une unité de commande qui effectue une commande pour déplacer l'unité de fixation ; une unité d'imagerie ayant, comme axe optique, une seconde direction croisant une première direction de l'axe de rotation de l'unité de fixation ; et une unité de modification qui modifie un angle d'imagerie lors de l'imagerie d'une face de coupe ou d'une face de flanc de la lame, l'unité de commande effectuant une commande pour déplacer l'unité de fixation sur la base de l'angle d'imagerie modifié lorsque l'angle d'imagerie est modifié par l'unité de modification.
PCT/JP2022/005244 2021-02-15 2022-02-10 Dispositif d'imagerie d'outil, machine-outil et dispositif d'imagerie WO2022172973A1 (fr)

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JP2021021378A JP6980141B1 (ja) 2021-02-15 2021-02-15 工具撮像装置及び工作機械

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JPH08257876A (ja) * 1995-03-24 1996-10-08 Toshiba Mach Co Ltd 工具摩耗量自動計測方法および工作機械における工具摩耗量自動計測装置
JP2001269844A (ja) * 2000-03-27 2001-10-02 Toshiba Corp 工具観察方法とその装置および切削加工システム
JP2002337041A (ja) * 2001-05-16 2002-11-26 Toshiba Corp 工具管理方法及びその装置
JP2004034259A (ja) * 2002-07-05 2004-02-05 Konica Minolta Holdings Inc 工具基準点設定装置及び工具基準点設定方法
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