WO2022259814A1 - 工作機械 - Google Patents
工作機械 Download PDFInfo
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- WO2022259814A1 WO2022259814A1 PCT/JP2022/020138 JP2022020138W WO2022259814A1 WO 2022259814 A1 WO2022259814 A1 WO 2022259814A1 JP 2022020138 W JP2022020138 W JP 2022020138W WO 2022259814 A1 WO2022259814 A1 WO 2022259814A1
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- WIPO (PCT)
- Prior art keywords
- tool
- camera
- headstock
- spindle
- machine tool
- Prior art date
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- 238000005286 illumination Methods 0.000 claims abstract description 36
- 230000003287 optical effect Effects 0.000 claims abstract description 18
- 238000003860 storage Methods 0.000 claims description 23
- 238000007689 inspection Methods 0.000 description 33
- 238000012545 processing Methods 0.000 description 32
- 238000003754 machining Methods 0.000 description 24
- 238000010586 diagram Methods 0.000 description 11
- 239000002826 coolant Substances 0.000 description 8
- 238000004891 communication Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 238000003384 imaging method Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 238000004140 cleaning Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
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- 239000000470 constituent Substances 0.000 description 4
- 238000013500 data storage Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
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- 238000005259 measurement Methods 0.000 description 3
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- 239000007788 liquid Substances 0.000 description 2
- 230000015654 memory Effects 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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- 238000010191 image analysis Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
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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
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2409—Arrangements for indirect observation of the working space using image recording means, e.g. a camera
-
- 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
- B23Q17/248—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves using special electromagnetic means or methods
- B23Q17/249—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves using special electromagnetic means or methods using image analysis, e.g. for radar, infrared or array camera images
-
- 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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
- B23Q11/005—Devices for removing chips by blowing
-
- 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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/02—Devices for removing scrap from the cutting teeth of circular or non-circular cutters
-
- 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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/08—Protective coverings for parts of machine tools; Splash guards
-
- 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
- B23Q17/24—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
- B23Q17/2461—Length
Definitions
- the present invention relates to tool inspection technology for machine tools.
- Machine tools include turning centers that move tools relative to rotating workpieces, machining centers that move rotating tools relative to workpieces, and multitasking machines that combine these functions.
- a tool is fixed to a tool holder such as a tool spindle or a tool rest.
- a machine tool processes a workpiece while exchanging tools and moving a tool holder according to a machining program prepared in advance.
- Tool inspection is generally performed based on an image captured while the tool is illuminated by a lighting device.
- the camera can acquire a high-contrast captured image that makes it easy to grasp the contour position of the tool. That is, the outline of the tool is extracted from the difference in contrast between the tool and its background to generate tool shape data. Whether or not the tool is defective can be determined based on the tool shape acquired at this time.
- the camera and lighting device for tool inspection are generally supported by a long arm, and their positional relationship is adjusted.
- the proximal end of an arm is fixed to a headstock that supports a work spindle, and the camera is fixed to the distal end of the arm.
- the illuminator is fixed to the proximal end of that arm or to another arm.
- An inspection area is provided between the camera and the illumination unit. During tool inspection, the tool spindle is moved so that the tool is positioned within the inspection area.
- the headstock is equipped with a motor that rotates the work spindle, and the motor can become a heat source and reach high temperatures.
- This heat conduction from the headstock causes the arm to extend (expand), possibly shifting the positional relationship between the camera and the tool.
- the position of the camera may become unstable due to disturbance such as vibration of the workpiece spindle. This displacement in positional relationship may reduce the inspection accuracy.
- a machine tool includes a headstock that rotatably supports a work spindle, and a camera that captures an image of a tool held in a predetermined area.
- the camera is fixed to the headstock so that the optical axis is oblique to the vertical direction at a position above the work spindle.
- a machine tool includes a headstock that rotatably supports a work spindle, a camera that captures an image of a tool held in a predetermined area, and an illumination unit that faces the camera.
- a region is formed between the camera and the illuminator. The camera is placed closer to the headstock than the lighting section.
- the present invention it is possible to suppress the positional deviation of the camera due to heat conduction, vibration, etc. regarding imaging for grasping the tool state.
- FIG. 4 is a schematic diagram showing the positional relationship among a tool, a camera, and a lighting device in a tool recognition area; 4 is a perspective view showing the periphery of a tool recognition area;
- FIG. 3 is a diagram representing the main configuration for tool inspection;
- FIG. 3 is a diagram representing the main configuration for tool inspection;
- FIG. 3 is a diagram representing the main configuration for tool inspection;
- FIG. 3 is a diagram representing the main configuration for tool inspection;
- 1 is a hardware configuration diagram of a machine tool and an image processing device;
- FIG. 1 is a functional block diagram of an image processing device;
- FIG. 1 is a perspective view showing the appearance of the machine tool according to the embodiment.
- the machine tool 100 is configured as a multitasking machine that processes a workpiece into a desired shape while appropriately exchanging tools.
- the vertical direction, the front-rear direction, and the horizontal direction as viewed from the front of the machine tool 100 are defined as the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively.
- the machine tool 100 includes a processing device 124 that processes a workpiece using tools, and a tool storage section 130 that stores a plurality of tools to be replaced.
- the processing device 124 processes a work placed within the processing area 200 .
- a work is fixed to a work spindle 104 and cut by a tool 102 attached to a tool spindle 116 .
- the tool spindle 116 functions as a "tool holder”.
- the work spindle 104 is rotationally driven by a drive mechanism.
- a tool recognition area 210 is provided between the tool storage section 130 and the machining area 200 .
- a tool recognition area 210 is an area in which the camera 106 and the illumination device 108 used for tool inspection are installed.
- the illumination device 108 functions as an "illumination section".
- the upper illumination device 108 illuminates the tool 102 and the lower camera 106 images the tool 102 .
- Tool registration and tool inspection are performed based on the captured image at this time.
- the configuration of the tool recognition area 210 is further detailed in connection with FIG.
- the machine tool 100 has a cover 202 that blocks the outside.
- Cover 202 includes door 204 .
- the user opens the door 204 to mount and remove the work.
- the operation panel 206 receives various operations on the machine tool 100 from the operator.
- the operation panel 206 is connected to the image processing device 110 .
- a worker can remotely monitor the working status of the machine tool 100 using the image processing device 110 .
- the main body of the machine tool 100 and the image processing device 110 are connected via a wired cable.
- the image processing device 110 may be formed as an internal device inside the machine tool 100 , for example, the operation panel 206 .
- the operation panel 206 may be formed as a part of the machine tool 100, or configured to be detachable from the machine tool 100 and transportable.
- the tool storage unit 130 stores a plurality of tools 102.
- a tool changer (to be described later) acquires a tool 102 from a plurality of tools 102 stored in the tool storage 130 and mounts it on the tool spindle 116 .
- FIG. 2 is a schematic diagram showing the positional relationship among the tool 102, the camera 106 and the illumination device 108 in the tool recognition area 210.
- the tool 102 includes a blade portion 112 used for machining a workpiece and a shank portion 114 fixed to a holder 118 of a tool spindle 116 .
- the tool spindle 116 is supported by a spindle head 117 so as to be rotatable about its axis.
- the spindle head 117 is provided with a spindle motor for rotating the tool spindle 116 .
- the machine tool 100 is provided with a moving mechanism (not shown) for moving the spindle head 117 in three axial directions (X-, Y-, and Z-axis directions). This movement mechanism includes a screw feed mechanism for moving the spindle head 117 and a servo motor for driving it.
- the tool 102 moves together with the spindle head 117 in three axial directions and rotates together with the tool spindle
- the camera 106 includes an image sensor (imaging element) such as CMOS (Complementary Metal Oxide Semiconductor) or CCD (Charge-Coupled Device).
- the camera 106 images the tool 102 attached to the tool spindle 116 from below.
- the camera 106 is connected to the image processing device 110 and the captured image is transmitted to the image processing device 110 .
- the tool 102 can be imaged from multiple directions. Also, by moving the tool 102 in the horizontal direction (in the YZ direction), images of a plurality of locations of the tool 102 can be captured.
- a lighting device 108 is arranged to face the camera 106 .
- a lighting device 108 illuminates the tool 102 from above. Transmitted illumination by the illumination device 108 allows the camera 106 to acquire a high-contrast captured image that facilitates grasping the contour position of the tool 102 .
- tool registration When the user newly registers the tool 102 (hereinafter referred to as "tool registration"), the user sets the tool registration mode on the operation panel 206 and attaches the new tool 102 to the tool spindle 116 .
- a tool spindle 116 moves and rotates the tool 102, and a fixed camera 106 automatically images the tool 102 from various positions and orientations.
- a tool shape is recognized from a large number of captured images obtained by the camera 106, and the tool ID and the tool shape are associated and registered. With such a control method, the tool shape can be automatically associated with the tool ID and registered for each tool 102 .
- the tool geometry is formed as two-dimensional data or three-dimensional data.
- the tool spindle 116 also causes the tool 102 to enter the tool recognition area 210 when inspecting the tool 102 before or after machining. As in new registration, the tool spindle 116 moves and rotates the tool 102, and the camera 106 automatically captures images of the tool 102 from various positions and directions. A tool shape is recognized from a large number of captured images obtained by the camera 106 . Hereinafter, the inspection performed on the tool 102 will be referred to as "tool inspection”.
- the operator determines the degree of wear and the presence or absence of chipping of the tool 102 . For example, even if the tool length as a specification shown in the catalog is 170.000 millimeters, the measured value of the tool length at the time of tool registration may be 170.008 millimeters. In this case, the degree of wear of the tool 102 is determined based on the tool length of 170.008 mm at the time of registration.
- the camera 106 in this embodiment has a resolution of approximately 5 million pixels (2448 ⁇ 2048).
- the imaging range is about 17 mm ⁇ 14 mm. More specifically, the imaging range may be 16.8 millimeters by 14.0 millimeters. Also, the camera 106 can acquire a maximum of 20 captured images per second.
- the tool storage section 130 exists behind the tool recognition area 210 (Z-axis negative direction side) (see FIG. 1).
- the tool spindle 116 goes deep into the tool recognition area 210 and receives the tool change in the tool storage section 130 .
- the tool spindle 116 enters the tool recognition area 210 relatively shallowly.
- FIG. 3 is a perspective view showing the periphery of the tool recognition area 210.
- An internal cover 160 is provided as a partition wall between the processing device 124 and the tool storage section 130 .
- An opening 162 for exposing the work spindle 104 is formed in the inner cover 160 .
- An opening 164 is formed at a predetermined position of the inner cover 160, and a shutter 166 capable of opening and closing the opening 164 is provided.
- a tool recognition area 210 space
- Machining area 200 is connected to tool storage 130 ( FIG. 1 ) via tool recognition area 210 .
- the shutter 166 is a movable partition plate that opens and closes the tool recognition area 210 with respect to the machining area 200 .
- the shutter 166 is driven to open and close by a drive mechanism including a servomotor (not shown).
- the tool recognition area 210 is closed by the shutter 166 during machining of the workpiece.
- a coolant is injected to remove frictional heat between the workpiece and the tool 102 .
- chips of the workpiece also scatter within the machining area 200 . Therefore, the tool recognition area 210 is closed by the shutter 166 to prevent coolant or the like from entering the tool recognition area 210 .
- the machine tool 100 stops machining the workpiece. At this time, the machine tool 100 also stops injection of coolant.
- the tool 102 is moved to a predetermined position (hereinafter referred to as "standby position") in front of the tool recognition area 210, and the tool 102 is rotated at the standby position at high speed.
- the coolant and chips adhering to the tool 102 hereinafter collectively referred to as "deposits" are shaken off.
- rotating the tool 102 at a high speed to remove deposits at the standby position will be referred to as "cleaning rotation”.
- the shutter 166 opens and allows the tool to enter the tool recognition area 210 .
- Tool inspection is performed by imaging the tool 102 inserted into the tool recognition area 210 with the camera 106 .
- the machining area 200 is connected to the tool storage section 130 via the tool recognition area 210. Therefore, when performing a tool change, the tool 102 is inserted deep into the tool recognition area 210 . Since the tool 102 passes through the tool recognition area 210 not only during tool inspection but also during tool replacement, the cleaning rotation may be similarly performed before passing.
- Figures 4 to 7 are diagrams showing the main configuration for tool inspection.
- 4 and 5 show the state of the tool recognition area 210 viewed from the machining area 200 side (viewed in the axial direction of the work spindle 104) with the inner cover 160 removed.
- 6 and 7 are views viewed in the direction of arrow A in FIG. 4 (showing a state seen in a direction perpendicular to the axis of the work spindle 104).
- a two-dot chain line in the figure schematically shows a state in which the tool 102 is held in the tool recognition area 210 during tool inspection.
- the work spindle 104 is rotatably supported by the headstock 170, and the camera 106 is fixed to the headstock 170.
- the illumination device 108 is fixed to an arm 172 provided above the headstock 170 .
- the camera 106 is fixed to the headstock 170 at a position offset from a vertical line L1 that intersects the axis of the rotation shaft of the work spindle 104 (that is, the axis of the work spindle 104).
- the base end (lower end) of the arm 172 is fixed to the housing of the tool storage section 130 and extends upward from the headstock 170 .
- the illumination device 108 is fixed to the tip (upper end) of the arm 172 and positioned on the vertical line L1.
- the camera 106 is disposed with its light receiving surface facing obliquely upward, and its optical axis L2 is inclined at a predetermined angle (inclination angle ⁇ ) with respect to the vertical line L1.
- the illumination device 108 is arranged with its light emitting surface facing obliquely downward so as to be positioned on the optical axis L2.
- a predetermined area, that is, an inspection area 212 is formed between the camera 106 and the illumination device 108 in the tool recognition area 210 .
- an imaging target portion (portion to be imaged for inspection) of the tool 102 is arranged in the inspection area 212 .
- the angle of inclination ⁇ is set so that the camera 106 (especially the light receiving surface) below is not contaminated even if a small amount of coolant or the like drips, and the camera 106 is offset from directly below the tool 102 .
- the inclination angle ⁇ is set to 20 degrees in the present embodiment, it can be appropriately set within a range of 15 degrees or more and 90 degrees or less.
- the inclination angle ⁇ may be 15 degrees or more and 45 degrees or less.
- a cover 306 for covering the light emitting surface of the lighting device 108 is installed next to the lighting device 108 .
- a cover for covering the light-receiving surface of the camera 106 may be installed beside the camera 106 as well.
- the optical axis L2 is tilted to such an extent that the illumination device 108 and the cover 306 have a positional relationship that does not overlap the camera 106 ( See the two-dot chain line parallel to the vertical line L1 in the figure).
- the camera 106 is offset from directly below the tool 102. As a result, even if coolant or the like drips from the tool 102 inserted into the tool recognition area 210, it can be prevented from adhering to the camera 106 and its cover, and contamination of the camera 106 can be suppressed.
- the tool 102 is moved to a position away from the arm 172 fixing the illumination device 108, so it is possible to image the tool 102 having a large tool diameter. .
- the distance from the axis L3 of the work spindle 104 to the end of the work spindle 104 is D1
- the axis line is arranged so that all or part of the camera 106 is included within the range of the distance D2 (corresponding to the diameter of the workpiece spindle 104) which is twice the distance D1 from L3.
- the tool 102 is inserted between the camera 106 and the illumination device 108.
- a secondary lighting device 308 is also installed on the side of the camera 106 to illuminate the tool 102 from below.
- Each cover of the camera 106 and the illumination device 108 is rotationally driven around a rotation axis extending in the Z-axis direction to open or close the light-receiving surface and the light-emitting surface, but detailed description thereof will be omitted.
- the tool 102 is imaged by the camera 106 while the tool 102 is illuminated from above by the illumination device 108 .
- the tool 102 penetrates deeper into the tool recognition area 210 than during tool inspection.
- the camera 106 itself is provided with ring illumination.
- the optical axis L2 of the camera 106 overlaps the work spindle 104 when viewed in a direction perpendicular to the axis L3 of the work spindle 104 (direction A in FIG. 5).
- the optical axis L2 of the camera 106 does not overlap the workpiece spindle 104 when viewed in the direction of the axis L3 of the workpiece spindle 104.
- FIG. 7 the optical axis L2 of the camera 106 overlaps the work spindle 104 when viewed in a direction perpendicular to the axis L3 of the work spindle 104 (direction A in FIG. 5).
- the optical axis L2 of the camera 106 does not overlap the workpiece spindle 104 when viewed in the direction of the axis L3 of the workpiece spindle 104.
- FIG. 8 is a hardware configuration diagram of the machine tool 100 and the image processing device 110.
- the machine tool 100 includes an operation control device 120 , a display device 121 , a machining control device 122 , a machining device 124 , a tool changer 126 and a tool storage 130 .
- a machining control device 122 functioning as a numerical control device transmits control signals to the machining device 124 according to a machining program.
- the machining device 124 moves the tool spindle 116 according to instructions from the machining control device 122 to machine the workpiece.
- the operation control device 120 includes an operation panel 206 and controls the processing control device 122 .
- the display device 121 functions as a display unit provided on the operation panel 206 and displays various images on the screen.
- the tool storage section 130 stores tools.
- the tool changer 126 corresponds to a so-called ATC (Automatic Tool Changer) and is provided outside the machining area 200 (that is, on the tool storage part 130 side with respect to the inner cover 160) (see FIGS. 1 and 3).
- the tool exchange unit 126 takes out a tool from the tool storage unit 130 according to an exchange instruction from the machining control device 122, and exchanges the tool on the tool spindle 116 with the taken out tool.
- the image processing device 110 mainly performs image processing such as tool shape recognition. As mentioned above, the image processing device 110 may be configured as part of the operation control device 120 .
- the image processing device 110 may be a general laptop PC (Personal Computer) or tablet computer.
- FIG. 9 is a functional block diagram of the image processing device 110.
- Each component of the image processing apparatus 110 includes a CPU (Central Processing Unit) and computing units such as various computer processors, storage devices such as memory and storage, hardware including wired or wireless communication lines connecting them, and storage devices. , and implemented by software that supplies processing instructions to the computing unit.
- a computer program may consist of a device driver, an operating system, various application programs located in their higher layers, and a library that provides common functions to these programs.
- Each block described below represents a functional block rather than a hardware configuration.
- operation control device 120 and the processing control device 122 also include hardware including computing units such as processors, storage devices such as memories and storages, and wired or wireless communication lines connecting them.
- software or programs that supply processing instructions may be implemented on an operating system separate from the image processing apparatus 110 .
- the image processing device 110 includes a data processing section 142 , a communication section 400 and a data storage section 144 .
- the communication unit 400 is in charge of communication with the operation control device 120 .
- the data processing unit 142 executes various processes based on data received from the operation control device 120 and data stored in the data storage unit 144 .
- Data processing unit 142 also functions as an interface between communication unit 400 and data storage unit 144 .
- the data storage unit 144 stores various programs and setting data.
- the communication unit 400 includes a receiving unit 404 that receives data from the operation control device 120 and a transmission unit 406 that transmits data and commands to the operation control device 120 .
- the data processing section 142 includes a tool shape detection section 150 and a captured image acquisition section 152 .
- the captured image acquisition unit 152 controls the camera 106 to capture an image of the tool 102 .
- the machining control device 122 moves the tool 102 to the tool recognition area 210 , and the captured image acquisition unit 152 captures an image of the tool 102 .
- the direction of movement of the tool spindle 116 (that is, the tool 102) can also be instructed from the captured image acquisition unit 152 to the machining control device 122.
- the tool shape detection unit 150 performs tool inspection and tool registration by generating tool shape data based on the captured image of the tool 102 .
- the image processing device 110 transmits the result of image processing in the tool inspection to the operation control device 120 and displays it on the display device 121 .
- the work spindle 104 (specifically, the motor that drives the work spindle 104 to rotate) serves as a heat source and the headstock 170 becomes relatively hot.
- the work spindle 104 serves as a heat source and the headstock 170 becomes relatively hot.
- the headstock 170 becomes relatively hot.
- the illumination device 108 is supported by the arm 172, it is sufficient if it has an illumination function, and it does not require the same degree of positional accuracy as the camera 106 with respect to the tool 102, so no substantial problem arises.
- calibration of the camera may be performed in order to correct the positional deviation between the axis of the tool spindle and the optical axis of the camera.
- a calibration plate on which a predetermined pattern is printed can be used. By determining the relative positional relationship between the calibration plate and the camera, the positional deviation between the axis of the tool spindle and the optical axis of the camera is corrected.
- a calibration plate is set at an arbitrary position within the tool recognition area. However, the position and orientation of the calibration plate shall be specified. Then, a camera captures an image of this calibration plate. A predetermined pattern of the calibration plate reflected in the captured image obtained as a result is extracted, and image analysis is performed on the extracted predetermined pattern. At this time, the angle of the camera, that is, the direction of the camera optical axis is specified based on the degree of deformation of the shape of the predetermined pattern. Since the position of the tool spindle at this time is known, the relative positional relationship between the tool spindle and the camera can be calculated.
- the position of the camera and the direction of the optical axis are specified based on the position with respect to the tool spindle at that time, and the measurement is performed after considering the camera posture at that time. value can be corrected.
- the configuration in which the camera 106 is fixed so as to be close to the headstock 170 has been exemplified.
- a predetermined mounting member may be interposed between the camera and the headstock.
- the camera should be placed closer to the headstock than the lighting device. The camera should be placed below the tool.
- the proximal end of the arm 172 is fixed to the housing of the tool storage section 130, but it may be fixed to a pillar or other internal structure constituting the tool storage section 130.
- the base end of the arm 172 is fixed to the tool storage section 130 in the above embodiment, it may be fixed to the headstock 170 . In that case, the illumination device 108 may be displaced from the set position due to thermal deformation of the arm 172. However, as described above, the illumination device 108 does not require the same degree of positional accuracy as the camera 106, so there is little practical problem. Camera 106 may be fixed to the proximal end of arm 172 (that is, near headstock 170).
- the example in which the camera 106 is installed so that the optical axis L2 is inclined with respect to the vertical line L1 is shown. That is, the camera 106 is arranged at a position offset from directly below the tool 102 .
- the camera 106 may be installed so that the optical axis L2 is parallel to the vertical line L1. That is, the camera 106 may be arranged directly below the tool 102 and the illumination device 108 may be arranged above the tool 102 after taking measures against contamination caused by dripping coolant.
- the camera 106 is fixed to the headstock 170 such that the optical axis L2 is oblique to the vertical direction at a position above the work spindle 104 .
- an illumination device 108 (illumination unit) is arranged at a position above the camera 106 so as to face the camera 106 .
- the straight line connecting the camera 106 and the illumination device 108 that is, the straight inspection area 212 is oblique to the vertical direction.
- the optical axis L2 of the camera 106 overlaps the work spindle 104 when viewed in the horizontal direction perpendicular to the axis L3 of the work spindle 104 (see FIG. 7).
- the optical axis L2 of the camera 106 does not overlap the work spindle 104 (see FIG. 5).
- the camera 106 is positioned so as to overlap the headstock 170 in plan view (that is, when viewed in the direction of the vertical line L1).
- the tool spindle 116 (tool holding portion) can move in the axial direction of the work spindle 104 while holding the tool 102 .
- the camera 106 takes an image when the tool 102 held by the tool spindle 116 is positioned to intersect the inspection area 212 .
- the imaging position of the tool 102 can be adjusted by moving the tool spindle 116 in the axial direction of the work spindle 104 . Then, the tool 102 can be imaged by effectively using the space above the workpiece spindle 104 .
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Abstract
Description
図1は、実施形態に係る工作機械の外観を表す斜視図である。
工作機械100は、工具を適宜交換しながらワークを所望の形状に加工する複合加工機として構成されている。以下の説明では便宜上、工作機械100を正面からみて上下方向,前後方向,左右方向を、それぞれX軸方向,Y軸方向,Z軸方向とする。
工具102は、ワークの加工に利用される刃部112と、工具主軸116のホルダ118に固定されるシャンク部114を含む。工具主軸116は、主軸頭117により軸線周りに回転可能に支持されている。主軸頭117には、工具主軸116を回転駆動するためのスピンドルモータが設けられている。工作機械100には、主軸頭117を3軸方向(X,Y,Z軸方向)に移動させるための移動機構(図示略)が設けられている。この移動機構は、主軸頭117を移動させるためのねじ送り機構およびこれを駆動するサーボモータを含む。工具102は、主軸頭117と一体に3軸方向に移動し、工具主軸116と一体に回転する。
図3は、工具認識領域210の周辺を表す斜視図である。
加工装置124と工具格納部130との隔壁として内部カバー160が設けられている。内部カバー160には、ワーク主軸104を露出させるための開口162が形成されている。また、内部カバー160の所定位置に開口164が形成され、開口164を開閉可能なシャッター166が設けられている。加工領域200側からみてシャッター166の奥方、かつワーク主軸104の上方に工具認識領域210(空間)が形成される。上述のように、工具認識領域210には、カメラ106および照明装置108が配置される。加工領域200は、工具認識領域210を介して工具格納部130(図1)とつながる。
工作機械100は、操作制御装置120、表示装置121、加工制御装置122、加工装置124、工具交換部126および工具格納部130を含む。数値制御装置として機能する加工制御装置122は、加工プログラムにしたがって加工装置124に制御信号を送信する。加工装置124は、加工制御装置122からの指示にしたがって工具主軸116を動かしてワークを加工する。
画像処理装置110の各構成要素は、CPU(Central Processing Unit)および各種コンピュータプロセッサなどの演算器、メモリやストレージといった記憶装置、それらを連結する有線または無線の通信線を含むハードウェアと、記憶装置に格納され、演算器に処理命令を供給するソフトウェアによって実現される。コンピュータプログラムは、デバイスドライバ、オペレーティングシステム、それらの上位層に位置する各種アプリケーションプログラム、また、これらのプログラムに共通機能を提供するライブラリによって構成されてもよい。以下に説明する各ブロックは、ハードウェア単位の構成ではなく、機能単位のブロックを示している。
撮像画像取得部152は、カメラ106を制御して工具102を撮像させる。加工制御装置122は工具102を工具認識領域210に移動させ、撮像画像取得部152は工具102を撮像する。撮像画像取得部152から加工制御装置122に工具主軸116(つまり工具102)の移動方向を指示することもできる。工具形状検出部150は、工具102の撮像画像に基づいて工具形状データを生成することで工具検査および工具登録を実行する。画像処理装置110は、工具検査において画像処理した結果を操作制御装置120に送信し、表示装置121に表示させる。
本実施形態では、ワーク主軸104(詳細にはワーク主軸104を回転駆動するモータ)が熱源となり、主軸台170が比較的高温になるところ、カメラ106が長尺のアームを介することなく主軸台170に固定される。すなわち、カメラ106と主軸台170との間に大きく熱変形する部材が介在しないため、主軸台170が高温になってもカメラ106が設定位置からずれることを抑制できる。また、ワーク主軸104の振動等の外乱によりカメラ106が大きく変位することもない。一方、照明装置108はアーム172に支持されるが、照明機能を有すれば足り、工具102に対してカメラ106ほどの位置精度を要しないため、実質的な問題は生じない。
Claims (5)
- ワーク主軸を回転可能に支持する主軸台と、
所定の領域に保持される工具を撮像するカメラと、
を備え、
前記カメラが前記ワーク主軸の上方の位置で光軸が鉛直方向に対して斜めとなるように前記主軸台に固定されている、工作機械。 - 前記カメラの上方において前記カメラと対向配置される照明部をさらに備え、
前記カメラと前記照明部との間に前記領域が形成される、請求項1に記載の工作機械。 - 前記照明部が固定されるアームをさらに備え、
前記アームが、前記主軸台と離間した工具格納部の筐体又は内部構造体に固定されている、請求項2に記載の工作機械。 - ワーク主軸を回転可能に支持する主軸台と、
所定の領域に保持される工具を撮像するカメラと、
前記カメラと対向配置される照明部と、
を備え、
前記カメラと前記照明部との間に前記領域が形成され、
前記カメラが前記照明部よりも前記主軸台に近い位置に配置される、工作機械。 - 前記カメラの受光面が上方に向けられている、請求項1~4のいずれかに記載の工作機械。
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