WO2023136138A1

WO2023136138A1 - Machine tool, machine tool control method, and machine tool control program

Info

Publication number: WO2023136138A1
Application number: PCT/JP2022/048244
Authority: WO
Inventors: 静雄西川; 純一窪田
Original assignee: Dmg森精機株式会社
Priority date: 2022-01-12
Filing date: 2022-12-27
Publication date: 2023-07-20
Also published as: JP2023102482A; JP7038939B1

Abstract

Provided is a technique for detecting an excessively large tool that cannot pass through a passage port. This machine tool has a machining area and a tool accommodation area that is partitioned from the machining area by a partition. The partition has a passage port formed therein. The machine tool is provided with: a camera which is so disposed as to capture an image of a tool passing through the passage port; a rotary drive unit which rotationally drives a spindle; a position drive unit which moves the position of the spindle; and a control unit for controlling the machine tool. The control unit executes: a process for, prior to accommodating a tool in the tool accommodation area, controlling the position drive unit so as to bring the spindle to a predetermined position within the machining area and controlling the rotary drive unit to cause the axial direction of the spindle to be oriented toward a predetermined direction; a process for determining, on the basis of an image obtained from the camera, whether or not the tool can pass through the passage port; and a process for implementing predetermined anomaly countermeasure processing on the basis of a determination that it is impossible for the tool to pass through the passage port.

Description

MACHINE TOOL, MACHINE TOOL CONTROL METHOD, AND MACHINE TOOL CONTROL PROGRAM

The present disclosure relates to technology for detecting tools that are excessively large relative to the passage opening.

In recent years, machine tools equipped with cameras have become popular. Regarding the machine tool, Japanese Patent Application Laid-Open No. 2014-163807 (Patent Document 1) discloses a machine tool capable of measuring the shape of the tool using a camera provided in the machine tool.

JP 2014-163807 A

In recent years, machine tools that have a machining area for machining workpieces and a tool storage area for storing multiple tools have become widespread. The machining area and the tool storage area are separated by partitions. A passage opening is provided in the partition, and the machine tool exchanges the used tool in the machining area with the tool stored in the tool storage area through the passage opening.

The worker may manually attach the tool to the spindle in the machining area. At this time, if an excessively large tool is attached to the spindle, the tool may not be able to pass through the passage opening when stored in the tool storage area. Therefore, there is a demand for a technique for detecting excessively large tools that cannot pass through the passage opening. Note that the technique disclosed in Patent Document 1 is not for detecting an excessively large tool.

In one example of the present disclosure, a machine tool includes a machining area provided with a tool-mountable spindle, and a tool storage area separated from the machining area by a partition. A passage opening is provided in the partition. A tool attached to the spindle passes through the passage opening and is stored in the tool storage area. The machine tool further includes a camera provided to photograph the tool passing through the passage opening, a rotation drive unit for rotating the spindle, and a position drive for moving the position of the spindle. and a controller for controlling the machine tool. The control unit controls the position driving unit so that the spindle is positioned at a predetermined position in the machining area before storing the tool in the tool storage area, and controls the position driving unit to position the spindle in the axial direction of the spindle. A process of controlling the rotation drive unit so that it faces a predetermined first direction, and a process of outputting a shooting instruction to the camera after execution of the control process and acquiring a first image from the camera a process of determining whether or not the tool can pass through the passage opening based on the first image; and based on the determination that the tool cannot pass through the passage opening, and a process of executing a predetermined abnormality handling process.

In one example of the present disclosure, the control unit further includes, after executing the controlling process, the rotation of the main shaft so as to change the axial direction of the main shaft from the predetermined first direction to a predetermined second direction. and outputting a photographing instruction to the camera at least one timing during the process of controlling the drive unit and changing the axial direction of the main shaft from the predetermined first direction to the predetermined second direction. , a process of acquiring a second image from the camera, and a process of determining whether or not the tool can pass through the passage opening based on the second image.

In one example of the present disclosure, the control unit further rotates the main shaft about the axial direction of the main shaft as a rotation axis based on the fact that the axial direction of the main shaft is oriented in the predetermined second direction. and a process of outputting a photographing instruction to the camera at least one timing while the main shaft is rotating about the axial direction as a rotation axis, and obtaining a third image from the camera. and a process of determining whether or not the tool can pass through the passage opening based on the third image.

In one example of the present disclosure, when the axial direction of the main shaft faces the predetermined first direction, the axial direction of the main shaft is parallel to the partition.

In one example of the present disclosure, the process of determining whether or not the tool can pass through the passage opening based on the first image includes: and a process of determining that the tool cannot pass through the passage opening when the diameter exceeds a predetermined value. .

In one example of the present disclosure, the control unit determines that the tool cannot pass through the passage opening when at least part of the tool is included in the first image.

Another example of the present disclosure provides a control method for a machine tool. The machine tool includes a machining area provided with a spindle on which tools can be mounted, and a tool storage area separated from the machining area by a partition. A passage opening is provided in the partition. A tool attached to the spindle passes through the passage opening and is stored in the tool storage area. The machine tool further comprises a camera arranged to photograph the tool passing through the passage opening. The control method moves the spindle to a predetermined position in the machining area before storing the tool in the tool storage area, and sets the axial direction of the spindle to a predetermined direction. outputting a photographing instruction to the camera after executing the rotating step, acquiring an image from the camera; and allowing the tool to pass through the passage opening based on the image. The step of determining whether or not it is possible, and the step of performing a predetermined abnormality countermeasure process based on the determination that the tool cannot pass through the passage opening are provided.

Another example of the present disclosure provides a machine tool control program. The machine tool includes a machining area provided with a spindle on which tools can be mounted, and a tool storage area separated from the machining area by a partition. A passage opening is provided in the partition. A tool attached to the spindle passes through the passage opening and is stored in the tool storage area. The machine tool further includes a camera provided to photograph the tool passing through the passage opening, and the control program causes the machine tool to store the tool in the tool storage area. moving the main shaft to a predetermined position within the processing area and rotating the main shaft so that the axial direction of the main shaft faces a predetermined direction; obtaining an image from the camera; determining whether or not the tool can pass through the passage opening based on the image; and and executing a predetermined abnormality coping process based on the judgment that passage is impossible.

The above and other objects, features, aspects and advantages of the present invention will become apparent from the following detailed description of the present invention understood in conjunction with the accompanying drawings.

It is a figure which shows the external appearance of a machine tool. It is a figure which shows the structural example of the drive mechanism in a machine tool. It is a figure which shows a spindle head and a measuring part. FIG. 4 is a diagram showing a process of storing a tool attached to a spindle in a tool storage area; It is a figure showing an example of functional composition of a machine tool. FIG. 5 is a diagram showing a driving process of the spindle head; It is a figure which shows an example of the image obtained from the camera. FIG. 7 is a diagram showing the driving process of the spindle head continued from FIG. 6; It is a figure which shows an example of the image obtained from the camera. It is a figure which shows an example of the image obtained from the camera. It is a figure which shows an example of the hardware constitutions of a control panel. 1 is a diagram showing an example of a hardware configuration of a CNC (Computerized Numerical Control) unit; FIG. It is a figure which shows an example of the hardware constitutions of an information processing apparatus. 4 is a flow chart showing part of the processing executed by the control unit of the machine tool;

Each embodiment according to the present invention will be described below with reference to the drawings. In the following description, identical parts and components are given identical reference numerals. Their names and functions are also the same. Therefore, detailed description of these will not be repeated. In addition, each embodiment and each modified example described below may be selectively combined as appropriate.

<A. Configuration of Machine Tool 100>
First, the configuration of the machine tool 100 will be described with reference to FIG. FIG. 1 is a diagram showing the appearance of a machine tool 100. As shown in FIG.

The machine tool 100 is a work processing machine. As an example, the machine tool 100 is a machine tool that performs subtractive manufacturing (SM) machining of a workpiece. Alternatively, the machine tool 100 may be a machine tool that performs additive manufacturing (AM) of a work. Machine tool 100 may be a vertical machining center, a horizontal machining center, or a turning center. Alternatively, machine tool 100 may be a lathe or other cutting or grinding machine. Furthermore, the machine tool may be a compound machine in which these are combined.

A machine tool 100 is provided with an operation panel 20 . The operation panel 20 includes a display 205 for displaying various information regarding machining, and operation keys 206 for accepting various operations for the machine tool 100 .

The machine tool 100 has a machining area AR1 and a tool storage area AR2. Each of the machining area AR1 and the tool storage area AR2 is partitioned by a cover.

A spindle head 130 to which a tool can be attached is provided in the machining area AR1. The machine tool 100 processes a work by controlling the driving of a spindle 132 to which tools are attached.

The tool storage area AR2 is separated from the processing area AR1 by a partition PA. An ATC 160 and a magazine 170 are provided in the tool storage area AR2. The magazine 170 stores various tools used for machining the workpiece. The tools stored in the magazine 170 are attached to the spindle head 130 through the passage PS provided in the partition PA. A sliding door is attached to the passage PS. The door is opened and closed by a drive source such as a motor.

For convenience of explanation, the vertical direction is hereinafter referred to as the "X direction", the direction perpendicular to the partition PA is referred to as the "Z direction", and the direction perpendicular to both the X direction and the Z direction is referred to as the "Y direction". called.

<B. Drive Mechanism of Machine Tool 100>
Next, various drive mechanisms in the machine tool 100 will be described with reference to FIG. FIG. 2 is a diagram showing a configuration example of a drive mechanism in the machine tool 100. As shown in FIG.

As shown in FIG. 2, the machine tool 100 includes a control section 50, a rotation drive section 110A, a position drive section 110B, a spindle head 130, and a measurement section 140.

The "control unit 50" referred to in this specification means a device that controls the machine tool 100. The device configuration of the control unit 50 is arbitrary. The control section 50 may be composed of a single control unit, or may be composed of a plurality of control units. In the example of FIG. 2 , the control section 50 is composed of the operation panel 20 , the CNC unit 30 and the information processing device 40 .

The operation panel 20 and the CNC unit 30 communicate with each other, for example, via a communication path NW1 (eg, wireless LAN, wired LAN, field network, etc.). CNC unit 30 and information processing device 40 communicate with each other, for example, via communication path NW2 (eg, wireless LAN, wired LAN, field network, etc.).

Upon receiving the machining start command, the CNC unit 30 starts executing a pre-designed machining program. The machining program is written in, for example, an NC (Numerical Control) program. The CNC unit 30 controls the rotation drive section 110A and the position drive section 110B to drive the spindle head 130 according to the machining program.

The information processing device 40 is a general-purpose computer. As an example, the information processing device 40 may be a desktop computer, a notebook computer, or a tablet terminal. An image processing program is installed in the information processing device 40 , and various image processing is performed on the image acquired from the measurement unit 140 .

The spindle head 130 includes a spindle tube 131 and a spindle 132 . The main shaft 132 is rotatably supported by the main shaft tube 131 . A tool 134 selected from a magazine 170 (see FIG. 1) is mounted on the spindle 132 . The tool 134 rotates in conjunction with the spindle 132 .

The rotation drive section 110A is a drive mechanism for changing the angle of the main shaft 132. As an example, the rotation driving unit 110A rotates in a rotation direction centered on the X-axis direction (A-axis), a rotation direction centered on the Y-axis direction (B-axis), and a rotation center centered on the Z-axis direction. At least one angle of the rotation direction (C axis) is adjusted. The device configuration of the rotation drive unit 110A is arbitrary. The rotation driving section 110A may be composed of a single driving unit, or may be composed of a plurality of driving units. In the example of FIG. 2, the rotation driving section 110A is composed of

servo drivers

111B and 111C.

The position drive section 110B is a drive mechanism for changing the position of the main shaft 132. As an example, position driver 110B adjusts at least one position in the X-axis direction, Y-axis direction, and Z-axis direction. The device configuration of the position driving section 110B is arbitrary. The position driving section 110B may be composed of a single driving unit, or may be composed of a plurality of driving units. In the example of FIG. 2, the position driving section 110B is composed of servo drivers 111X to 111Z.

The servo driver 111B sequentially receives input of the target rotational speed from the CNC unit 30 and controls a servomotor (not shown) for rotating the spindle head 130 in the B-axis direction.

More specifically, the servo driver 111B calculates the actual rotation speed of the servomotor from a feedback signal of an encoder (not shown) for detecting the rotation angle of the servomotor, and the actual rotation speed is the target rotation speed. If the actual rotation speed is higher than the target rotation speed, the rotation speed of the servo motor is lowered. In this way, the servo driver 111B brings the rotation speed of the servomotor closer to the target rotation speed while sequentially receiving the feedback of the rotation speed of the servomotor. Thereby, the servo driver 111B adjusts the rotational speed of the spindle head 130 in the B-axis direction.

The servo driver 111C sequentially receives input of the target rotational speed from the CNC unit 30, and controls a servomotor (not shown) for rotationally driving the main shaft 132 in a rotational direction about the axial direction of the main shaft 132. .

More specifically, the servo driver 111C calculates the actual rotation speed of the servomotor from a feedback signal of an encoder (not shown) for detecting the rotation angle of the servomotor, and the actual rotation speed is the target rotation speed. If the actual rotation speed is higher than the target rotation speed, the rotation speed of the servo motor is lowered. In this way, the servo driver 111C brings the rotation speed of the servomotor closer to the target rotation speed while sequentially receiving the feedback of the rotation speed of the servomotor. Thereby, the servo driver 111C adjusts the rotation speed of the main shaft 132 in the rotation direction with the axial direction of the main shaft 132 as the rotation center.

The servo driver 111X sequentially receives input of target positions from the CNC unit 30 and controls a servo motor (not shown). The servomotor feeds and drives a moving body to which the spindle head 130 is attached via a ball screw (not shown) to move the spindle head 130 to an arbitrary position in the X-axis direction. The method of controlling the servomotor by the servo driver 111X is the same as that of the

servo drivers

111B and 111C, so the description thereof will not be repeated.

The servo driver 111Y sequentially receives input of target positions from the CNC unit 30 and controls a servo motor (not shown). The servomotor feeds and drives a moving body to which the spindle head 130 is attached via a ball screw (not shown) to move the spindle 132 to an arbitrary position in the Y-axis direction. The method of controlling the servomotor by the servo driver 111Y is the same as that of the

servo drivers

111B and 111C, so the description thereof will not be repeated.

The servo driver 111Z sequentially receives input of target positions from the CNC unit 30 and controls a servo motor (not shown). The servomotor feeds and drives a moving body to which the spindle head 130 is attached via a ball screw (not shown) to move the spindle 132 to an arbitrary position in the Z-axis direction. The method of controlling the servomotor by the servo driver 111Z is the same as that of the

servo drivers

111B and 111C, so the description thereof will not be repeated.

In the above description, an example in which the rotation driving section 110A is configured by a servo driver has been described, but the rotation driving section 110A may be configured by another motor driver. As an example, the rotation drive section 110A may be configured with one or more motor drivers for a stepping motor. Similarly, the position driver 110B may consist of one or more motor drivers for stepping motors.

The measuring unit 140 is a measuring mechanism for measuring the amount of tool wear. As an example, the measuring section 140 functions as an imaging section. The information processing device 40 measures the wear amount of the tool captured in the image by performing predetermined image processing on the image obtained from the imaging unit. The details of the method for measuring the amount of wear will be described later.

<C. Measurement unit 140>
Next, referring to FIG. 3, the measurement mechanism of the measurement section 140 will be described. FIG. 3 is a diagram showing the spindle head 130 and the measuring section 140. As shown in FIG.

In the example of FIG. 3, the spindle head 130 is provided in the machining area AR1, and the measuring section 140 and the

light sources

145, 147 are provided in the tool storage area AR2. The measuring section 140 is composed of a camera 141 and an objective lens 142 .

The light source 145 is, for example, ring lighting and is installed so as to surround the objective lens 142 . The light source 145 irradiates an object within the field of view CR of the camera 141 with light. Reflected light from the object enters the objective lens 142 . A tool image representing the tool 134 is thereby obtained from the camera 141 .

A light source 147 is provided so as to face the objective lens 142 and the light source 145 . The light source 147 irradiates an object within the imaging field CR of the camera 141 with light from the opposite side of the imaging direction. As a result, the light emitted from the light source 147 is blocked by the object included in the field of view CR of the camera 141 , and the light not blocked by the object enters the camera 141 . Thereby, a tool image as a shadow picture is obtained from the camera 141 .

<D. Overview>
Next, with reference to FIG. 4, an overview of the oversized tool detection process will be described. FIG. 4 is a diagram showing the process of storing the tool attached to the spindle 132 in the tool storage area AR2.

A worker may manually mount a tool on the spindle 132 in the processing area AR1. At this time, if an excessively large tool 134 larger than the size of the passage PS is attached to the spindle 132, the tool may collide with the passage PS when being transported from the machining area AR1 to the tool storage area AR2. .

The example of FIG. 4 shows the tool 134 as a milling tool. Since the diameter of the tool 134 shown in FIG. 4 is larger than the width of the passage PS, the tool 134 collides with the partition PA when being stored in the tool storage area AR2 from the processing area AR1.

Therefore, the machine tool 100 determines whether the tool 134 can pass through the passage PS before storing the tool 134 in the tool storage area AR2. When the tool 134 can pass through the passage PS, the machine tool 100 stores the tool 134 in the tool storage area AR2 via the passage PS. On the other hand, when the tool 134 cannot pass through the passage PS, the machine tool 100 carries out a predetermined abnormality coping process. Thereby, the machine tool 100 can prevent the tool 134 attached by the operator from colliding with the partition PA.

<E. Functional configuration>
A function for detecting an oversized tool will be described with reference to FIGS. 5 to 7. FIG. FIG. 5 is a diagram showing an example of the functional configuration of the machine tool 100. As shown in FIG.

The control unit 50 of the machine tool 100 includes a drive control unit 52, a determination unit 54, and an abnormality processing unit 56 as functional configurations. These functional configurations will be described in order below.

The arrangement of each functional configuration is arbitrary. As an example, all of the functional configurations shown in FIG. 5 may be implemented in the operation panel 20 described above (see FIG. 2), or may be implemented in the CNC unit 30 described above (see FIG. 2), It may be implemented in the information processing device 40 (see FIG. 2) described above. Alternatively, part of the functional configuration shown in FIG. 5 may be implemented in the operation panel 20, part of the remaining functional configuration may be implemented in the CNC unit 30, and the remaining functional configuration may be implemented in the information processing device 40. . Alternatively, part of the functional configuration shown in FIG. 5 may be implemented in an external device such as a server, or may be implemented in dedicated hardware.

(E1. Drive control unit 52)
First, referring to FIG. 6, the function of the drive control section 52 shown in FIG. 5 will be described. 6A and 6B are diagrams showing the driving process of the spindle head 130. FIG.

The drive control unit 52 drives the main shaft 132 before storing the tool 134 in the tool storage area AR2, thereby bringing the main shaft 132 as close as possible to the imaging field CR of the camera 141. If the tool 134 is too large, the tool 134 is included in the field of view CR of the camera 141 . Otherwise, tool 134 is not included in field of view CR of camera 141 .

More specifically, in step S1, the drive control unit 52 sets the axial direction AX1 of the main shaft 132 to a predetermined direction D1 (first 1 direction) is controlled. In the example of FIG. 6, direction D1 corresponds to the vertical direction. Typically, when the axial direction AX1 of the main shaft 132 faces the direction D1, the axial direction AX1 of the main shaft 132 is parallel to the partition PA and the passage PS.

In step S2, the drive control section 52 controls the position drive section 110B (see FIG. 2) so that the position P0 of the spindle 132 matches the predetermined position P1 within the processing area AR1. The predetermined position P1 may be defined in the machining program or may be defined in the setting file. Typically, the predetermined position P1 is set at a distance d from the optical axis AX2 of the camera 141 in the direction perpendicular to the optical axis AX2.

Although the example in which the drive process of step S2 is executed after the drive process of step S1 has been described above, the drive process of step S1 may be executed after the drive process of step S2. Alternatively, the driving process of step S2 may be executed in parallel with the driving process of step S1.

(E2. Determination unit 54)
Next, with reference to FIG. 7, functions of the determination unit 54 shown in FIG. 5 will be described. FIG. 7 is a diagram showing an example of an image obtained from the above camera 141 (see FIG. 6).

After executing the drive processing in steps S1 and S2 (see FIG. 6) described above, the determination unit 54 outputs a photographing instruction to the camera 141 and acquires an image (first image) from the camera 141 . FIG. 7 shows an image IM1 as an example of an image obtained from the camera 141. As shown in FIG. The determination unit 54 determines whether the tool 134 can pass through the passage PS based on the image IM1.

As an example, the determination unit 54 searches for the tool 134 in the image IM1 by executing predetermined image processing on the image IM1. More specifically, the determination unit 54 acquires in advance a background image in which the tool is not shown. When the determination unit 54 acquires the image IM1 obtained by photographing from the same viewpoint as the background image, the determination unit 54 subtracts the background image from the image IM1. Thereby, the determination unit 54 can obtain a background difference image obtained by removing the background from the image IM1. The determination unit 54 extracts an area having a pixel value equal to or greater than a predetermined value from the background difference image, and detects the area as a tool area AR.

In a certain aspect, the determination unit 54 determines that the tool 134 cannot pass through the passage opening PS when at least part of the tool 134 is included in the image IM1. On the other hand, the determination unit 54 determines that the tool 134 can pass through the passage PS when the tool 134 is not included in the image IM1.

In other words, the determination unit 54 determines that the tool 134 cannot pass through the passage opening PS when the tool 134 is shown in the image IM1. On the other hand, the determining unit 54 determines that the tool 134 can pass through the passage PS when the tool 134 is not shown in the image IM1.

In another aspect, the determination unit 54 calculates the diameter of the tool 134 (hereinafter also referred to as "tool diameter") from the image IM1, and based on the tool diameter, the tool 134 can pass through the passage opening PS. or not. The tool diameter represents the length of the tool 134 in the direction orthogonal to the axial direction AX1 of the spindle 132. As shown in FIG. The tool diameter may be expressed in terms of radius or diameter.

More specifically, first, the determination unit 54 identifies the coordinate "x1" corresponding to the end of the tool area AR. Coordinate "x1" is identified by edge detection processing, for example. Next, the determination unit 54 transforms the position "x1" represented by the coordinate system of the viewpoint of the camera 141 into the position "Z1" represented by the world coordinate system based on a predetermined coordinate transformation formula. The x direction of image IM1 corresponds to, for example, the Z direction of the world coordinate system (see FIG. 6). The y-direction of image IM1 corresponds to, for example, the Y-direction of the world coordinate system (see FIG. 6). That is, each pixel in the image IM1 corresponds to coordinates on the YZ plane of the world coordinate system. As described above, if the position of the camera 141 is known, the coordinate transformation formula is uniquely determined.

Next, the determination unit 54 calculates the distance between the converted Z-coordinate "Z1" and the Z-coordinate of the position P0 (see FIG. 6) of the spindle 132 as the tool diameter. The determination unit 54 determines that the tool 134 cannot pass through the passage opening PS when the calculated tool diameter exceeds a predetermined value. On the other hand, the determination unit 54 determines that the tool 134 can pass through the passage opening PS when the calculated tool diameter does not exceed the predetermined value.

Although the above description assumes a method of searching for a tool from within the image IM1 using image processing based on background subtraction, the image processing is not limited to a method using background subtraction. As an example, the determination unit 54 may search for the tool 134 within the image IM1 using the learned model. A trained model is generated in advance by a learning process using a learning data set. The learning data set includes multiple learning images in which the tool 134 is shown. Each learning image is associated with the presence or absence of the tool 134 as a label. The internal parameters of the trained model are optimized in advance by learning processing using such a learning data set. As a result, when the learned model receives an image input, it outputs the probability that the tool 134 appears in the image.

Various machine learning algorithms can be adopted as the learning method for generating trained models. For example, deep learning, convolutional neural network (CNN), full-layer convolutional neural network (FCN), support vector machine, etc. are adopted as the machine learning algorithm.

The determination unit 54 sequentially inputs partial images within the rectangular area to the learned model while shifting a predetermined rectangular area on the image IM1. Upon receiving an input of a partial image, the learned model outputs the probability that the tool 134 appears in the partial image. The determination unit 54 determines that the tool 134 is captured in the partial image in which the probability exceeds a predetermined value and has the maximum probability, and detects the partial image in the image IM1 as the tool area AR.

(E3. Abnormal processing unit 56)
Next, functions of the abnormality processing unit 56 shown in FIG. 5 will be described.

When the determining unit 54 determines that the tool 134 cannot pass through the passage opening PS, the abnormality processing unit 56 carries out a predetermined abnormality handling process.

The anomaly handling process includes the process of outputting a warning. The warning notifies that an excessively large tool 134 is attached to the spindle 132 . The warning output mode is arbitrary. As an example, the warning may be displayed on the display of machine tool 100, or may be output as a sound such as a buzzer sound or voice. By outputting the warning, the operator can notice that the excessively large tool 134 is attached to the spindle 132 before the tool 134 is stored in the tool storage area AR2.

As another example, the abnormality handling process includes a process of stopping processing. Machining processing includes, for example, driving processing of the spindle 132 .

<F. Variation>
Next, modifications of the machine tool 100 will be described with reference to FIGS. 8 to 10. FIG. FIG. 8 is a diagram showing the driving process of the spindle head 130 following FIG.

In this modified example, the machine tool 100 further executes the driving process of steps S3 to S5 following the driving process of steps S1 and S2 (see FIG. 6). By the driving process of steps S3 to S5, the machine tool 100 more reliably detects the oversized tool 134. FIG.

More specifically, in step S3, it is assumed that the axial direction AX1 of the main shaft 132 is oriented in the direction D1 and the position P0 of the main shaft 132 is aligned with the predetermined position P1.

After that, in step S4, the drive control section 52 controls the rotation drive section 110A (see FIG. 2) to change the axial direction AX1 of the main shaft 132 from the direction D1 to the direction D2 (second direction). The position of the tool 134 when the spindle 132 is oriented in the direction D2 is closer to the camera 141 than the position of the tool 134 when the spindle 132 is oriented in the direction D1. The determination unit 54 outputs a photographing instruction to the camera 141 at least one timing while the axial direction AX1 of the main shaft 132 is being changed from the direction D1 to the direction D2, and acquires an image (second image) from the camera 141 . Preferably, the shooting instruction is output to the camera 141 at regular time intervals while the axial direction AX1 of the main shaft 132 is being changed from the direction D1 to the direction D2.

FIG. 9 is a diagram showing an image IM2 obtained from the camera 141 according to the shooting instruction. The determination unit 54 determines whether the tool 134 can pass through the passage PS based on the image IM2. The determination method is as described with reference to FIG. 7, so description thereof will not be repeated. The abnormality processing unit 56 performs a predetermined abnormality handling process when the determination unit 54 determines that the tool 134 cannot pass through the passage opening PS. Through the processes of steps S3 and S4, the machine tool 100 can move the tool closer to the camera 141 while the position P0 of the spindle 132 is fixed, and can more reliably detect an excessively large tool.

After that, in step S5, the drive control unit 52 controls the rotation drive unit 110A (see FIG. 2) so as to rotate the main shaft 132 about the axial direction AX1 of the main shaft 132 as the rotation axis. As an example, the main shaft 132 is rotated once with the axial direction AX1 as the rotation axis. The determination unit 54 outputs a photographing instruction to the camera 141 at least one timing while the main shaft 132 is rotating about the axial direction AX1 as the rotation axis, and acquires an image (third image) from the camera 141 . Preferably, the shooting instruction is output to the camera 141 at regular time intervals while the main shaft 132 is rotating about the axial direction AX1 as the rotation axis.

FIG. 10 is a diagram showing an image IM3 obtained from the camera 141 according to the shooting instruction. The determination unit 54 determines whether or not the tool 134 can pass through the passage PS based on the image IM3. The determination method is as described with reference to FIG. 7, so description thereof will not be repeated. The abnormality processing unit 56 performs a predetermined abnormality handling process when the determination unit 54 determines that the tool 134 cannot pass through the passage opening PS. The process of step S5 enables the machine tool 100 to detect an excessively large tool whose tool diameter is not constant.

<G. Hardware Configuration of Operation Panel 20>
Next, referring to FIG. 11, the hardware configuration of the operation panel 20 shown in FIG. 2 will be described. FIG. 11 is a diagram showing an example of the hardware configuration of the operation panel 20. As shown in FIG.

The operation panel 20 includes a control circuit 201, a ROM (Read Only Memory) 202, a RAM (Random Access Memory) 203, a communication interface 204, a display 205, operation keys 206, and an auxiliary storage device 220. These components are connected to the internal bus B2.

The control circuit 201 is composed of, for example, at least one integrated circuit. Integrated circuits include, for example, at least one CPU (Central Processing Unit), at least one GPU (Graphics Processing Unit), at least one ASIC (Application Specific Integrated Circuit), at least one FPGA (Field Programmable Gate Array), or It can be configured by a combination of

The control circuit 201 controls the operation of the operation panel 20 by executing various programs such as the control program 222 . The control program 222 defines commands for controlling the operation panel 20 . The control circuit 201 reads the control program 222 from the auxiliary storage device 220 or the ROM 202 to the RAM 203 based on the reception of the instruction to execute the control program 222 . The RAM 203 functions as a working memory and temporarily stores various data necessary for executing the control program 222 .

The communication interface 204 is a communication unit for realizing communication using a LAN (Local Area Network) cable, WLAN, Bluetooth (registered trademark), or the like. As an example, the operation panel 20 realizes communication with external devices such as the CNC unit 30 via the communication interface 204 .

The display 205 is, for example, a liquid crystal display, organic EL display, or other display device. The display 205 sends an image signal for displaying an image to the display 205 according to a command from the control circuit 201 or the like. The display 205 is configured by, for example, a touch panel, and receives various operations for the machine tool 100 by touch operations.

The operation key 206 is composed of a plurality of hardware keys and accepts various user operations on the operation panel 20. A signal corresponding to the pressed key is output to the control circuit 201 . As an example, the operation key 206 accepts a tool storage operation.

The auxiliary storage device 220 is, for example, a storage medium such as a hard disk or flash memory. The auxiliary storage device 220 stores a control program 222 and the like. The storage location of the control program 222 is not limited to the auxiliary storage device 220, but may be stored in the storage area of the control circuit 201 (for example, cache memory), ROM 202, RAM 203, external equipment (for example, server), or the like.

It should be noted that the control program 222 may be provided not as a standalone program but as part of an arbitrary program. In this case, various processes according to the present embodiment are implemented in cooperation with arbitrary programs. Even a program that does not include such a part of modules does not deviate from the gist of control program 222 according to the present embodiment. Furthermore, some or all of the functions provided by control program 222 may be implemented by dedicated hardware. Furthermore, the control panel 20 may be configured in a form like a so-called cloud service in which at least one server executes part of the processing of the control program 222 .

<H. Hardware Configuration of CNC Unit 30>
Next, referring to FIG. 12, the hardware configuration of the CNC unit 30 shown in FIG. 2 will be described. FIG. 12 is a diagram showing an example of the hardware configuration of the CNC unit 30. As shown in FIG.

The CNC unit 30 includes a control circuit 301 , a ROM 302 , a RAM 303 , communication interfaces 304 and 305 , a fieldbus controller 306 and an auxiliary storage device 320 . These components are connected to the internal bus B3.

The control circuit 301 is composed of, for example, at least one integrated circuit. An integrated circuit may be comprised of, for example, at least one CPU, at least one GPU, at least one ASIC, at least one FPGA, or combinations thereof.

The control circuit 301 controls the operation of the CNC unit 30 by executing various programs such as a control program 322 and a machining program 324. The control circuit 301 reads the control program 322 from the ROM 302 to the RAM 303 based on the acceptance of the instruction to execute the control program 322 . The RAM 303 functions as a working memory and temporarily stores various data necessary for executing the control program 322 .

Communication interfaces 304 and 305 are communication units for realizing communication using LAN, WLAN, Bluetooth, or the like. CNC unit 30 exchanges data with an external device (for example, operation panel 20 ) via communication interface 304 . Also, the CNC unit 30 exchanges data with an external device (for example, the information processing device 40) via the communication interface 305. FIG.

The fieldbus controller 306 is a communication unit for realizing communication with various units connected to the fieldbus. Examples of units connected to the field bus include the above-described rotation driving section 110A and the above-described position driving section 110B.

The auxiliary storage device 320 is, for example, a storage medium such as a hard disk or flash memory. The auxiliary storage device 320 stores a control program 322, a machining program 324, setting information 326, and the like. The control program 322 includes, for example, a drive program 323 for realizing the drive processing of the spindle 132 described above with reference to FIGS. 6 and 8, and the like. The setting information 326 includes various parameters referred to in the oversized tool detection process. The parameters include, for example, the above-described position P1 and angle parameters corresponding to the above-described directions D1 and D2.

The storage locations of the control program 322, the machining program 324, and the setting information 326 are not limited to the auxiliary storage device 320, but are storage areas of the control circuit 301 (eg, cache memory), ROM 302, RAM 303, external devices (eg, servers). and so on.

It should be noted that the control program 322 may be provided as a part of an arbitrary program, not as a standalone program. In this case, various processes according to the present embodiment are implemented in cooperation with arbitrary programs. Even a program that does not include such a part of modules does not deviate from the gist of control program 322 according to the present embodiment. Furthermore, some or all of the functions provided by control program 322 may be implemented by dedicated hardware. Furthermore, the CNC unit 30 may be configured as a so-called cloud service in which at least one server executes part of the processing of the control program 322 .

<I. Hardware Configuration of Information Processing Device 40>
Next, the hardware configuration of the information processing device 40 shown in FIG. 2 will be described with reference to FIG. FIG. 13 is a diagram showing an example of the hardware configuration of the information processing device 40. As shown in FIG.

The information processing device 40 includes a control circuit 401 , a ROM 402 , a RAM 403 , communication interfaces 404 and 405 and an auxiliary storage device 420 . These components are connected to the internal bus B4.

The control circuit 401 is composed of, for example, at least one integrated circuit. An integrated circuit may be comprised of, for example, at least one CPU, at least one GPU, at least one ASIC, at least one FPGA, or combinations thereof.

The control circuit 401 controls the operation of the information processing device 40 by executing various programs such as the control program 422 . The control circuit 401 reads a program to be executed from the auxiliary storage device 420 or the ROM 402 to the RAM 403 on the basis of receiving execution instructions for various programs. A RAM 403 functions as a working memory and temporarily stores various data necessary for program execution.

The communication interface 404 is a communication unit for realizing communication using LAN, WLAN, Bluetooth, or the like. Information processing device 40 exchanges data with an external device (for example, CNC unit 30 ) via communication interface 404 . Information processing apparatus 40 also exchanges image data with an external device (for example, camera 141 ) via communication interface 405 .

The auxiliary storage device 420 is, for example, a storage medium such as a hard disk or flash memory. Auxiliary storage device 420 stores a control program 422 and the like. The control program 422 includes, for example, an image processing program 423 for implementing the image processing described with reference to FIGS. 7, 9 and 10 above. The storage location of the control program 422 is not limited to the auxiliary storage device 420, and may be stored in the storage area of the control circuit 401 (for example, cache memory, etc.), ROM 402, RAM 403, external equipment (for example, server), or the like. .

It should be noted that the control program 422 may be provided as a part of an arbitrary program, not as a standalone program. In this case, processing according to the present embodiment is realized in cooperation with an arbitrary program. Even a program that does not include some of such modules does not deviate from the gist of machine tool 100 according to the present embodiment. Furthermore, part or all of the functions provided by control program 422 according to the present embodiment may be implemented by dedicated hardware. Furthermore, machine tool 100 and a server may work together to realize the processing according to the present embodiment. Furthermore, information processing apparatus 40 may be configured in the form of a so-called cloud service in which at least one server implements processing according to the present embodiment.

<J. Control Flow of Machine Tool 100>
Next, referring to FIG. 14, the control structure of machine tool 100 will be described. FIG. 14 is a flow chart showing part of the processing executed by the control unit 50 of the machine tool 100. As shown in FIG.

Part or all of the processing shown in FIG. 14 is implemented in the control program 222 described above (see FIG. 11), the control program 322 described above (see FIG. 12), or the control program 422 described above (see FIG. 13). . In other aspects, some or all of the processing shown in FIG. 14 may be implemented in circuit elements or other hardware.

At step S110, the control unit 50 determines whether or not a tool storage instruction has been received. The storage instruction is issued, for example, based on execution of a tool storage instruction in the machining program 324 (see FIG. 12). Alternatively, the storage instruction is issued based on the operator performing a tool storage operation on the operation panel 20 . When control unit 50 determines that the tool storage instruction has been received (YES in step S110), control unit 50 switches control to step S112. Otherwise (NO in step S110), control unit 50 terminates the process shown in FIG.

In step S112, the control unit 50 functions as the drive control unit 52 (see FIG. 5) described above, and turns the axial direction AX1 of the main shaft 132 in the direction D1 (see FIG. 6) with the Y-axis direction as the rotation axis. As a result, the axial direction AX1 of the main shaft 132 is parallel to the partition PA or the passage PS.

In step S114, the control unit 50 functions as the drive control unit 52 described above, and moves the spindle 132 to a predetermined position P1 (see FIG. 6) within the processing area AR1.

In step S<b>116 , the control unit 50 outputs a shooting instruction to the camera 141 . Thereby, the control unit 50 acquires the image IM1 (see FIG. 7) from the camera 141. FIG.

In step S120, the control unit 50 functions as the determination unit 54 (see FIG. 5) described above, and determines whether the tool 134 can pass through the passage opening PS based on the image IM1 obtained in step S116. to decide. The determination method is as described with reference to FIG. 7, so description thereof will not be repeated. When control unit 50 determines that tool 134 can pass through passage PS (YES in step S120), control unit 50 switches control to step S122. Otherwise (NO in step S120), control unit 50 switches control to step S150.

In step S122, the control unit 50 functions as the drive control unit 52 described above, and starts rotating the main shaft 132 from the direction D1 to the direction D2 (see FIG. 8) with the Y-axis direction as the rotation axis. In other words, the controller 50 rotates the main shaft 132 in a direction in which the tool 134 attached to the main shaft 132 approaches the camera 141 .

In step S<b>124 , the control unit 50 outputs a shooting instruction to the camera 141 . Thereby, the control unit 50 acquires the image IM2 (see FIG. 9) from the camera 141. FIG.

At step S126, the control unit 50 functions as the determination unit 54 described above, and determines whether or not the tool 134 can pass through the passage opening PS based on the image IM2 obtained at step S124. The determination method is as described with reference to FIG. 9, so description thereof will not be repeated. When control unit 50 determines that tool 134 can pass through passage PS (YES in step S126), control unit 50 switches control to step S130. Otherwise (NO in step S126), control unit 50 switches control to step S150.

In step S130, the control section 50 functions as the drive control section 52 described above, and determines whether or not the axial direction AX1 of the main shaft 132 faces the direction D2. When the control unit 50 determines that the axial direction AX1 of the main shaft 132 faces the direction D2 (YES in step S130), the control is switched to step S132. Otherwise (NO in step S130), control unit 50 returns the control to step S124. The control is returned to step S124, for example, after a certain period of time (for example, 0.1 seconds).

In step S132, the control unit 50 functions as the drive control unit 52 described above, and starts rotating the main shaft 132 with the axial direction AX1 of the main shaft 132 as the rotation axis.

In step S<b>134 , the control unit 50 outputs a shooting instruction to the camera 141 . Thereby, the control unit 50 acquires the image IM3 (see FIG. 10) from the camera 141. FIG.

At step S136, the control unit 50 functions as the determination unit 54 described above, and determines whether or not the tool 134 can pass through the passage opening PS based on the image IM3 obtained at step S134. The determination method is as described with reference to FIG. 10, so description thereof will not be repeated. When control unit 50 determines that tool 134 can pass through passage opening PS (YES in step S136), control unit 50 switches control to step S140. Otherwise (NO in step S136), control unit 50 switches control to step S150.

At step S140, the control unit 50 functions as the above-described drive control unit 52, and determines whether or not the main shaft 132 has made one revolution after the start of rotation of the main shaft 132 at step S132. When control unit 50 determines that main shaft 132 has made one rotation (YES in step S140), the process shown in FIG. 14 ends. Otherwise (NO in step S140), control unit 50 returns the control to step S134. The control is returned to step S134, for example, after a certain period of time (for example, 0.1 seconds).

In step S150, the control unit 50 functions as the above-described abnormality processing unit 56 (see FIG. 5), and performs predetermined abnormality handling processing. The abnormality handling process is, for example, a process of outputting a warning indicating excessive tool size. Alternatively, the abnormality handling process is a process of stopping the processing.

<K. Summary>
As described above, the machine tool 100 determines whether the tool 134 can pass through the passage PS before storing the tool 134 from the machining area AR1 to the tool storage area AR2. Thereby, the machine tool 100 can prevent the tool 134 from colliding with the partition PA.

It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the meaning and scope equivalent to the scope of the claims.

20 operation panel, 30 CNC unit, 40 information processing device, 50 control unit, 52 drive control unit, 54 determination unit, 56 abnormality processing unit, 100 machine tool, 110A rotation drive unit, 110B position drive unit, 111B, 111C, 111X , 111 Y, 111 Z Servo driver, 130 Spindle head, 131 Spindle tube, 132 Spindle, 134 Tool, 140 Measurement part, 141 Camera, 142 Objective lens, 145, 147 Light source, 160 ATC, 170 Magazine, 201, 301, 401 Control circuit , 202, 302, 402 ROM, 203, 303, 403 RAM, 204, 304, 305, 404, 405 communication interface, 205 display, 206 operation keys, 220, 320, 420 auxiliary storage device, 222, 322, 422 control program , 306 fieldbus controller, 323 drive program, 324 machining program, 326 setting information, 423 image processing program.

Claims

a machine tool,
A machining area provided with a spindle on which a tool can be attached,
A tool storage area is provided which is separated from the machining area by a partition, the partition is provided with a passage opening, and a tool attached to the spindle passes through the passage opening to enter the tool storage area. housed in
a camera provided to photograph the tool passing through the passage;
a rotary drive unit for rotating the main shaft;
a position drive unit for moving the position of the spindle;
A control unit for controlling the machine tool,
The control unit
Before storing the tool in the tool storage area, the position driving unit is controlled so that the spindle is positioned at a predetermined position in the machining area, and the axial direction of the spindle is predetermined. a process of controlling the rotation drive unit to face the first direction;
After executing the controlling process, a process of outputting a photographing instruction to the camera and obtaining a first image from the camera;
a process of determining whether the tool can pass through the passage opening based on the first image;
and a process of executing a predetermined abnormality coping process based on determination that the tool cannot pass through the passage opening.
The control unit further
After executing the controlling process, a process of controlling the rotation driving section so as to change the axial direction of the main shaft from the predetermined first direction to a predetermined second direction;
outputting a photographing instruction to the camera at least one timing while changing the axial direction of the main axis from the predetermined first direction to the predetermined second direction, and capturing a second image from the camera; the process of obtaining,
2. The machine tool according to claim 1, further comprising determining whether or not the tool can pass through the passage opening based on the second image.
The control unit further
a process of controlling the rotation drive unit to rotate the main shaft about the axial direction of the main shaft as a rotation axis based on the fact that the axial direction of the main shaft is oriented in the predetermined second direction;
a process of outputting a photographing instruction to the camera at least one timing while the main shaft is rotated about the axial direction as a rotation axis, and obtaining a third image from the camera;
3. The machine tool according to claim 2, further comprising determining whether or not the tool can pass through the passage opening based on the third image.
The machine tool according to any one of claims 1 to 3, wherein the axial direction of the main shaft is parallel to the partition when the axial direction of the main shaft faces the predetermined first direction. .
The process of determining whether or not the tool can pass through the passage opening based on the first image includes:
a process of calculating the diameter of the tool in a direction perpendicular to the axial direction of the spindle based on the position of the tool in the first image;
5. The machine tool according to claim 4, further comprising a process of determining that said tool cannot pass through said passage opening when said diameter exceeds a predetermined value.
5. The control unit according to any one of claims 1 to 4, wherein when at least part of the tool is included in the first image, the control unit determines that the tool cannot pass through the passage opening. machine tools.
A machine tool control method comprising:
The machine tool is
A machining area provided with a spindle on which a tool can be attached,
A tool storage area separated from the processing area by a partition,
A passage opening is provided in the partition, and a tool attached to the spindle passes through the passage opening and is stored in the tool storage area,
The machine tool further comprises a camera provided to photograph the tool passing through the passage opening,
The control method is
Before the tool is stored in the tool storage area, the spindle is moved to a predetermined position within the machining area, and the spindle is rotated so that the axial direction of the spindle faces a predetermined direction. and
After executing the rotating step, outputting a photographing instruction to the camera and obtaining an image from the camera;
determining whether the tool can pass through the passage opening based on the image;
and a step of performing a predetermined abnormality coping process based on the determination that the tool cannot pass through the passage opening.
A control program for a machine tool,
The machine tool is
A machining area provided with a spindle on which a tool can be attached,
A tool storage area separated from the processing area by a partition,
A passage opening is provided in the partition, and a tool attached to the spindle passes through the passage opening and is stored in the tool storage area,
The machine tool further includes a camera provided to photograph the tool passing through the passage opening;
The control program causes the machine tool to:
Before the tool is stored in the tool storage area, the spindle is moved to a predetermined position within the machining area, and the spindle is rotated so that the axial direction of the spindle faces a predetermined direction. and
After executing the rotating step, outputting a photographing instruction to the camera and obtaining an image from the camera;
determining whether the tool can pass through the passage opening based on the image;
A control program for executing a step of performing a predetermined abnormality coping process based on the determination that the tool cannot pass through the passage opening.