Alternative method for workpiece positioning

Abstract

This invention provides an alternative method for workpiece positioning that reduces the time required to place a workpiece on a fixing jig. [Solution] The alternative work positioning method includes (1) an external setup step in which the workpiece is placed on a fixed jig at an arbitrary position, (2) an identification step in which identification information attached to the workpiece is read and work reference data corresponding to the identification information is retrieved from a storage unit, (3) a measurement step in which the workpiece placed on the fixed jig is measured and work measurement data is obtained, and (4) a calculation step in which the work reference data is converted to work conversion data so that the work reference data corresponds to the workpiece position relative to the fixed jig, and the (1) external setup step, (2) identification step, (3) measurement step and (4) calculation step are executed in order.

Description

Technical Field

[0001] The present invention relates to an alternative method for workpiece positioning.

Background Art

[0002] Conventionally, various molds have been put into practical use, such as injection molds for manufacturing plastic products, casting molds for manufacturing castings, die-casting molds for manufacturing die-cast products, and press molds set in press machines.

[0003] For example, press molds are particularly used for plastic processing and cutting of metal plates. Plastic processing includes drawing and bending. Cutting includes shearing and drilling. Press molds are distinguished into a part that directly touches the metal plate (tool material) and a part that does not directly touch (other parts). The part that directly touches the metal plate is made of a harder material than other parts, but even so, damage such as wear and crack generation occurs.

[0004] In order to continuously use a newly produced mold (initial mold) for a long time, maintenance for repairing damage is required. Therefore, various maintenance technologies have been put into practical use (for example, refer to Patent Document 1 (Figure 6)).

[0005] In the maintenance technology of Patent Document 1, the mold is set in a drill machining machine, CAM data for drill machining is automatically created, drill machining is performed based on this CAM data, build-up welding is performed on the machined drill, and the build-up is finished to complete the repair.

[0006] In Patent Document 1, a fixing holder (fixing jig) for setting the mold in a drill machining machine is not shown (refer to Patent Document 1 (paragraph 0017)), but fixing jigs for positioning workpieces such as molds and tool materials are known (for example, refer to Patent Document 2 (paragraphs 0020, 0033)).

Prior Art Documents

Patent Documents

[0007] [Patent Document 1] Japanese Patent Publication No. 2010-207884 [Patent Document 2] Japanese Patent Publication No. 2015-024484 [Overview of the project] [Problems that the invention aims to solve]

[0008] In Patent Document 2, the workpiece fixing jig positions the workpiece by supporting the blade portion of the cutting tool (workpiece) from above and below with clamping bolts and support members, with the mounting surface of the cutting tool (workpiece) to be joined to the press die facing the spindle of the processing machine. Therefore, it takes time to place the workpiece in the fixing jig in the predetermined position. Furthermore, if the workpiece is placed in the fixing jig misaligned from the predetermined position, the accuracy of processing and other precision will decrease.

[0009] One object of the present invention is to provide a method for reducing the time required to place a workpiece on a fixing jig, in other words, a method for replacing conventional workpiece positioning in which a workpiece is placed on a fixing jig in a predetermined position. Other objects of the present invention will become apparent to those skilled in the art by referring to the embodiments and best embodiments described below, as well as the accompanying drawings. [Means for solving the problem]

[0010] The following are examples of embodiments of the present invention to facilitate understanding of its outline.

[0011] In an embodiment according to the present invention, the alternative workpiece positioning method is: (1) An external setup process in which the workpiece is placed in a fixed jig at an arbitrary position, (2) An identification step of reading the identification information attached to the workpiece and calling workpiece reference data corresponding to the identification information from the storage unit, (3) A measurement step of measuring the workpiece placed on the fixing jig and obtaining workpiece measurement data, (4) A calculation step of converting the work reference data into work conversion data so that the work reference data corresponds to the work position relative to the fixed jig, The process includes (1) the external setup step, (2) the identification step, (3) the measurement step, and (4) the calculation step, which are executed in sequence.

[0012] In embodiments of the present invention, even if the workpiece is placed at an arbitrary position on the fixed jig, workpiece conversion data corresponding to the workpiece position on the fixed jig can be calculated. By using this workpiece conversion data in subsequent machining and measurement, conventional workpiece positioning can be replaced, and (1) in the external setup process, the time required to place the workpiece on the fixed jig can be shortened. Furthermore, unlike conventional workpiece positioning, there is no need to physically place the workpiece on the fixed jig at a predetermined position using reference pins or the like, and in embodiments of the present invention, accuracy can be improved in subsequent machining and measurement.

[0013] Those skilled in the art will readily understand that the embodiments of the present invention illustrated can be further modified without departing from the spirit of the invention. [Brief explanation of the drawing]

[0014] [Figure 1] This diagram illustrates the basic configuration of mold maintenance equipment. [Figure 2] This is a diagram illustrating the table and horizontal axis. [Figure 3] This is a side view of an automated guided vehicle (AGV). [Figure 4] (a) is a cross-sectional view of the mold, (b) is a cross-sectional view of the damaged mold, (c) and (d) are diagrams illustrating the repair work, and (e) is a cross-sectional view of the mold after repair. [Figure 5] (a) to (e) are diagrams illustrating wireframes, and (f) and (g) are diagrams illustrating ruled surfaces. [Figure 6] (a) and (b) are diagrams illustrating the usage configuration of the workpiece fixing jig. [Figure 7](a) and (b) are diagrams for explaining the relative work position of the work origin set on the work with respect to the machine origin set on the fixing jig. [Figure 8] (a) is an explanatory diagram of work reference data, (b) is an explanatory diagram of work measurement data, and (c) is an explanatory diagram of work conversion data. [Figure 9] (a) is an explanatory diagram of the model reference point, (b) is an explanatory diagram of the measurement reference point, and (c) is an explanatory diagram of the measurement X-axis and the measurement Y-axis. [Figure 10] It is an explanatory diagram of a reference pin with a flat head. [Figure 11] It is an explanatory diagram of a circular basic shape (a plurality of measurement shapes corresponding to a plurality of model shapes). [Figure 12] It is a diagram for explaining the exclusion of the measurement point group data constituting the measurement shape. [Figure 13] It is a diagram for explaining the robot in the measurement process. [Figure 14] (a) and (b) are diagrams for explaining the measurement method of the measuring machine. [Figure 15] (a) and (b) are diagrams for explaining the rotation method of the work.

Embodiments for Carrying out the Invention

[0015] The best embodiments described below are used for easy understanding of the present invention. Therefore, those skilled in the art should note that the present invention is not unduly limited by the embodiments described below.

[0016] As shown in Figure 1, the mold maintenance equipment 30D consists of a mold identification device 31 that identifies the type of mold 10, a beveling device 35 that cuts the part of the mold 10 to be repaired to form a groove 14, a lamination device 40 that laminates repair material onto the groove 14 to form a build-up section 15, a finishing device 45 that shapes the build-up section 15, a second measuring device 77 positioned after the finishing device 45, a transport device 55 that transports the mold 10, a mold management device 60 that performs comprehensive management, and a control device 62 that receives information from the mold management device 60 and controls the beveling device 35, the lamination device 40, and the finishing device 45.

[0017] Preferably, a PC (personal computer) 64 is attached to the mold management device 60, and this PC 64 is used to input and modify various data corresponding to the first to Nth molds into the mold management device 60. In addition, pass / fail judgment information and the like are displayed on a display attached to the PC 64.

[0018] The mold identification device 31 is equipped with an ID reader 33 that reads the ID information of the tag 32 attached to the mold 10 in a contactless manner, and plays the role of sending the ID information to the mold management device 60. The tag 32 is a one-dimensional code, a two-dimensional code, or an RFID tag. RFID (Radio Frequency Identification) is the name of a system that uses radio waves to read and write data to an RFID tag in a contactless manner.

[0019] If there are multiple types of mold 10 with different sizes or uses, these will be conveniently referred to as molds 1 through N, and one of molds 1 through N will be called mold M (where 1 ≤ M ≤ N).

[0020] The beveling device 35 is preferably an NC cutting device equipped with a cutting tool 36 such as an end mill, which performs cutting based on beveling data provided by the control device 62.

[0021] The layering device 40 is preferably a thermal sprayer that melts and sprays hard material with plasma heat to layer it, or a metal 3D printer.

[0022] The metal 3D printer preferably includes a table 41 on which the mold 10 is placed, as shown in Figure 2. This table 41 is supported by a horizontal axis 42, and this horizontal axis 42 is rotated by a servo motor 43 so that the groove 14 is horizontal (including nearly horizontal).

[0023] By making it horizontal, it is possible to prevent the hard material being laminated from flowing down. Note that the table 41 and horizontal axis 42 can be applied to a thermal spraying machine. In Figure 2, the mold 10 is placed directly on the table 41, but it may also be fixed to the table 41 while placed on a pallet.

[0024] The finishing device 45 shown in Figure 1 is preferably an NC cutting device or NC grinding device equipped with a cutting tool 46 such as an end mill or a grinding wheel, which performs finishing based on finishing data provided by the control device 62.

[0025] The second measuring device 77 is equipped with a non-contact image sensor or a contact probe 51 to measure the shape and dimensions of the repaired part. A pass / fail determination unit 52 is attached to the second measuring device 77.

[0026] The pass / fail determination unit 52 compares the pass / fail determination data provided by the mold management device 60 with the information obtained from the second measuring device 77 and outputs either pass or fail information.

[0027] The transport device 55 is controlled by the mold management device 60 (Figure 1, arrow (1)) and moves (transports) the mold 10 between the mold identification device 31, the beveling device 35, the lamination device 40, and the finishing device 45. The transport device 55 can be a transport robot, but preferably an unmanned transport vehicle 56.

[0028] As shown in Figure 3, the unmanned transport vehicle 56 consists of a housing 58 equipped with steering wheels 57 and an arm 59 attached to the housing 58 so as to be able to move up and down and horizontally.

[0029] The mold 10 is scooped up by the arm 59, stored in the housing 58, moved, and lowered to a designated location. It is preferable that the mold 10 be transported on a pallet. The unmanned transport vehicle 56 may be a type in which a robot is mounted on an unmanned trolley. Alternatively, it may be an unmanned forklift.

[0030] The mold management device 60 has the functions shown within the dashed-line frame in Figure 1. Specifically, the mold management device 60 controls the transport device 55 and stores groove data, lamination data, and finishing data for the first to Nth molds. In addition, the mold management device 60 stores pass / fail judgment data and provides this pass / fail judgment data to the pass / fail judgment unit 52.

[0031] When the mold 10 identified by the mold identification device 31 is the M mold among the first to N molds, the control device 62 acquires groove data corresponding to the M mold from the mold management device 60 and controls the groove device 35 based on this groove data.

[0032] In addition, the control device 62 acquires lamination data corresponding to the Mth mold from the mold management device 60 and controls the lamination device 40 based on this lamination data. Furthermore, the control device 62 acquires finishing data corresponding to the Mth mold from the mold management device 60 and controls the finishing device 45 based on this finishing data.

[0033] In Figure 1, the mold 10B to be repaired is set in the mold identification device 31 by the transport device 55, and the mold identification device 31 identifies whether the mold 10B to be repaired is the first mold to the Nth mold. In this example, the mold 10B to be repaired is identified as the Mth mold.

[0034] After this identification, the mold 10B to be repaired is transferred by the transport device 55 from the mold identification device 31 to the beveling device 35 via the first measuring device 73. The beveling device 35 performs beveling according to the beveling data of the Mth mold provided by the control device 62.

[0035] The beveled die 10C is transferred from the beveling device 35 to the lamination device 40 by the transfer device 55. The lamination device 40 performs build-up welding according to the lamination data of the Mth die provided by the control device 62.

[0036] The mold 10D, which has been reinforced with build-up material, is transferred from the lamination unit 40 to the finishing unit 45 by the transport device 55. The finishing unit 45 performs finishing work according to the finishing data for the Mth mold provided by the control device 62. With this, the initial repair is complete.

[0037] The repaired mold 10E is transferred from the finishing device 45 to the second measuring device 77 by the transport device 55.

[0038] The second measuring device 77 may be located outside the finishing device 45, or it may be attached to the finishing device 45. When attached, the mold 10E inside the finishing device 45 can be measured directly with the second measuring device 77.

[0039] The second measuring device 77 examines the finish of the mold 10E. The pass / fail determination unit 52 makes a pass / fail determination based on the pass / fail determination data of the Mth mold provided by the mold management device 60 and outputs the pass / fail determination information.

[0040] The configuration and operation of the mold maintenance equipment 30D have been explained above based on Figure 1. While the mold maintenance equipment 30D in Figure 1 is considered the basic form, this basic form can be modified. For example, the finishing equipment 45 may be the same equipment as the beveling equipment 35. If beveling and finishing are performed by the same equipment, there is no need to add additional equipment, but there is a concern that productivity may decrease. However, if the production volume can be met, it is desirable to use the same equipment.

[0041] Furthermore, in metal 3D printers, it is possible to install equipment that can perform beveling, finishing, and layering in the same device, which has the advantage of distributing the load across each process.

[0042] Furthermore, if a specific mold needs to be processed first, this system offers the advantage of completing the processing of that specific mold in a single, integrated process. Therefore, the system can be customized (expanded) according to the production situation.

[0043] The mold maintenance equipment 30D adds a first measuring device 73 between the mold identification device 31 and the groove cutting device 35, and attaches a best-fit processing unit 74 and a wear amount calculation unit 75 to this first measuring device 73. Furthermore, the mold management device 60 is equipped with the ability to store solid model data and mold data for measurement data.

[0044] Here, the solid model data corresponds to the shape or contour of a new mold 10. The mold data for measurement corresponds to the dimensions of a new hard part 12.

[0045] Furthermore, the aforementioned solid model data and mold data for measurement are separately stored after measuring molds that have been deemed acceptable during mass production.

[0046] The second measuring device 77 allows for the examination of the finish of the mold after repair. The first measuring device 73 allows for the measurement of the shape, contour, or holes of the mold before repair, and the obtained measurement information can be used for various purposes.

[0047] Furthermore, the best-fit processing unit 74 and the wear amount calculation unit 75 may be included in the first measuring device 73. In this case, when solid model data is provided, the first measuring device 73 can create best-fit data from the measurement information it has acquired and the solid model data.

[0048] Furthermore, once mold data for measurement data is provided, the first measuring device 73 can calculate the amount of wear on the hard parts from the measurement information it has acquired and the mold data for measurement data. If the amount of wear is below a predetermined value, the mold is transported from the first measuring device 73 to the exit according to the bypass line in Figure 1. Since unnecessary maintenance is avoided, the productivity of the mold maintenance equipment 30D can be increased.

[0049] Preferably, as shown in Figure 1, the first measuring device 73 measures the shape or contour of the mold and acquires solid model data corresponding to the M mold from the mold management device 60. It then creates best-fit data from this solid model data and the measured values ​​of the mold and provides it to the mold management device 60. The mold management device 60 positions the groove data, lamination data, and finish data based on the provided best-fit data.

[0050] The mold 10 includes those used for plastic deformation of metal sheets, such as deep drawing molds, and those used for cutting metal sheets, such as shearing molds. Shearing molds include punching molds consisting of a die and a punch.

[0051] Furthermore, in the case of a large mold composed of a collection of multiple molds, one separated mold becomes mold 10. Also, if an insert is detachably attached to the mold body, the removed insert becomes mold 10. The mold 10 shown in Figures 4(a) to (e), described later, is an insert block that is detachably attached to a deep drawing mold. This insert block corresponds to the part of the deep drawing mold that directly contacts the metal plate.

[0052] Hereinafter, the mold 10 will be described using a deep drawing mold as an example. As shown in Figure 4(a), the deep drawing mold (hereinafter referred to as the mold) 10 consists of a base material 11 and a hard part 12 attached to the corner of the base material 11. This hard part 12 is made of a material harder than the base material 11.

[0053] During the drawing process, the metal sheet slides along the outer surface of the hard part 12 while making strong contact with it. As a result, as the number of processing cycles increases, the surface of the hard part 12 becomes rough due to wear, as shown in Figure 4(b), and in some cases, cracks 13 may appear. Roughness and cracks 13 constitute damage.

[0054] If the degree of damage exceeds the acceptable limit, the mold 10 is taken out of service. The mold 10 is then repaired in preparation for reuse. During the repair, the hardened portion 12 is removed using a cutting tool such as an end mill, and a groove 14 is formed as shown in Figure 4(c). In order to shorten the repair time, a uniform amount is removed from the entire mold rather than just the cracked portion 13.

[0055] Next, as shown in Figure 4(d), a build-up portion 15 is attached to the groove 14 by thermal spraying or lamination of a hard material. The build-up portion 15 includes an excess material portion 16 on its outer circumference. Preferably, the end of the build-up portion 15 is made into a stepped portion 18 that protrudes onto the general surface 17 of the mold 10 (more precisely, the base material 11).

[0056] When this excess material 16 is removed with a cutting tool such as an end mill, the repaired mold 10 shown in Figure 4(e) is obtained.

[0057] In Figures 4(a) to (e), the following distinctions should be made between the molds 10. The mold 10 shown in Figure 4(a) is called a new or reusable, sound mold 10A (initial mold). The mold 10 shown in Figure 4(b) is called a mold 10B that is to be repaired. The mold 10 shown in Figure 4(c) is called a mold 10C that has been beveled. The mold 10 shown in Figure 4(d) is called a mold 10D that has been built up. The mold 10 shown in Figure 4(e) is called a repaired mold 10E. Mold 10E is substantially the same as mold 10A, but is distinguished for convenience.

[0058] The repairs described in Figures 4(c) and 4(d) are carried out using the mold maintenance facility 30D mentioned above.

[0059] By the way, the identification or setting of the groove 14, as explained in Figure 4(c), is important. It is recommended to use wireframes created with CAD (Computer-Aided Design) for this identification or setting. Wireframe utilization techniques are described below.

[0060] The wireframe will be explained based on Figures 5(a) to (e), and the ruled surface corresponding to the groove will be explained based on Figures 5(f) and (g). A ruled surface is a CAD term, written as "ruled surface" in English, and refers to a surface enclosed by a specific group of edges (the definition of an edge will be explained later). Since edges appear on the surface, a ruled surface is the same as a ruled surface.

[0061] Figure 5(a) shows vertex 21. This vertex 21 is a point set on the CAD screen. Figure 5(b) shows a straight edge 22. This edge 22 is a line connecting two vertices 21 with a straight line. Figure 5(c) shows a curved edge 23. This edge 23 is a line connecting two vertices 21 with a curve. The curve is defined by the radius of curvature R.

[0062] Figure 5(d) shows wire 24. Wire 24 is a broken or meandering line in which straight edges 22 are connected to each other, curved edges 23 are connected to each other, or a straight edge 22 and a curved edge 23 are connected in series. Figure 5(e) shows wire frame 25. Wire frame 25 is a skeletal structure made up of multiple wires 24 arranged in a grid.

[0063] In Figure 5(d), the vertical ridge line 22 is replaced with a straight ridge line 22v, and the horizontal ridge line 22 is replaced with a straight ridge line 22h. Then, the vertex 21 at the junction between the straight ridge line 22v and the curved ridge line 23 connected to this straight ridge line 22v is defined as the first inflection point 26. Similarly, the vertex 21 at the junction between the straight ridge line 22h and the curved ridge line 23 connected to this straight ridge line 22h is defined as the second inflection point 27.

[0064] Next, as shown in Figure 5(f), the first inflection point 26 and the second inflection point 27 are connected by a line 28. This line 28 corresponds to the groove (Figure 1, reference numeral 14). When the two-dimensional representation of Figure 5(f) is converted to a three-dimensional representation, it becomes Figure 5(g).

[0065] In Figure 5(g), the surface enclosed by line 28, the wires 24 perpendicular (or nearly perpendicular) to line 28, and the line 28 in the background becomes the ruled surface 29. This ruled surface 29 corresponds to the groove 14. This groove 14 will remain the same during the next repair, resulting in a groove with a uniformly consistent amount of material removed.

[0066] As described above, the ruled surface 29 is represented by a wireframe 25 created using CAD and is defined by a line 28 connecting the first inflection point 26 and the second inflection point 27. As a result, the groove 14 is uniquely determined, leaving no room for individual differences or human error.

[0067] The fixing jig 80 is a platform on which the workpiece 10 is placed, and is a jig used when machining or performing other operations on the workpiece 10. An example of how the fixing jig 80 is used will be described below based on Figures 6(a) and (b). However, it goes without saying that the usage is not limited to Figures 6(a) and (b).

[0068] As shown in Figure 6(a), a workpiece 10 made of metal material has a groove 14 formed on it using, for example, an end mill 36 of a beveling device 35. If the workpiece 10 is placed directly on the bed of the beveling device 35, positioning and fixing the workpiece 10 becomes complicated. Therefore, it is recommended to place the workpiece 10 on a fixing jig 80 on the bed of the beveling device 35, and then place the workpiece 10 on this fixing jig 80. This is because the positioning and fixing on the beveling device 35 side becomes easier by using the fixing jig 80 as an intermediary.

[0069] The workpiece 10 is transferred to the lamination device 40 by a robot or the like, where the build-up material 15 is formed. The workpiece 10 is then transferred to the finishing device 45 by a robot or the like, where it is finished. The workpiece 10 is then transferred to the second measuring device 77 by a robot or the like, where its dimensions are measured by a probe 51. Positioning and fixing are made easier by interposing the fixing jig 80 in the lamination device 40, the finishing device 45, and the second measuring device 77.

[0070] Alternatively, as shown in Figure 6(b), a fixing jig 80 may be placed on the pallet 81, and the workpiece 10 may be placed on this fixing jig 80 and fixed in place. The burden on the robot is reduced by using the pallet 81. Therefore, the configuration in Figure 6(a) and the configuration in Figure 6(b) can be arbitrarily selected.

[0071] In Figure 1, the fixing jig 80 is not shown, and the workpiece 10 is moved from the first measuring device 73 to the beveling device 35 by a robot or the like. The workpiece 10 is moved from the mold identification device 31 to the first measuring device 73 by a robot or the like. In the so-called external setup process, the workpiece 10 is placed on the fixing jig 80 and moved to the mold identification device 31 by a robot or the like.

[0072] In the external setup, mold identification device 31, and first measuring device 73, positioning and fixing become easier by using the fixing jig 80.

[0073] The alternative workpiece positioning method according to the present invention is: (1) An external setup step in which the workpiece 10 (for example, the mold 10B to be repaired) is placed on the fixing jig 80 at an arbitrary position, (2) An identification step of reading the identification information attached to the workpiece 10 (for example, the ID information of the tag 32) and calling up workpiece reference data (solid model data) corresponding to the identification information from the storage unit of the mold management device 60, (3) A measurement step in which the workpiece 10 placed on the fixed jig 80 is measured and workpiece measurement data (measurement information acquired by the first measuring device 73) is obtained, (4) A calculation step to convert the work reference data (solid model data) into work conversion data (best fit data) so that the work reference data (solid model data) corresponds to the work position relative to the fixed jig 80, The method includes (1) an external setup step, (2) an identification step, (3) a measurement step, and (4) a calculation step, and is characterized by sequentially executing these steps.

[0074] Even if the workpiece 10 is placed at an "arbitrary position" on the fixed jig 80, workpiece conversion data (best fit data) corresponding to the workpiece position on the fixed jig 80 can be calculated. In subsequent machining and measurement, this workpiece conversion data (best fit data) can be used to replace conventional workpiece positioning, and (1) in the external setup process, the time required to place the workpiece 10 on the fixed jig 80 can be shortened. Furthermore, unlike conventional workpiece positioning, there is no need to physically place the workpiece on the fixed jig at a "predetermined position" using reference pins or the like, and the workpiece positioning alternative method of the present invention can also improve accuracy in subsequent machining and measurement.

[0075] Figure 7(a) shows the bed plane coordinate system on which the fixing jig 80 for fixing the workpiece 10 is placed, and is the mechanical coordinate system of the first measuring device 73 in the (3) measurement process of the alternative workpiece positioning method. Figure 7(a) is also the mechanical coordinate system of the beveling device 35, lamination device 40, finishing device 45, second measuring device 77, etc., used in subsequent processing and measurement.

[0076] The machine coordinate system is a Cartesian coordinate system consisting of a machine x-axis along a first direction defining measurement or machining, and a machine y-axis perpendicular to the machine x-axis (along a second direction perpendicular to the first direction defining measurement or machining). The intersection of the machine x-axis and the machine y-axis is defined as the machine origin o.

[0077] Conventionally, as shown in Figure 7(a), for example, a workpiece 10 was fixed to a fixing jig so that its position in the machine coordinate system (for example, the workpiece origin O(a,b)) was always the same (a predetermined position). However, with conventional workpiece positioning, it takes time to place the workpiece in the fixing jig at the predetermined position.

[0078] In the workpiece positioning alternative method according to the present invention, for example, as shown in Figure 7(b), the workpiece 10 is allowed to be mounted on the fixing jig 80 at an arbitrary position, even if it is shifted from a predetermined position. That is, even if the xy coordinates (a,b) of the workpiece origin O move to (a',b'), the orientation (position and orientation) of the workpiece 10 in this state is measured and grasped by the first measuring device 73. Specifically, in the case of a workpiece 10 arranged as shown in Figure 7(b), in step (3), workpiece measurement data including (or defining) the xy coordinates (a',b') of the workpiece origin O is acquired.

[0079] Next, in the alternative work positioning method according to the present invention, (4) the calculation step corresponds the work reference data (solid model data represented in a global coordinate system recognized within the software) to the work position relative to the fixed jig 80. Specifically, if the global coordinate system has an X-axis (model X-axis), a Y-axis (model Y-axis), and a Z-axis (model Z-axis), the first measuring device 73 sets the X-axis (model X-axis) to the x-axis (machine x-axis), the Y-axis (model Y-axis) to the y-axis (machine y-axis), and the Z-axis (model Z-axis) to the z-axis (machine z-axis) perpendicular to the bed plane, sets the origin of the global coordinate system (model origin) to the origin o of the machine coordinate system (machine origin o), sets the XY coordinates (0,0) of the work origin O included in the solid model data to the xy coordinates (a',b') of the work origin O measured in, for example, Figure 7(b), and converts or rewrites the work reference data (solid model data represented in the global coordinate system) to work transformation data (work measurement data measured in the machine coordinate system).

[0080] Figure 8(a) is an explanatory diagram of the work reference data, Figure 8(b) is an explanatory diagram of the work measurement data, and Figure 8(c) is an explanatory diagram of the work conversion data. Figure 8 can also be considered a bed plan view when the fixing jig 80 is placed on the pallet 81 and the pallet 81 is placed on the bed of the first measuring device 73. As shown in Figure 8, the work reference data is rewritten with the work measurement data and the work conversion data is calculated (in the simplified example shown in Figure 8, the solid model data in (a) is rotated 90 degrees clockwise).

[0081] In subsequent processing and measurement, the beveling device 35, lamination device 40, finishing device 45, and second measuring device 77 perform processes such as beveling, build-up, and finishing based on the workpiece conversion data (best fit data) calculated in (4) calculation step.

[0082] More specifically, in (4) the calculation process, The workpiece measurement data is best fitted to the workpiece reference data. In the work measurement data, measurement reference points corresponding to the model reference points in the work reference data, such as the model origin (machine origin o), model X-axis (machine x-axis), and model Y-axis (machine y-axis), such as the work origin O, measurement X-axis (X' axis), and measurement Y-axis (Y' axis), are set. Based on the measurement reference point, measurement X-axis, and measurement Y-axis, the workpiece reference data (solid model data) can be rewritten into workpiece conversion data (best-fit data).

[0083] The above rewriting of the calculation process (4) will be explained below with reference to Figure 9. Figure 9(a) is an explanatory diagram of the model reference point, Figure 9(b) is an explanatory diagram of the measurement reference point, and Figure 9(c) is an explanatory diagram of the measurement X axis and measurement Y axis.

[0084] The work reference data (solid model data represented in a global coordinate system recognized within the software) corresponding to the workpiece 10 measured by the first measuring device 73 has, for example, a model reference point (model origin) which is the intersection of the model X axis and the model Y axis (and the model Z axis) (Figure 9(a)). On the other hand, the work measurement data (data corresponding to the shape or contour) acquired by the first measuring device 73 does not have a measurement reference point at the time of measurement (Figure 9(a)).

[0085] The first measuring device 73 compares the workpiece measurement data with the workpiece reference data, specifically adjusting the workpiece position and orientation of the workpiece measurement data so that the workpiece measurement data best fits the workpiece reference data (Figure 9(b)).

[0086] The first measuring device 73 identifies a measurement reference point that corresponds to the model reference point, i.e., a measurement reference point that best fits and matches. Here, the first measuring device 73 rotates the work measurement data while aligning the measurement reference point with the model reference point, and determines the measurement reference point when the work reference data and the work measurement data best match (Figure 9(c)). At this time, the first measuring device 73 also identifies the measurement X-axis (X' axis) and measurement Y-axis (Y' axis) that correspond to the model X-axis and model Y-axis, i.e., a measurement X-axis (X' axis) and measurement Y-axis (Y' axis) that best fits and matches (Figure 9(c)).

[0087] Next, the first measuring device 73 determines the workpiece position (shift distance) and workpiece orientation (shift angle) at the time of measurement in Figure 9(a) from the identified measurement reference point, measurement X-axis (X' axis), and measurement Y-axis (Y' axis). It then adds the shift distance to the XY coordinates (X,Y) of the workpiece reference data, rotates the XY coordinates (X,Y) by the shift angle, and converts and rewrites the workpiece reference data into workpiece conversion data so that the workpiece reference data corresponds to the workpiece measurement data.

[0088] The best-fit method described above is suitable for identifying the workpiece position during measurement and establishing the measurement reference point and measurement coordinates (measurement X-axis (X'-axis) and measurement Y-axis (Y'-axis)) from a state where the workpiece measurement data does not have a measurement reference point or measurement coordinates set. By using workpiece conversion data that matches the workpiece reference data to the workpiece 10 placed on the fixed jig 80, there is no need to adjust the position of the workpiece 10 on the fixed jig 80. The workpiece conversion work data is formed by calculating the distance (shift distance) / angle (shift angle) that the workpiece measurement data has moved to the workpiece reference data through best-fit, and using that distance / angle as the conversion amount.

[0089] In Figure 7, the machine origin o was shown as the intersection of the machine x-axis and the machine y-axis in the machine coordinate system. For example, if the planar shape of the fixed jig 80, which is placed at a predetermined position on a machine such as the first measuring device 73, is rectangular, then by setting the machine x-axis and machine y-axis on two mutually perpendicular sides, there will be parts of the shape or contour of the fixed jig 80 that are aligned with the machine x-axis and machine y-axis.

[0090] Alternatively, if the planar shape of the pallet 81, which is placed in a predetermined position on a machine such as the first measuring device 73, is rectangular, by setting the machine x-axis and machine y-axis on two sides that are perpendicular to each other, the shape or contour of the pallet 81 on which the fixing jig 80 is placed in a predetermined position will have parts that are aligned with the machine x-axis and machine y-axis.

[0091] In such cases, by recognizing the shape or contour of the fixing jig 80 or pallet 81, (3) in the measurement step, work measurement data can be measured as the work position relative to the fixing jig 80. In other words, in (3) in the measurement step, work measurement data can be measured relative to the machine origin o at the intersection of the machine x axis and machine y axis corresponding to the shape or contour of the fixing jig 80 or pallet 81.

[0092] However, the recognition is not limited to the shape or contour of the fixing jig 80 or pallet 81. That is, instead of recognizing the shape or contour of the fixing jig 80 or pallet 81 as a target, for example, a plurality of reference pins P1, P2 (see Figure 10) positioned at predetermined locations on the fixing jig 80 or pallet 81 may be recognized.

[0093] To explain using Figure 10, (1) In the external setup process, multiple reference pins P1, P2 are arranged on the fixing jig 80 or the pallet 81 on which the fixing jig 80 is placed. (3) In the measurement process, measure workpiece measurement data for multiple reference pins P1 and P2, (4) In the calculation process, the measurement reference point, measurement X axis, and measurement Y axis are detected in the work measurement data, and the work measurement data can be calculated so that the model reference point, model X axis, and model Y axis in the work reference data coincide with the measurement reference point, measurement X axis, and measurement Y axis.

[0094] More specifically, the first measuring device 73 recognizes the shape or contour of the workpiece 10 and measures workpiece measurement data, and also recognizes the shape or contour of a plurality of reference pins P1, P2 and measures reference pin measurement data. In Figure 10, the plurality of reference pins P1, P2 are arranged along the lower edge of the fixing jig 80. The reference pins P1, P2 are, for example, flat-head pins, with a rounded head and a flat upper surface, and are arranged flush with the surface of the fixing jig 80.

[0095] If the reference pins P1 and P2 can be recognized, for example by pattern matching, and the line connecting the centers of the reference pins P1 and P2 (the dashed line in Figure 10) is set parallel to the machine's x-axis, for example, and the positions of each center are known, then the machine origin o, the machine's x-axis, and the machine's y-axis can be identified from the positions of the centers of the reference pins P1 and P2.

[0096] Furthermore, by identifying the measurement reference points, measurement X-axis (X'-axis), and measurement Y-axis (Y'-axis) for workpiece measurement data relative to reference pins P1 and P2, i.e., relative to the machine origin o, machine x-axis, and machine y-axis, it is possible to determine the workpiece position (shift distance) and workpiece orientation (shift angle) during measurement and calculate the workpiece measurement data.

[0097] Alternatively, reference pins P3 and P4, which are positioned along the upper edge of the fixing jig 80, may be used instead of reference pins P1 and P2. Of course, three or four reference pins P1, P2, P3, and P4 may also be used.

[0098] Depending on how the workpiece 10 is fixed to the fixing jig 80, it is possible that a portion of the workpiece 10 may be positioned on the reference pins, and a portion of the reference pins may not be recognized. Therefore, it is preferable to position three or four reference pins P1, P2, P3, and P4. Alternatively, it is preferable to position at least two reference pins on the edge of the fixing jig 80. Alternatively, it is preferable to position them on the pallet 81 outside the fixing jig 80. In Figure 10, the reference pins P1', P2', P3', and P4' on the pallet 81 are also shown.

[0099] In Figure 10, a through-circular hole is shown on the fixing jig 80 for fixing the fixing jig 80 to the pallet 81 in a predetermined position, and a through-elongated horizontal hole is shown for fixing the workpiece 10 to the fixing jig 80 at an arbitrary position. The method for fixing the workpiece 10 and the fixing jig 80 (and) to the pallet 81 can be any well-known fixing means, and such a description is omitted in this specification.

[0100] Figure 9 illustrates an example where workpiece 10 is a mold insert. Figure 11 illustrates an example where workpiece 10 is an engine block.

[0101] In Figure 9, work reference data showing two sides of the outer shape of workpiece 10 are aligned with the model X-axis and model Y-axis, and these two sides (straight lines or line segments) can be set as the model shape. In this case, the work measurement data obtained by measuring the two sides of the outer shape of workpiece 10 (measurement shapes corresponding to the basic model) can include measurement point cloud data that constitutes the measurement X-axis (X' axis) and measurement Y-axis (Y' axis).

[0102] Similarly, in Figure 11, work reference data showing a straight line or line segment connecting the centers of the four circles in the workpiece 10 is aligned with the model Y-axis, and work reference data showing a straight line or line segment passing through the center of one of the four circles is aligned with the model X-axis and model Y-axis, so that these four (or at least two) circles (circumferences defining the center of the circles) can be set as the model shape. In this case, the work measurement data obtained by measuring the four circles in the workpiece 10 (measurement shapes corresponding to the basic model) includes measurement point cloud data for defining the centers of the four circles, and the measurement X-axis (X' axis) and measurement Y-axis (Y' axis) can be calculated or set from the measurement point cloud data via the four center of the circles. Note that the center here may be, for example, the geometric center of the elongated hole (the central point on the longitudinal central axis of the elongated hole).

[0103] Using Figures 9 through 11 above, (2) In the identification step, the work reference data retrieved from the storage unit of the mold management device 60 includes a plurality of model shapes that define the model reference point, the model X axis and the model Y axis (for example, the sides of the outer shape and the circumference that defines the center of the circle), (3) In the measurement process, the workpiece measurement data measured by the first measuring device 73 includes multiple measurement shapes corresponding to multiple model shapes, (4) In the calculation process, the measurement reference point, measurement X-axis (X'-axis), and measurement Y-axis (Y'-axis) in the workpiece measurement data can be set directly from multiple measurement shapes or via measurement point cloud data.

[0104] For each of the 10 different workpiece shapes, a measurement reference point, measurement X-axis, and measurement Y-axis can be set, and based on the measurement reference point, measurement X-axis, and measurement Y-axis, the workpiece reference data can be rewritten into workpiece conversion data.

[0105] In Figure 11, the first measuring device 73 may measure two sides of the outer shape of the workpiece 10, which is an engine block, as the measurement shape corresponding to the model shape, as shown in Figure 9, and set the measurement reference point, measurement X-axis (X'-axis), and measurement Y-axis (Y'-axis) in the workpiece measurement data. Furthermore, the model reference point, which is the source of the measurement reference point, is not limited to the end face or center of the workpiece 10 or the model shape (the center of the circle if the model shape is a circle), but can be set arbitrarily. That is, the model reference point may be, for example, the center of the entire workpiece 10, or alternatively, the center of a predetermined part of the workpiece 10 (for example, if the workpiece 10 is a rectangular parallelepiped with a cylinder attached, it may be the center of that cylinder (specifically, the perfect circle that forms the machined surface of the punch piercing with a protruding shape)), or alternatively, a predetermined point below the center of the entire workpiece 10 or a part of the workpiece 10, and the measurement reference point may be measured or set accordingly, and the measurement X-axis and measurement Y-axis that define the measurement reference point may be measured or set.

[0106] Incidentally, the workpiece reference data may include model shapes corresponding to two sides (straight lines or line segments), such as the two sides of the outer shape of workpiece 10 in Figure 9. That is, a model shape corresponding to a straight line or line segment can be defined by two points, a start point and an end point, but it may also include intermediate points between the start and end points, and includes model point cloud data that constitutes multiple model shapes. The workpiece measurement data includes measurement point cloud data that constitutes multiple measurement shapes corresponding to multiple model shapes. In this case, the outer shape of workpiece 10 may have damaged areas, in which case the surface of workpiece 10 may have damaged areas, for example, inverted triangular indentations due to wear (see Figure 12).

[0107] When the workpiece 10 has a damaged area as shown in Figure 12, (2) In the identification step, the work reference data retrieved from the storage unit of the mold management device 60 includes model point cloud data that constitutes the model shape (e.g., a straight line or line segment), (3) In the measurement process, the workpiece measurement data measured by the first measuring device 73 includes measurement point cloud data that constitutes the measurement shape, and the measurement point cloud data may have, for example, damage locations such as inverted triangular indentations due to wear. (4) In the calculation process, the measured shape (for example, the measured X-axis (X'-axis) or the measured Y-axis (Y'-axis)) can be obtained based on the measured point cloud data whose difference from the model point cloud data (for example, the straight surface of the workpiece) is less than or equal to a specified value.

[0108] If the variation in the measured point cloud data or measured shape exceeds a specified value, for example, if there are areas with severe wear, the measured X-axis (X'-axis) or measured Y-axis (Y'-axis) may be tilted, making it impossible to obtain a correct measurement reference point. Therefore, if the measured point cloud data differs from the model point cloud data by more than a specified value, the first measuring device 73 may display an error to the operator and stop the difference measurement operation. Alternatively, the first measuring device 73 may exclude the measured point cloud data that differs from the model point cloud data by more than a specified value and set the measurement reference point, measured X-axis, and measured Y-axis within the workpiece measurement data.

[0109] As shown in Figure 13, the first measuring device 73 may also include a robot 73a and a measuring machine 73b. (3) In the measurement process, the robot 73a of the first measuring device 73 holds the measuring machine 73b and moves the measuring machine 73b around the workpiece 10 in a predetermined trajectory, thereby acquiring workpiece measurement data.

[0110] Generating the robot 73a's trajectory for each workpiece 10 each time is time-consuming. By setting (programming) a predetermined trajectory that can accommodate all workpieces 10 in the first measuring device 73 or the robot 73a's operating terminal (e.g., teaching pendant), it is possible to reduce the teaching time required to record specific movements for the robot 73a.

[0111] The measuring device 73b in Figure 13, for example, uses 3D scanning to scan the surface shape of the workpiece 10, which is the object of the scan, generally without contact (or in some cases with contact), and acquires its shape and size as three-dimensional digital data (point cloud data, or polygon data created by processing point cloud data).

[0112] Alternatively, the measuring device 73c in Figure 14(a) can, for example, use image recognition to identify and analyze the characteristics of the workpiece 10, which is an object captured in a digital image or video, and perform non-contact shape measurement of the workpiece 10.

[0113] Alternatively, the measuring machine 73d (e.g., a three-dimensional measuring machine) shown in Figure 14(c) can acquire physical dimensional and shape data by, for example, directly contacting the workpiece 10 with a probe.

[0114] As described above, (3) In the measurement process, the measuring machines 73b, 73c, and 73d of the first measuring device 73 can measure work measurement data of the workpiece 10 by 3D scanning, image recognition, or probing.

[0115] For machining accuracy at the level of deep drawing, 3D scanning can shorten measurement time. Furthermore, for machining accuracy at the level of shearing (within 2 / 100 mm), quality can be improved by using a probe for measurement. The choice between 3D scanning, image recognition, or a probe can be selected according to the required accuracy of the workpiece 10.

[0116] To explain using Figure 14(b), (3) In the measurement process, using a contact-type measuring machine 73d including a probe, one surface of the workpiece 10 can be measured as, for example, the measurement Y axis (Y' axis) in the workpiece measurement data, and the other surface of the workpiece 10 can be measured as, for example, the measurement X axis (X' axis) in the workpiece measurement data, and the point where the measurement X axis and the measurement Y axis intersect can be measured as the measurement reference point in the workpiece measurement data.

[0117] The contact-type measuring device 73d, which includes a probe, enables measurement with higher accuracy than image recognition.

[0118] Furthermore, as shown in Figure 15(a), the workpiece 10 may be rotatable. Specifically, (3) In the measurement process, an image recognition device such as a measuring machine 73c recognizes the rotation angle of the workpiece 10 on the fixing jig 80 relative to the contact-type measuring machine 73d including the probe, (3) In the measurement process, the workpiece 10 placed on the fixing jig 80 can be rotated according to the above rotation angle using a workpiece rotating device such as the rotating positioner 82 shown in Figure 15(b) so that each of the two faces of the workpiece 10 is perpendicular to the probe measurement direction of the measuring machine 73d.

[0119] After recognizing the rotation angle of the workpiece 10, the fixing jig 80 is rotated to adjust the two faces (reference planes) of the workpiece 10 so that they are perpendicular to the measurement direction (Y' axis or X' axis). In other words, each of the two faces of the workpiece 10 faces the orientation registered in advance, thereby eliminating probe collisions and missed movements during the measurement process.

[0120] Furthermore, as shown in Figure 15(b), the workpiece 10 is processed while placed on the pallet 81, (1) In the external setup process, the workpiece 10 is fixed at any position on the fixing jig 80, (1) In the external setup process, the fixing jig 80 is fixed to the machine-side pallet 81 of the processing machine or measuring machine. (1) In the external setup process, the machine-side pallet 81 is fixed to the upper surface of the rotary positioner 82. (3) In the measurement process, the first measuring device 73 can acquire workpiece measurement data while rotating the workpiece 10 with the rotary positioner 82.

[0121] By measuring the workpiece 10, fixing jig 80, and pallet 81 together with the first measuring device 73, the measurement accuracy is improved, which in turn improves the accuracy of subsequent processing and subsequent measurements.

[0122] Furthermore, when rotating the workpiece 10 with the rotary positioner 82, for example, the workpiece 10 may be rotated by the positioner 82 in the identification step (2).

[0123] That is, as shown in Figure 15(b), (1) In the external setup process, the surface of the workpiece 10 may have a QR code (registered trademark) 32b printed on it, which contains identification information for identifying the workpiece 10. (1) In the external setup process, the workpiece 10 is fixed to the rotary positioner 82 via a fixing jig 80 (or a machine-side pallet 81 in some cases), (2) In the identification step, the workpiece 10 is rotated by the rotary positioner 82, and the QR code (registered trademark) 32b can be read by a reader, which may be a measuring machine 73c, for example.

[0124] By rotating the workpiece 10 using the rotary positioner 82, it becomes possible to read QR codes (registered trademarks) 32b even when they are located in unspecified locations.

[0125] lastly, (2) In the identification process, the workpiece reference data may consist of measured values ​​of the initial mold or the mold immediately after maintenance.

[0126] Molds created from CAD data, even initial molds, generally change during manufacturing due to distortion and other factors, and do not match the theoretical values ​​of the CAD data. Similarly, build-up created from CAD data also does not match the theoretical values. Therefore, by using the measured values ​​of the initial mold (initial mass production or before repair) or the mold immediately after maintenance as workpiece reference data, the accuracy in the machine coordinate systems of the first measuring device 73, beveling device 35, lamination device 40, finishing device 45, and second measuring device 77 can be significantly improved.

[0127] The present invention is not limited to the exemplary embodiments described above, and those skilled in the art will be able to easily modify the exemplary embodiments described above to the extent included in the claims. [Explanation of Symbols]

[0128] 10...Workpiece (mold), 12...Hard part, 14...Bevel, 15...Build-up part, 16...Excess material part, 18...Step part, 29...Ruled surface, 30D...Mold maintenance equipment, 31...Mold identification device, 32...Tag, 32b...QR code (registered trademark), 33...ID reader, 35...Beveling device, 40...Lamination device, 45...Finishing device, 55...Conveying device, 60...Mold management device, 62...Control device, 64...PC, 73...First measuring device, 74...Best fit processing unit, 77...Second measuring device, 80...Fixing jig, 81...Pallet, 82...Rotating positioner.

Claims

1. A workpiece positioning alternative method, (1) An external setup process in which the workpiece is placed in a fixed jig at an arbitrary position, (2) An identification step of reading the identification information attached to the workpiece and calling workpiece reference data corresponding to the identification information from the storage unit, (3) A measurement step of measuring the workpiece placed on the fixing jig and obtaining workpiece measurement data, (4) A calculation step of converting the work reference data into work conversion data so that the work reference data corresponds to the work position relative to the fixing jig, The process includes (1) the external setup step, (2) the identification step, (3) the measurement step, and (4) the calculation step, and is executed sequentially. (4) In the calculation step, The workpiece measurement data is best fitted to the aforementioned workpiece reference data. In the aforementioned work measurement data, measurement reference points, measurement X-axis, and measurement Y-axis corresponding to the model reference point, model X-axis, and model Y-axis in the aforementioned work reference data are set. A workpiece positioning alternative method, which involves rewriting the workpiece reference data into workpiece conversion data based on the aforementioned measurement reference point, the measurement X-axis, and the measurement Y-axis.

2. A workpiece positioning alternative method, (1) An external setup process in which the workpiece is placed in a fixed jig at an arbitrary position, (2) An identification step of reading the identification information attached to the workpiece and calling workpiece reference data corresponding to the identification information from the storage unit, (3) A measurement step of measuring the workpiece placed on the fixing jig and obtaining workpiece measurement data, (4) A calculation step of converting the work reference data into work conversion data so that the work reference data corresponds to the work position relative to the fixing jig, The process includes (1) the external setup step, (2) the identification step, (3) the measurement step, and (4) the calculation step, and is executed sequentially. (1) In the external setup process, a plurality of targets or a plurality of reference pins are arranged on the fixing jig or the pallet on which the fixing jig is placed. (3) In the measurement step, the workpiece measurement data is measured for the plurality of targets or the plurality of reference pins, (4) A workpiece positioning alternative method, wherein in the calculation step, a measurement reference point, a measurement X-axis, and a measurement Y-axis are detected in the workpiece measurement data, and the workpiece measurement data is calculated so that the model reference point, model X-axis, and model Y-axis in the workpiece reference data coincide with the measurement reference point, the measurement X-axis, and the measurement Y-axis.

3. A workpiece positioning alternative method, (1) An external setup process in which the workpiece is placed in a fixed jig at an arbitrary position, (2) An identification step of reading the identification information attached to the workpiece and calling workpiece reference data corresponding to the identification information from the storage unit, (3) A measurement step of measuring the workpiece placed on the fixing jig and obtaining workpiece measurement data, (4) A calculation step of converting the work reference data into work conversion data so that the work reference data corresponds to the work position relative to the fixing jig, The process includes (1) the external setup step, (2) the identification step, (3) the measurement step, and (4) the calculation step, and is executed sequentially. (2) In the identification step, the work reference data includes a plurality of model shapes that define the model reference point, the model X axis and the model Y axis, (3) In the measurement step, the workpiece measurement data includes a plurality of measurement shapes corresponding to the plurality of model shapes, (4) A workpiece positioning alternative method, in which, in the calculation step, a measurement reference point, a measurement X-axis, and a measurement Y-axis in the workpiece measurement data are set from the plurality of measurement shapes.

4. In the alternative workpiece positioning method of claim 3, (2) In the identification step, the work reference data includes model point cloud data that constitutes the plurality of model shapes, (3) In the measurement step, the workpiece measurement data includes measurement point cloud data that constitutes the plurality of measurement shapes, (4) A workpiece positioning alternative method, in which, in the calculation step, the plurality of measurement shapes are obtained based on the measurement point cloud data whose difference from the model point cloud data is less than or equal to a specified value.

5. In the alternative workpiece positioning method of claim 1, (3) A workpiece positioning alternative method, wherein in the measurement step, the robot holds the measuring machine and moves it around the workpiece in a predetermined trajectory to acquire the workpiece measurement data.

6. In the alternative workpiece positioning method of claim 1, (3) A workpiece positioning alternative method, wherein in the measurement step, the workpiece measurement data is measured by 3D scanning, image recognition, or a probe.

7. A workpiece positioning alternative method, (1) An external setup process in which the workpiece is placed in a fixed jig at an arbitrary position, (2) An identification step of reading the identification information attached to the workpiece and calling workpiece reference data corresponding to the identification information from the storage unit, (3) A measurement step of measuring the workpiece placed on the fixing jig and obtaining workpiece measurement data, (4) A calculation step of converting the work reference data into work conversion data so that the work reference data corresponds to the work position relative to the fixing jig, The process includes (1) the external setup step, (2) the identification step, (3) the measurement step, and (4) the calculation step, and is executed sequentially. (3) A workpiece positioning alternative method, wherein in the measurement step, a contact-type measuring instrument including a probe is used to measure one surface of the workpiece as the measurement Y-axis in the workpiece measurement data, the other surface of the workpiece as the measurement X-axis in the workpiece measurement data, and the point where the measurement X-axis and the measurement Y-axis intersect is measured as the measurement reference point in the workpiece measurement data.

8. A workpiece positioning alternative method, (1) An external setup process in which the workpiece is placed in a fixed jig at an arbitrary position, (2) An identification step of reading the identification information attached to the workpiece and calling workpiece reference data corresponding to the identification information from the storage unit, (3) A measurement step of measuring the workpiece placed on the fixing jig and obtaining workpiece measurement data, (4) A calculation step of converting the work reference data into work conversion data so that the work reference data corresponds to the work position relative to the fixing jig, The process includes (1) the external setup step, (2) the identification step, (3) the measurement step, and (4) the calculation step, and is executed sequentially. (3) In the measurement step, the image recognition device recognizes the rotation angle of the workpiece on the fixed jig with respect to a contact-type measuring machine including a probe, (3) A workpiece positioning alternative method, wherein in the measurement step, a workpiece rotating device rotates the workpiece, which is placed on the fixing jig, according to the rotation angle, so that each of the two faces of the workpiece is perpendicular to the probe measurement direction of the measuring machine.

9. A workpiece positioning alternative method, (1) An external setup process in which the workpiece is placed in a fixed jig at an arbitrary position, (2) An identification step of reading the identification information attached to the workpiece and calling workpiece reference data corresponding to the identification information from the storage unit, (3) A measurement step of measuring the workpiece placed on the fixing jig and obtaining workpiece measurement data, (4) A calculation step of converting the work reference data into work conversion data so that the work reference data corresponds to the work position relative to the fixing jig, The process includes (1) the external setup step, (2) the identification step, (3) the measurement step, and (4) the calculation step, and is executed sequentially. (1) In the external setup process, the workpiece is fixed at any position on the fixing jig, (1) In the external setup process, the fixing jig is fixed to the machine-side pallet of the processing machine or measuring machine, (1) In the external setup process, the machine-side pallet is fixed to the upper surface of the rotating positioner, (3) A workpiece positioning alternative method, wherein in the measurement step, the workpiece is rotated by the rotary positioner while the workpiece measurement data is acquired.

10. A workpiece positioning alternative method, (1) An external setup process in which the workpiece is placed in a fixed jig at an arbitrary position, (2) An identification step of reading the identification information attached to the workpiece and calling workpiece reference data corresponding to the identification information from the storage unit, (3) A measurement step of measuring the workpiece placed on the fixing jig and obtaining workpiece measurement data, (4) A calculation step of converting the work reference data into work conversion data so that the work reference data corresponds to the work position relative to the fixing jig, The process includes (1) the external setup step, (2) the identification step, (3) the measurement step, and (4) the calculation step, and is executed sequentially. (1) In the external setup step, the surface of the workpiece is printed with a QR code (registered trademark) containing the identification information for identifying the workpiece, (1) In the external setup process, the workpiece is fixed to the rotary positioner via the fixing jig, (2) A workpiece positioning alternative method, wherein in the identification step, the workpiece is rotated by the rotary positioner while the QR code (registered trademark) is read by a reader.

11. In the alternative workpiece positioning method of claim 1, (2) A workpiece positioning alternative method in which, in the identification step, the workpiece reference data consists of measured values ​​of the initial mold or the mold immediately after maintenance.

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