Working machinery

Abstract

The machine tool includes a camera that is fixed to a predetermined imaging area and captures an image of a tool inserted in the imaging area, a tool holder to which the tool can be attached, and a machining control unit that controls the tool holder in accordance with a machining program to machine a workpiece with the tool. When capturing an image of the tool, the machining control unit rotates the tool and then moves it to the imaging area.

Description

Technical Field

[0001] This application claims the priority of Japanese Patent Application No. 2021-014081 filed on February 1, 2021, and the entire disclosure thereof is incorporated herein by reference.

[0002] The present invention relates to a technique for checking the state of a tool in a machine tool.

Background Art

[0003] Machine tools include devices for cutting a workpiece into a desired shape and devices for creating a workpiece by laminating metal powder or the like. Machine tools for cutting include a turning center that processes a workpiece by applying a cutting tool to a rotating workpiece, a machining center that processes a workpiece by applying a rotating tool to a workpiece, and a composite machining center that combines these functions.

[0004] The tool is fixed to a tool holding part such as a spindle or a tool post. The machine tool processes the workpiece while moving the tool holding part while exchanging the tools according to a prepared machining program (see Patent Document 1).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] There are cases where it is desired to check the state of a tool that is in use and mounted on a tool holding part. For example, when the tool strongly contacts a machine member such as a tailstock, it is necessary to check whether the tool is damaged.

[0007] One possible method involves setting up an imaging area within the machining chamber, inserting a tool into the imaging area, and using a camera to image the tool, thereby confirming the tool's condition based on the captured image.

[0008] In this case, it is undesirable to insert a tool that is currently in use directly into the imaging area. Tools immediately after use may have workpiece chips, coolant, and other contaminants attached to them, potentially contaminating the imaging area with these residues. [Means for solving the problem]

[0009] A machine tool in one aspect of the present invention includes a camera fixed in a predetermined imaging area so as to be able to image a tool located in the imaging area, a tool holder on which a tool can be attached, and a machining control unit that controls the tool holder according to a machining program and processes a workpiece with the tool. When imaging a tool, the machining control unit rotates the tool and then moves it to the imaging area. [Effects of the Invention]

[0010] According to the present invention, it becomes easier to properly check the condition of the tool. [Brief explanation of the drawing]

[0011] [Figure 1] This is an external view of a machine tool. [Figure 2] This is a peripheral perspective view of the tool recognition area. [Figure 3] This is a schematic diagram showing the positional relationship between the tool, camera, and lighting device in the tool recognition area. [Figure 4] This is a side cross-sectional view of each mechanism in the tool recognition area. [Figure 5] This is a hardware configuration diagram of a machine tool and an image processing device. [Figure 6] This is a functional block diagram of an image processing device. [Figure 7] This is a schematic diagram showing the positional relationship between the tool and the imaging area. [Figure 8]It is a schematic diagram showing the relationship between the tool and the partial image. [Figure 9] It shows a partial image when recognizing the outer shape of the tool by image recognition. [Figure 10] It is a diagram showing an edge point image. [Figure 11] It is a diagram showing the tool shape data of the tool. [Figure 12] It is a flowchart showing the processing process when performing tool inspection after cleaning rotation. [Figure 13] It is a flowchart showing the processing process of the measurement process in S20 of FIG. 12. [Figure 14] It is a flowchart showing the processing process when performing tool inspection after air injection.

Embodiments for Carrying Out the Invention

[0012] FIG. 1 is an external view of a machine tool 100. The machine tool 100 in this embodiment is a compound machine tool that processes a workpiece arranged in a processing area 200. The workpiece is fixed to a holding part 104 and is cut by a tool 102 attached to a spindle, which is another holding part. The holding part 104 that holds the workpiece is rotationally driven by a drive mechanism.

[0013] An imaging area (described later) is set in the tool recognition area 210. When the tool 102 is inserted into the tool recognition area 210, the lower lighting device 108 illuminates the tool 102, and the upper camera 106 images the tool 102. Based on the captured image at this time, the tool inspection described later is executed. The configuration of the tool recognition area 210 will be described later in relation to FIGS. 2, 3, and 4 below.

[0014] The machine tool 100 includes a cover 202 that blocks the outside. The cover 202 includes a door 204. The operator opens the door 204 to attach the workpiece to the processing area 200 and remove the workpiece from the processing area 200. The operation panel 206 receives various operations on the machine tool 100 from the operator.

[0015] The operation panel 206 is connected to the image processing device 110. An operator can remotely monitor the working status of the machine tool 100 by the image processing device 110. In the present embodiment, the main body of the machine tool 100 and the image processing device 110 are connected via a wired cable. The image processing device 110 may be formed as an internal device inside the machine tool 100, for example, inside the operation panel 206.

[0016] The tool storage unit 130 stores a plurality of tools 102. A tool 102 is acquired from the plurality of tools 102 stored in the tool storage unit 130 by a tool changer (described later) and mounted on the spindle. As shown in FIG. 1, the X-axis and Y-axis are set in the horizontal direction, and the Z-axis is set in the vertical direction. The Y-axis direction corresponds to the axial direction of the spindle and the workpiece.

[0017] FIG. 2 is a perspective view of the periphery of the tool recognition area 210. A tool recognition area 210 is formed in a part of the machining area 200. Specifically, a tool recognition area 210 (space) is formed above the holding part 104 that fixes the workpiece. The tool recognition area 210 includes a camera 106 and a lighting device 108 (described later in relation to FIGS. 3 and 4).

[0018] The external cover 300 is a movable partition plate (shutter) that closes the tool recognition area 210. During the machining of the workpiece, the tool recognition area 210 is closed by the external cover 300. In the machining area 200 during machining, a coolant, which is a cooling liquid for removing the frictional heat between the workpiece and the tool 102, is sprayed. Also, the chips of the workpiece scatter within the machining area 200. Therefore, by closing the tool recognition area 210 with the external cover 300, it is possible to prevent the coolant, etc. from entering the tool recognition area 210.

[0019] When a tool inspection is instructed by a measurement command or the like, the machine tool 100 stops machining the workpiece. At this time, the machine tool 100 also stops the spraying of coolant. Next, the spindle moves the tool 102 to a predetermined position in front of the tool recognition area 210 (hereinafter referred to as the "standby position"), and rotates the tool 102 at high speed in the standby position. By rotating the tool 102 at high speed, coolant and chips (hereinafter collectively referred to as "adhered material") adhering to the tool 102 are shaken off. Hereinafter, the high-speed rotation of the tool 102 in order to remove the adhered material in the standby position will be referred to as "cleaning rotation".

[0020] The speed and number of rotations for cleaning can be set arbitrarily. The operator or the designer of the machine tool 100 may experimentally determine appropriate values ​​for a speed and number of rotations sufficient to remove deposits from the tool 102. It is desirable that the rotation speed for cleaning be greater than the rotation speed of the tool 102 during the tool inspection described later. It is desirable that the rotation speed for cleaning be at least one rotation per minute (1 rpm or more) and within the range of 500 to 2000 rpm.

[0021] The time required to photograph one rotation of tool 102 during tool inspection is longer than one second. Therefore, when photographing one rotation of the tool, the rotation speed of tool 102 is set to less than 60 rpm. An example of a "predetermined rotation speed" when cleaning and rotating tool 102 at a speed greater than the predetermined rotation speed is a rotation speed greater than the rotation speed of tool 102 that corresponds to the time required to photograph one rotation of tool 102. In this case, the rotation speed for cleaning should be at least 60 rpm. Even when photographing the longitudinal direction of tool 102 without rotating tool 102, rotating tool 102 at a rotation speed of at least 60 rpm for cleaning to remove coolant and other substances adhering to tool 102 has a certain effect. In this embodiment, the rotation speed for cleaning is assumed to be 1000 rpm.

[0022] After cleaning and rotation, the external cover 300 opens, allowing the tool to enter the tool recognition area 210. The tool shape is confirmed by imaging the tool 102 inserted into the tool recognition area 210 with the camera 106. The process of inserting the tool 102 into the tool recognition area 210 and inspecting its shape is called "tool inspection." Details of tool inspection will be described later.

[0023] The machining area 200 is connected to the tool storage area 130 via the tool recognition area 210. Therefore, when changing tools, the spindle is inserted deep into the tool recognition area 210. Since the tool passes through the tool recognition area 210 not only during tool inspection but also during tool changes, a similar cleaning rotation is performed before it passes through.

[0024] An air nozzle 302 is installed next to the holding part 104. The air nozzle 302 sprays air. By moving the main shaft near the air nozzle 302 and spraying air from the air nozzle 302, it is also possible to remove deposits from the tool 102. Hereinafter, spraying air from the air nozzle 302 onto the tool 102 to remove deposits will be referred to as "cleaning spray". In this embodiment, the explanation will focus on cleaning rotation, but cleaning spray will also be mentioned in relation to Figure 14.

[0025] Figure 3 is a schematic diagram showing the positional relationship between the tool 102, camera 106, and lighting device 108 in the tool recognition area 210. The tool 102 includes a cutting edge 112 used for machining the workpiece and a shank portion 114 which is fixed to the holder 118 of the spindle 116. The spindle 116 is configured to be rotatable and movable while holding the tool 102. The spindle 116, which also serves as a holder, can also rotate the tool it holds.

[0026] Camera 106 is equipped with an image sensor such as a CMOS (Complementary Metal Oxide Semiconductor) or a CCD (Charge-Coupled Device). Camera 106 images the tool 102 attached to the spindle 116 from above (in the Z-axis direction). Camera 106 is fixed in the tool recognition area 210. By rotating the tool 102 with the spindle 116 as its axis, the tool 102 can be imaged from multiple directions. In addition, by moving the tool 102 horizontally (in the XY direction) with the spindle 116, multiple locations on the tool 102 can be imaged.

[0027] An illumination device 108 is fixed below the camera 106, facing it. The illumination device 108 illuminates the tool 102 from below. Through transmitted illumination by the illumination device 108, the camera 106 can acquire a high-contrast image that makes it easy to determine the contour position of the tool 102.

[0028] When a user registers a new tool 102, they set the control panel 206 to tool registration mode and attach the new tool 102 to the spindle 116. Next, they enter an arbitrary tool ID. The spindle 116 moves and rotates the tool 102, and the fixed camera 106 automatically images the tool 102 from various positions and directions. From the numerous images obtained by the camera 106, the tool shape is recognized, and the tool ID and tool shape are registered in association. With this control method, the tool shape can be automatically registered and associated with the tool ID for each tool 102. Hereinafter, the shape of the tool 102 recognized during new registration will be referred to as the "registered shape". The tool shape data is formed as two-dimensional or three-dimensional data.

[0029] Furthermore, when performing a tool inspection on the tool 102 during or after machining, the spindle 116 moves the tool 102 into the tool recognition area 210. Similar to the initial registration, the spindle 116 moves and rotates the tool 102, and the camera 106 automatically images the tool 102 from various positions and directions. The tool shape is recognized from the numerous images obtained by the camera 106. Hereinafter, the shape of the tool 102 recognized during inspection will be referred to as the "inspection shape." The operator determines the degree of wear and the presence or absence of defects in the tool 102 by comparing the registered shape (initial state) with the inspection shape.

[0030] The camera 106 in this embodiment has a resolution of approximately 1 million pixels (1224 x 1024). The imaging area is approximately 300 mm x 300 mm. The camera 106 can acquire up to 80 images per second.

[0031] Figure 4 is a side cross-sectional view of each mechanism in the tool recognition region 210. The tool 102 is inserted between the camera 106 and the lighting device 108. A lighting device 308 is also installed on the side of the camera 106 to illuminate the tool 102 from above. A first cover 304 is installed next to the camera 106 to cover the light-receiving surface of the camera 106. A second cover 306 is installed next to the lighting device 108 to cover the light-emitting surface of the lighting device 108. Hereafter, the first cover 304 and the second cover 306 will be referred to collectively as the "internal cover".

[0032] The first cover 304 and the second cover 306 are rotationally driven with the Y-axis as the axis of rotation. By rotating the first cover 304 and the second cover 306, the camera 106 and the lighting device 108 can be opened and closed.

[0033] Figure 5 is a hardware configuration diagram of the machine tool 100 and the image processing device 110. The machine tool 100 includes an operation control device 120, a machining control device 122, a machining device 124, a tool changing unit 126, and a tool storage unit 130. The machining control device 122, which functions as a numerical control device, transmits control signals to the machining device 124 according to the machining program. The machining device 124 moves the spindle 116 to machine the workpiece according to instructions from the machining control device 122.

[0034] The operation control device 120 includes an operation panel 206 and controls the machining control unit 122. The tool storage unit 130 stores tools. The tool changing unit 126 corresponds to a so-called ATC (Automatic Tool Changer). The tool changing unit 126 retrieves a tool from the tool storage unit 130 and replaces the tool in the spindle 116 with the retrieved tool, according to the exchange instruction from the machining control unit 122.

[0035] The operation control device 120 includes a cover control unit 320. The cover control unit 320 opens and closes the outer cover 300 and the inner cover (first cover 304 and second cover 306).

[0036] The image processing device 110 primarily performs image processing such as tool shape recognition. As described above, the image processing device 110 may be configured as part of the operation control device 120. The image processing device 110 may be a general-purpose laptop PC (Personal Computer) or tablet computer.

[0037] Figure 6 is a functional block diagram of the image processing device 110. Each component of the image processing device 110 is realized by hardware including a CPU (Central Processing Unit) and various auxiliary processors, memory and storage devices, and wired or wireless communication lines connecting them, as well as software stored in the storage devices that supplies processing instructions to the arithmetic units. The computer program may consist of device drivers, an operating system, various application programs located at a higher layer, and libraries that provide common functions to these programs. The blocks described below represent functional units, not hardware units.

[0038] Furthermore, the operation control device 120 and the processing control device 122 may also be implemented on a separate operating system from the image processing device 110, including hardware such as a processor or other arithmetic unit, memory or storage device, and wired or wireless communication lines connecting them, as well as software or programs stored in the storage device that supply processing instructions to the arithmetic unit.

[0039] The image processing device 110 includes a user interface processing unit 140, a data processing unit 142, and a data storage unit 144. The user interface processing unit 140 accepts user input and is responsible for processing related to the user interface, such as displaying images and outputting sound. The data processing unit 142 executes various processes based on the data acquired by the user interface processing unit 140 and the data stored in the data storage unit 144. The data processing unit 142 also functions as an interface to the user interface processing unit 140 and the data storage unit 144. The data storage unit 144 stores various programs and configuration data.

[0040] The user interface processing unit 140 includes an input unit 146 and an output unit 148. The input unit 146 receives input from the user via a hardware device such as a touch panel or a steering wheel. The output unit 148 provides the user with various information via image display or audio output.

[0041] The data processing unit 142 includes a tool verification unit 152. The tool verification unit 152 performs tool inspection. The tool verification unit 152 generates data (tool shape data) that shows the three-dimensional shape of the tool 102 based on the captured image.

[0042] Figure 7 is a schematic diagram showing the positional relationship between the tool 102 and the imaging area 170. The imaging area 170 is located directly below the light-receiving surface of the camera 106. The camera 106 images objects within the range of the imaging area 170. The machining control unit 122 inserts the tool 102 into the imaging area 170 by moving the spindle 116. Since the imaging area 170 is smaller than the tool 102, it is not possible to image the entire tool 102 at once.

[0043] If the lens of the camera 106 is enlarged to increase the imaging area 170, it will lead to an increase in the cost of the camera 106. Also, if a large camera 106 is installed in the tool recognition area 210, the space of the machining area 200 will be reduced, which is undesirable. For this reason, in this embodiment, a relatively small camera 106 is used to image the tool 102 in multiple stages, and a method is adopted in which the overall shape of the tool 102 is recognized based on the multiple captured images. Hereafter, an image captured by camera 106 of a portion of tool 102 will be referred to as a "partial image".

[0044] Figure 8 is a schematic diagram showing the relationship between tool 102 and a partial image. During tool registration, the machining control unit 122 moves the tool 102 (spindle 116) at a constant speed in the negative Y-axis direction. The tool verification unit 152 constantly monitors the imaging area 170. The live view image in the imaging area 170 is transmitted from the camera 106 to the image processing device 110. When the tip of the cutting edge 112 is detected in the imaging area 170 (live view image), the tool verification unit 152 instructs the camera 106 to acquire an image (partial image). Upon receiving the instruction, the camera 106 acquires the first partial image and stores it in memory. In Figure 8, the first partial image P1 is acquired.

[0045] Next, the machining control unit 122 moves the tool 102 (spindle 116) further in the negative Y-axis direction. At this time, the machining control unit 122 also moves the spindle 116 slightly in the negative X-axis direction so that the outline of the tool 102 does not move outside the imaging area 170. The tool confirmation unit 152 instructs the operation control device 120 on the direction and amount of movement of the tool 102. After the movement, the tool confirmation unit 152 instructs the camera 106 to acquire a partial image, and the camera 106 saves the second partial image P2 to memory. In this way, the machining control unit 122 moves the spindle 116 appropriately to the left and right (X-direction) while gradually moving the spindle 116 in the negative Y-axis direction.

[0046] The tool verification unit 152 instructs the camera 106 to take images (acquire partial images) in accordance with the movement of the spindle 116, and partial images P1 to P8 are acquired. Based on the multiple partial images P1 to P8, the tool verification unit 152 generates the contour of the tool 102, that is, the tool shape data of the tool 102 (registered shape and inspection shape).

[0047] Figure 9 shows a partial image 290 when the outer shape of the tool 102 is recognized by image recognition. Figure 10 shows an edge point image 190. The partial image 290 displays the silhouette of the tool 102 projected from below by the illumination device 108. The tool confirmation unit 152 sets a scan line 180a in the positive X-axis direction and detects points located at the boundary between the dark region 182 (the silhouette region where the tool 102 exists) and the bright region 184 (the region where the tool 102 does not exist) as edge points 192. The tool confirmation unit 152 detects multiple edge points 192 while shifting the scan line 180a at a constant pitch.

[0048] Similarly, the tool verification unit 152 sets the scan line 180b in the negative Y-axis direction and detects edge points 192 located at the boundary between the dark region 182 and the bright region 184. The tool verification unit 152 detects multiple edge points 192 while shifting the scan line 180b at a constant pitch.

[0049] Furthermore, the tool verification unit 152 sets a scan line 180c in the positive Y-axis direction and detects edge points 192 located at the boundary between the dark region 182 and the bright region 184. The tool verification unit 152 detects multiple edge points 192 while shifting the scan line 180c at a constant pitch.

[0050] In this way, by setting scan lines 180a, 180b, and 180c from three directions, multiple edge points 192 are detected, and the edge point image 190 shown in Figure 10 is obtained. The multiple edge points 192 included in the edge point image 190 provide point sequence data indicating the contour of the tool 102. In this embodiment, the processing time required for image recognition per partial image is approximately 200 to 250 milliseconds.

[0051] Figure 11 shows the tool shape data of tool 102. Hereafter, the rotation angle of the spindle 116 will be referred to as the "spindle rotation angle". In this embodiment, the tool 102 is rotated by 12 degrees in the tool recognition area 210, thereby imaging the tool 102 at a total of 30 different angles (=360 ÷ 12).

[0052] The machining control unit 122 sets the spindle rotation angle with the tool 102 as the Y-axis center, and then moves the tool 102 in the negative Y-axis direction while also moving the tool 102 in the X-axis direction based on the edge angle. The tool verification unit 152 acquires a partial image 290 in the imaging area 170 and identifies the outline of the tool 102 by detecting edge points 192 from the partial image 290. Multiple partial images are acquired for each spindle rotation angle. Next, the tool verification unit 152 rotates the tool 102 by 12 degrees and performs the same process for the next spindle rotation angle.

[0053] If 10 partial images 290 are acquired for each spindle rotation angle, a total of 300 partial images 290 can be acquired with 30 different spindle rotation angle settings. Point sequence data shown in the edge point image 190 can be obtained from these partial images 290. The tool verification unit 152 combines the point sequence data from each partial image 290 to generate tool shape data shown in Figure 11, that is, point sequence data showing the three-dimensional shape of the tool 102. Hereinafter, the process of generating tool shape data shown in Figure 11 from partial images of the tool 102 will be called the "shape recognition process".

[0054] Figure 12 is a flowchart showing the process when performing a tool inspection after cleaning and rotation. In the machining program, when a predetermined measurement command MX is detected, the process shown in Figure 12 is initiated. Furthermore, tool inspection is also performed when interference occurs or when the operator inputs a measurement instruction from the control panel 206 or the image processing device 110.

[0055] When the measurement command MX is detected, the machining control unit 122 stops the spindle 116 and interrupts the machining of the workpiece (S10). Next, the machining control unit 122 moves the spindle 116 to a standby position in front of the tool recognition area 210 (S12). At this time, the cover control unit 320 closes the external cover 300. With the spindle 116 temporarily in the standby position, the machining control unit 122 performs a cleaning rotation (S14). The cleaning rotation removes deposits from the tool 102. After the cleaning rotation is completed, the machining control unit 122 notifies the operation control device 120 that cleaning is complete, and the measurement process begins (S20). Details of the measurement process will be described later in relation to Figure 13.

[0056] Figure 13 is a flowchart showing the processing steps of the measurement process in S20 of Figure 12. After the cleaning rotation is complete, the cover control unit 320 opens the outer cover 300 (S22). To prevent deposits or mist floating in the machining chamber from entering the tool recognition area 210, it is desirable for the cover control unit 320 to delay opening the outer cover 300 as much as possible. More preferably, the cover control unit 320 opens the outer cover 300 just before the tool 102 comes into contact with the outer cover 300 of the tool recognition area 210. With the outer cover 300 open, the spindle 116 (tool 102) can enter the tool recognition area 210. Subsequently, the cover control unit 320 opens the inner covers (first cover 304 and second cover 306) (S24). With the inner covers opened, the tool 102 can be imaged in the tool recognition area 210.

[0057] When the opening of the outer and inner covers is complete, the cover control unit 320 notifies the machining control unit 122 that the cover opening is complete. The machining control unit 122 moves the spindle 116 and inserts the tool 102 into the tool recognition area 210 (S26).

[0058] The machining control unit 122 sets the spindle rotation angle (S28). After setting the spindle rotation angle, the machining control unit 122 moves the spindle 116 in the XY direction, and the tool verification unit 152 recognizes the shape of the tool 102 by acquiring multiple partial images (S30). In the shape recognition process, the contour of the tool 102 is identified as point sequence data at the set spindle rotation angle. If there are still unset spindle rotation angles remaining (N in S32), the process returns to S28 and the next rotation angle (e.g., 12 degrees) is set. When the shape recognition process has been performed for all 30 types of spindle rotation angles (Y in S32), the tool verification unit 152 generates tool shape data (inspection shape) that shows the three-dimensional shape of the tool 102 from the point sequence data obtained for the multiple spindle rotation angles (S34).

[0059] The image processing device 110 displays the inspection shape and the registered shape on the screen, and the operator determines whether or not a tool change is necessary (S36). However, the determination of whether or not a tool change is necessary may be made automatically by the image processing device 110 through image recognition, rather than by the operator's visual inspection. In this case, the image processing device 110 includes a tool determination unit (not shown). Specifically, the tool determination unit determines that a defect has occurred in the tool 102, or in other words, the tool 102 is a defective tool, when the similarity between the registered shape and the inspection shape, particularly the similarity of the contours, is below a predetermined value. For example, the tool determination unit may determine that a defect has occurred in the tool 102 when the ratio (B / A) of the blade length A detected from the registered shape and the blade length B detected from the inspection shape is below a predetermined value.

[0060] If tool 102 is a defective tool (N in S36), the image processing device 110 instructs the tool change unit 126 to change the tool via the machining control unit 122 (S38). If tool 102 is normal (Y in S36), tool 102 is used continuously without changing the tool. The machining control unit 122 moves tool 102 out of the tool recognition area 210 (S40). After the move is complete, the machining control unit 122 notifies the operation control device 120 that the move is complete. The cover control unit 320 of the operation control device 120 first closes the internal cover (S42). Subsequently, the cover control unit 320 closes the external cover 300 (S44).

[0061] Alternatively, deposits may be removed from the tool 102 by cleaning spray. The method of removing deposits from the tool 102 by cleaning spray will be explained in relation to Figure 14.

[0062] Figure 14 is a flowchart showing the process when performing tool inspection after air injection. When the measurement command MX is detected, the machining control unit 122 stops the spindle 116 and interrupts the machining of the workpiece (S50). Next, the machining control unit 122 moves the spindle 116 in front of the air nozzle 302 (S52). The spindle 116 is temporarily stopped and the air nozzle 302 sprays air onto the tool 102 (S54). By spraying air, any attached material is blown off the tool 102. After the cleaning spray, the machining control unit 122 moves the spindle 116 in front of the tool recognition area 210 (S56). The machining control unit 122 notifies the operation control device 120 that cleaning is complete and the measurement process begins (S20). The details of the measurement process are the same as the method described in relation to Figure 13.

[0063] In the cleaning spray method, the spindle 116 needs to be moved twice (S52 and S56). Therefore, the cleaning rotation method can shorten the tool inspection time compared to the cleaning spray method. If the deposits on the tool 102 cannot be sufficiently removed by cleaning rotation, cleaning spray may be used in combination.

[0064] As mentioned above, in the cleaning spray method, the spindle 116 needs to be moved to the vicinity of the air nozzle 302, so the distance the spindle 116 moves becomes longer than in the cleaning rotation method. Also, in the cleaning rotation method, the tool 102 can enter the tool recognition area 210 by essentially moving the spindle 116 only in the Y-axis direction.

[0065] In the case of the cleaning spray method, when executing the measurement command MX, (1) Move the main shaft 116 to the position of the air nozzle 302. (2) Turn on the air nozzle 302 to spray air. (3) Move the spindle 116 to just before the tool recognition area 210 (return). (4) Execute the measurement process (S20). This requires at least four steps. In contrast, with the cleaning rotation method, cleaning rotation (S14) is required, but the above processes (1) to (3) are unnecessary. Also, with the cleaning rotation method, cleaning rotation (S14) may be automatically executed as part of the measurement command MX.

[0066] [Summary] The machine tool 100 has been described above based on the embodiment. Tool 102 gradually wears down during machining. Furthermore, tool 102 may break during machining due to interference with the equipment. Therefore, tool inspections should be performed periodically, and any unsuitable tools 102 should be prohibited from use.

[0067] During tool inspection, it is necessary to remove any deposits from the tool 102 beforehand to prevent contamination of the tool recognition area 210. In this embodiment, deposits from the tool 102 can be easily removed by performing a cleaning rotation before tool inspection.

[0068] In this embodiment, when the measurement command MX is executed, the machining control unit 122 is pre-configured to automatically perform a cleaning rotation before tool inspection. Therefore, it is not necessary to include a dedicated command in the machining program to instruct a cleaning rotation or a dedicated command to move the spindle 116 to the standby position. This prevents a dirty tool 102 from being inserted into the tool recognition area 210 due to a programming error.

[0069] Furthermore, the cleaning rotation method requires less movement of the spindle 116 compared to the cleaning spray method, thus shortening the time required for tool inspection. In addition, the external cover 300 and internal covers (first cover 304 and second cover 306) protect the tool recognition area 210, camera 106, and lighting device 108, making it easier to effectively prevent contamination of the tool recognition area 210, particularly the camera 106 and lighting device 108, by deposits.

[0070] It should be noted that the present invention is not limited to the embodiments and modifications described above, and the components can be modified and implemented without departing from the spirit of the invention. Various inventions may be formed by appropriately combining the multiple components disclosed in the embodiments and modifications described above. In addition, some components may be deleted from all the components shown in the embodiments and modifications described above.

[0071] [Differentiation] In this embodiment, it was explained that the deposits on the tool 102 are removed by rotating the spindle 116 before tool inspection. As a variation, the deposits on the tool 102 may be removed by vibrating the spindle 116 before tool inspection.

[0072] In this embodiment, the tool 102 is positioned within a relatively small imaging area 170, and an image of the entire tool 102 is obtained by imaging the tool 102 multiple times. As a modification, during tool inspection, the entire tool 102 may be imaged at once using a wide-angle camera 106 with a wider imaging area 170.

[0073] The cleaning rotation may be performed by the imaging program separately from the machining program that controls the machining of the workpiece by the tool 102. Alternatively, the machining program may include both a cutting program (cutting control algorithm) that instructs the cutting of the workpiece and an imaging program (imaging control algorithm). The cleaning rotation may be performed when the imaging program portion is executed. The imaging process may be performed separately from the machining program. The imaging process referred to here is, for example, a process that is performed when the imaging button (not shown) displayed on the operation screen of the image processing device 110 or the operation panel 206 is selected. The machining control unit 122 may perform the cleaning rotation during this imaging process.

[0074] For tool inspection, the following cleaning and rotation methods (1) to (3) are also possible.

[0075] <Control Method (1)> The machining control unit 122 rotates the tool 102 to machine the workpiece. When the measurement command MX is detected, the machining control unit 122 moves the spindle 116 to the standby position while the tool 102 is still rotating. After moving the spindle 116 to the standby position, the machining control unit 122 temporarily stops the movement of the spindle 116 and the rotation of the tool 102. The machining control unit 122 performs a cleaning rotation in the standby position. After removing any attached material, the cover control unit 320 opens the outer cover 300 and the inner cover, and the machining control unit 122 inserts the spindle 116 into the tool recognition area 210. If the camera 106 is to be moved instead of the spindle 116, the camera 106 is moved to a predetermined position, the movement of the camera 106 and the rotation of the tool 102 are stopped, a cleaning rotation is performed, and then the machining control unit 122 moves the camera 106 to insert the tool 102 into the tool recognition area 210.

[0076] <Control Method (2)> The machining control unit 122 rotates the tool 102 to machine the workpiece. When the measurement command MX is detected, the machining control unit 122 moves the spindle 116 to the standby position while the tool 102 is still rotating. After moving the spindle 116 to the standby position, the machining control unit 122 stops the movement of the spindle 116 but continues the rotation of the tool 102. The machining control unit 122 increases the rotation speed of the tool 102 and performs a cleaning rotation. After removing any deposits, the cover control unit 320 opens the outer cover 300 and the inner cover, and the machining control unit 122 inserts the spindle 116 into the tool recognition area 210. The same procedure is followed when moving the camera 106 instead of the spindle 116.

[0077] <Control Method (3)> The machining control unit 122 rotates the tool 102 to machine the workpiece. When the measurement command MX is detected, the machining control unit 122 moves the spindle 116 in a first direction (e.g., positive Y-axis direction) while the tool 102 is rotating. After moving the spindle 116 a predetermined distance, the machining control unit 122 changes the direction of movement of the spindle 116 to a second direction (e.g., negative Z-axis direction), but continues to rotate the tool 102. Cleaning spray may be performed at this time. After that, the cover control unit 320 opens the outer cover 300 and the inner cover, and the machining control unit 122 inserts the spindle 116 into the tool recognition area 210.

Claims

1. A camera is fixed in a predetermined imaging area so as to be image-captured, and the camera images a tool located in the imaging area. A tool holder that can be fitted with a tool, A machining control unit controls the tool holding unit according to a machining program and processes the workpiece with the tool, A cover control unit closes the shutter between the imaging area and the standby position while the tool is rotating, and opens the shutter after the tool has finished rotating. The camera comprises a first cover that covers the lens of the camera, The machining control unit, when imaging the tool, moves the tool holder to a standby position different from the imaging position where the tool is located when it is being imaged, sprays air onto the tool at the standby position, rotates the tool at a speed greater than or equal to a predetermined rotational speed, and then moves the tool to the imaging area after the shutter opens. The cover control unit opens the first cover after the shutter has been opened following the completion of the rotation of the tool.

2. A camera is fixed in a predetermined imaging area so as to be image-captured, and the camera images a tool located in the imaging area. A tool holder that can be fitted with a tool, The system comprises a machining control unit that controls the tool holding unit according to a machining program and processes the workpiece using the tool, The processing control unit, when imaging the tool, sprays air onto the tool and rotates the tool, and then moves the tool to the imaging area. A machine tool that, when the camera and the tool are moved relative to each other, captures the first partial image of the tool when the tip of the tool is detected within the imaging range, and captures multiple partial images of the tool as the relative movement of the tool progresses.

3. A camera is fixed in a predetermined imaging area so as to be image-captured, and the camera images a tool located in the imaging area. A tool holder that can be fitted with a tool, A machining control unit controls the tool holding unit according to a machining program and processes the workpiece with the tool, The system includes a tool verification unit that detects a plurality of edge points indicating the external shape position of the tool from an image of the tool, and forms tool shape data indicating the external shape of the tool based on the plurality of edge points, The aforementioned processing control unit is When imaging the tool, air is sprayed onto the tool, and after rotating the tool, the tool is moved to the imaging area, and further, When the tool is inserted into the imaging area, the tool is also rotated. The tool verification unit acquires multiple images corresponding to each of the multiple rotation angles, detects edge points from each of the multiple images, and forms the tool shape data as three-dimensional point cloud data based on the multiple edge points detected corresponding to each of the multiple rotation angles, in a machine tool.

Images