Cutting machine
The cutting machine addresses the cost issue of sensor calibration by integrating a moving mechanism and calibration mark to adjust light intensity during the stocker's movement, providing a cost-effective calibration solution.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- DGSHAPE CORP
- Filing Date
- 2022-02-04
- Publication Date
- 2026-05-19
AI Technical Summary
Existing cutting machines require costly dedicated configurations for calibrating the light intensity of optical sensors used to read ID labels on workpieces, necessitating a more cost-effective solution.
A cutting machine design that incorporates a stocker, case body, partition wall, moving mechanism, calibration identification mark, sensor, and control device, allowing for sensor light intensity calibration by reading a calibration identification mark as the stocker moves between storage and processing areas, utilizing a cost-effective mechanism.
Enables sensor light intensity calibration at a reduced cost by leveraging the movement of the stocker to read the calibration mark, thereby optimizing sensor performance without additional expensive hardware.
Smart Images
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Abstract
Description
Technical Field
[0001] The present invention relates to a cutting machine.
Background Art
[0002] For example, Patent Document 1 discloses a cutting machine that cuts a workpiece to be cut into a desired shape. This cutting machine includes a storage device, a cutting device, a transfer device, and a control device. The storage device has a stocker that can store a plurality of disk-shaped workpieces with adapters attached. The cutting device cuts the workpiece. The transfer device grips the adapter and transfers the workpiece from the storage device to the cutting device. The control device executes the transfer and cutting of the workpiece according to a processing program.
[0003] An ID label is attached to the adapter attached to the workpiece. The transfer device is provided with an optical sensor capable of reading the ID label. In the above cutting machine, the position of the workpiece stored in the stocker can be grasped by using the transfer device to read the ID label with the optical sensor.
Prior Art Documents
Patent Documents
[0004]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0005] Incidentally, the optical sensor reads the ID label by emitting a predetermined amount of light. The accuracy of reading the ID label varies depending on the amount of light. Therefore, calibration is performed on the optical sensor to adjust it to the appropriate amount of light. The configuration for performing this calibration to adjust the amount of light on the optical sensor can be a dedicated configuration for that calibration, but a more cost-effective configuration is preferable.
[0006] The present invention has been made in view of the above, and its purpose is to provide a cutting machine that can implement a configuration for performing calibration to adjust the light intensity of a sensor at a low cost. [Means for solving the problem]
[0007] The cutting machine according to the present invention comprises a stocker, a case body, a partition wall, a moving mechanism, a calibration identification mark, a sensor, and a control device. The stocker has a storage section for accommodating one workpiece. The case body has a storage area for the user to place a workpiece in the storage section and a processing area for cutting the workpiece. The partition wall separates the storage area and the processing area and has a through hole through which the stocker passes. The moving mechanism moves the stocker between the storage area and the processing area. The calibration identification mark is provided on the stocker. The sensor is provided on the partition wall and reads the calibration identification mark. The control device comprises a moving control unit, a reading unit, and an adjustment unit. The moving control unit moves the stocker between the storage area and the processing area. The reading unit reads the calibration identification mark using the sensor when the stocker passes through the through hole in the partition wall. The adjustment unit adjusts the light intensity of the sensor based on the reading result read by the reading unit.
[0008] According to the aforementioned cutting machine, for example, when cutting a workpiece stored in a stocker, the stocker moves from the storage area to the processing area. When the stocker moves from the storage area to the processing area, the sensor can read a calibration identification mark provided on the stocker as it passes through a passage hole in the partition wall. Based on the sensor reading, calibration can be performed to adjust the light intensity of the sensor. In this way, calibration can be performed using the mechanism by which the stocker moves from the storage area to the processing area. Therefore, a configuration for performing calibration to adjust the light intensity of the sensor can be realized at a reduced cost. [Effects of the Invention]
[0009] According to the present invention, it is possible to provide a cutting machine that can implement a configuration for performing calibration to adjust the light intensity of a sensor at a reduced cost. [Brief explanation of the drawing]
[0010] [Figure 1] This is a perspective view showing a cutting machine according to an embodiment. [Figure 2] This is a plan view showing a workpiece with an adapter attached. [Figure 3] This is a front view showing a workpiece with an adapter attached. [Figure 4] This is a cross-sectional view from the left, showing the partition wall and sensors, and is a schematic diagram illustrating how the stocker moves from the storage area to the processing area. [Figure 5] This is a front view showing the main body of the storage unit. [Figure 6] This is a right-side view showing a storage unit, illustrating the unit in its placement within the storage area. [Figure 7] This is a right-side view of the stocker, showing the stocker body positioned within the processing area. [Figure 8]This is a diagram showing the calibration identification marks. [Figure 9] This is a block diagram of a cutting machine according to the embodiment. [Figure 10] This figure shows the scan waveform. [Figure 11] This is a flowchart showing the calibration procedure. [Figure 12] This diagram shows the linear equation used to determine the set light intensity ratio. [Modes for carrying out the invention]
[0011] The cutting machine according to the present invention will be described below with reference to the drawings. It should be noted that the embodiments described herein are not intended to particularly limit the present invention.
[0012] Figure 1 is a perspective view showing a cutting machine 100 according to this embodiment. The reference numerals F, Rr, L, R, U, and D in the drawing represent the front, back, left, right, top, and bottom of the cutting machine 100, respectively. The cutting machine 100 is arranged in an XYZ Cartesian coordinate system. Here, the X-axis direction D1 is the front-back direction. In this embodiment, the X-axis direction D1 is inclined by a predetermined angle from the horizontal direction. However, the X-axis direction D1 may also be horizontal. The Y-axis direction D2 is the left-right direction. The Z-axis direction D3 is the up-down direction. In this embodiment, the Z-axis direction D3 is inclined by a predetermined angle from the vertical direction. However, the Z-axis direction D3 may also be vertical. Note that the directions described above are merely defined for the convenience of explanation and do not limit the installation configuration of the cutting machine 100 or the present invention in any way.
[0013] In this embodiment, the cutting machine 100 produces an object by cutting a workpiece 5 (see FIG. 2). Here, the type of the object is not particularly limited, but for example, it is a dental prosthesis. Examples of dental prostheses include inlays, crowns, bridges, and the like. In this embodiment, the cutting machine 100 is used in the dental field and produces a dental prosthesis from the workpiece 5. However, the field in which the cutting machine 100 is used is not limited to the dental field.
[0014] FIG. 2 and FIG. 3 are a plan view and a front view, respectively, showing the workpiece 5 with the adapter 6 attached thereto. As shown in FIGS. 2 and 3, the shape of the workpiece 5 is a plate shape that spreads in the X-axis direction D1 and the Y-axis direction D2. Here, the workpiece 5 has a disk shape. The workpiece 5 is formed depending on the type of material such as zirconia, wax, polymethyl methacrylate resin (PMMA), hybrid resin, PEEK (polyether ether ketone resin), and gypsum. When zirconia is used as the type of material of the workpiece 5, for example, semi-sintered zirconia is used. However, the shape and material of the workpiece 5 are not particularly limited.
[0015] In this embodiment, the workpiece 5 is attached to the adapter 6. Here, as shown in FIG. 2, a circular fitting hole 6a is formed in the adapter 6. The workpiece 5 is attached to the adapter 6 by being fitted into the fitting hole 6a. Hereinafter, the workpiece 5 refers to the one including the adapter 6 unless otherwise specified.
[0016] As shown in FIG. 3, an adapter 6 attached to a workpiece 5 is provided with an identification mark 9. Hereinafter, the identification mark 9 provided on the adapter 6 is also referred to as the identification mark 9 of the workpiece 5. Here, the identification mark 9 is attached to the front surface of the adapter 6 by pasting a seal. The identification mark 9 is configured to be optically readable by a sensor 20 (see FIG. 4) described later. The identification mark 9 is represented by a black-and-white two-tone, and is, for example, an optical symbol. The optical symbol is a general term for an information medium that stores identification information by a combination of a portion with a high optical reflectance (hereinafter, also simply referred to as reflectance) and a portion with a low optical reflectance. The optical symbol includes a one-dimensional symbol that linearly arranges information units and a two-dimensional symbol that two-dimensionally arranges information units in the horizontal and vertical directions. In the present embodiment, although not shown in the drawings, the identification mark 9 is a barcode of a one-dimensional symbol. However, the identification mark 9 may be a two-dimensional code such as a QR code (registered trademark), a data matrix, a data tag, or the like. Further, the identification mark 9 may be directly formed (direct marking) on the surface of the adapter 6 by, for example, stamping or etching.
[0017] The identification mark 9 includes an identifier (ID) for distinguishing and identifying the individual of the workpiece 5 to which the adapter 6 is attached from other workpieces to which other adapters are attached. Although not particularly limited, the identifier is represented by, for example, an identification number, an identification character, an identification symbol, or the like. The identification mark 9 can be used to distinguish the workpiece 5 from other workpieces and manage the usage status of the workpiece 5. Further, by reading the identification mark 9, it is possible to grasp at which position of a stocker 200 described later the workpiece 5 is arranged.
[0018] As shown in FIG. 1, a cutting machine 100 includes a case body 10. The case body 10 is box-shaped and has a space inside.
[0019] Figure 4 is a cross-sectional view from the left showing the partition wall 15 and the sensor 20, and is a schematic diagram illustrating how the stocker 200 moves from the storage area AR1 to the processing area AR2. As shown in Figure 4, the case body 10 has a storage area AR1 and a processing area AR2. The storage area AR1 is the area where the user stores the workpiece 5 in the storage section 210 of the stocker 200, which will be described later. For example, the user grasps the workpiece 5 with their hand and manually stores the workpiece 5 in the storage section 210 in the storage area AR1.
[0020] The processing area AR2 is the area where the cutting machine 100 cuts the workpiece 5. Here, the workpiece 5, which was stored in the stocker 200 in the storage area AR1, is moved to the processing area AR2, where cutting is performed on the workpiece 5.
[0021] In this embodiment, the storage area AR1 and the processing area AR2 are arranged side by side in the Z-axis direction D3. More specifically, the storage area AR1 is located above the processing area AR2. However, the positional relationship between the storage area AR1 and the processing area AR2 is not particularly limited. For example, the storage area AR1 may be arranged side by side with the processing area AR2 in the X-axis direction D1, or side by side in the Y-axis direction D2.
[0022] In this embodiment, the cutting machine 100 is equipped with a partition wall 15. The partition wall 15 separates the storage area AR1 and the processing area AR2. The partition wall 15 is positioned between the storage area AR1 and the processing area AR2. Here, the partition wall 15 is a plate-shaped structure that extends in the X-axis direction D1 and the Y-axis direction D2. In this embodiment, a through hole 16 is formed in the partition wall 15. The through hole 16 is a hole through which the stocker 200 passes. Here, the through hole 16 is a hole that penetrates the partition wall 15 in the Z-axis direction D3 and opens toward the Z-axis direction D3. The storage area AR1 and the processing area AR2 are in communication with each other through the through hole 16.
[0023] In this embodiment, as shown in Figure 1, the case body 10 has an opening 11 in the storage area AR1. The opening 11 opens forward in the X-axis direction D1. Here, the case body 10 is provided with a door 12 that can open and close the opening 11. For example, the left end of the door 12 is supported by the case body 10. The door 12 is configured to rotate around its left end as an axis, and by rotating around its left end as an axis, the opening 11 can be opened and closed.
[0024] In this embodiment, although not shown in the figures, the machining area AR2 is equipped with a mechanism used for cutting the workpiece 5. Here, the machining area AR2 is provided with a clamp for gripping the workpiece 5 and a spindle having a tool gripping portion for gripping a rod-shaped machining tool with a cutting blade at its tip. The spindle rotates the machining tool around its central axis. In this embodiment, the spindle and the clamp are configured to be movable relative to each other in three dimensions within the machining area AR2. In the machining area AR2, while changing the relative positional relationship between the spindle and the clamp, the machining tool gripped by the tool gripping portion of the spindle is brought into contact with a desired portion of the workpiece 5 gripped by the clamp to cut the workpiece 5 into the desired shape.
[0025] Figure 5 is a front view showing the stocker body 201 of the stocker 200. Figures 6 and 7 are right side views showing the stocker 200. Figure 6 shows the stocker 200 positioned in the storage area AR1, and Figure 7 shows the stocker body 201 of the stocker 200 positioned in the processing area AR2. As shown in Figure 5, the cutting machine 100 is equipped with a stocker 200. The stocker 200 is where the workpiece 5 is stored in the cutting machine 100 that cuts the workpiece 5. The stocker 200 can accommodate multiple workpieces 5. In this embodiment, the stocker 200 can accommodate six workpieces 5, but the number of workpieces 5 stored in the stocker 200 is not particularly limited. Note that in Figure 5, four workpieces 5 are stored in the stocker 200.
[0026] In this embodiment, as shown in Figure 7, the storage unit 200 comprises a storage unit body 201, a storage unit cover 202, and a storage section 210. The storage unit body 201 has an internal space and is open to the front and rear. The storage unit body 201 is a rectangular parallelepiped that is long in the Z-axis direction D3. However, the shape of the storage unit body 201 is not particularly limited. As shown in Figure 6, the storage unit cover 202 covers the storage unit body 201. In this embodiment, the storage unit cover 202 has an internal space and is open at least at the bottom. Here, as shown in Figures 6 and 7, the storage unit body 201 is configured to be movable in the Z-axis direction D3 relative to the storage unit cover 202. For example, when the storage unit body 201 is placed inside the storage unit cover 202, the storage unit body 201 is configured to be movable downward. When the storage unit body 201 moves downward, it passes through the lower opening of the storage unit cover 202.
[0027] As shown in Figure 5, the workpieces 5 are housed in the storage section 210. Here, one workpiece 5 is housed in one storage section 210. The storage section 210 is located inside the stocker body 201. In this embodiment, multiple storage sections 210 are located inside the stocker body 201. The number of storage sections 210 is not particularly limited. Here, there are six storage sections 210. The multiple storage sections 210 are arranged in a line along the Z-axis direction D3. The multiple storage sections 210 are arranged in a straight line extending in the Z-axis direction D3 from the storage area AR1 to the processing area AR2. Therefore, in the stocker 200, the multiple workpieces 5 are housed in a line along the Z-axis direction D3. In the stocker 200, the multiple workpieces 5 are arranged in a straight line extending in the Z-axis direction D3.
[0028] In this embodiment, the housing section 210 is open to the front, and the user inserts and houses the workpiece 5 into the housing section 210 from the front. When the workpiece 5 is housed in the housing section 210, the identification marks 9 of the workpiece 5 are positioned on the front side of the housing section 210. In this embodiment, when the workpiece 5 is housed in the housing section 210, each identification mark 9 is arranged in a straight line extending in the Z-axis direction D3.
[0029] In this embodiment, the stocker 200 is configured to be movable between the storage area AR1 and the processing area AR2. Specifically, the stocker body 201 and the storage section 210 of the stocker 200 are configured to be movable between the storage area AR1 and the processing area AR2. The stocker cover 202 is located in the storage area AR1 and does not move to the processing area AR2. In the following description, when the stocker 200 is described as moving, it means that the stocker body 201 and the storage section 210 are moving.
[0030] As shown in Figure 6, the cutting machine 100 is equipped with a moving mechanism 300. The moving mechanism 300 moves the stocker 200 between the storage area AR1 and the processing area AR2. Here, the moving mechanism 300 is configured to move the stocker 200 in the Z-axis direction D3. As shown in Figure 4, when the stocker 200 moves between the storage area AR1 and the processing area AR2, it passes through the through hole 16 of the partition wall 15.
[0031] The configuration of the moving mechanism 300 is not particularly limited. As shown in Figure 6, the moving mechanism 300 includes a guide rail 301, a carriage 302, and a drive motor 303. The guide rail 301 extends in the Z-axis direction D3. Here, the guide rail 301 is positioned in a part of the case body 10 other than the direction toward the opening 11 (in this case, the forward direction) when the stocker 200 is positioned in the storage area AR1. In this embodiment, the guide rail 301 is positioned behind the stocker 200 and is fixed to the rear surface of the stocker cover 202. The guide rail 301 is positioned within the storage area AR1.
[0032] The carriage 302 is slidably engaged with the guide rail 301. As shown in Figures 6 and 7, the carriage 302 is movable along the guide rail 301 in the Z-axis direction D3. The carriage 302 is fixed to the upper rear surface of the stocker body 201. Although not shown here, a sliding hole extending in the Z-axis direction D3 is formed in the rear surface of the stocker cover 202. The carriage 302 is fixed to the stocker body 201 through the sliding hole. The drive motor 303 is connected to the carriage 302. When the drive motor 303 is driven, the carriage 302 moves along the guide rail 301 in the Z-axis direction D3. As the guide rail 301 moves in the Z-axis direction D3, the stocker body 201 and the storage section 210 move in the Z-axis direction D3, moving between the storage area AR1 and the processing area AR2.
[0033] In this embodiment, as shown in Figure 4, a sensor 20 is provided on the partition wall 15 that separates the storage area AR1 and the processing area AR2. Here, the sensor 20 is provided on the partition wall 15 so as to be along the edge of the through hole 16. For example, when the stocker 200 passes through the through hole 16 of the partition wall 15, the sensor 20 is positioned in front of the stocker 200 and is positioned opposite the identification mark 9 of the workpiece 5 stored in the storage section 210.
[0034] Sensor 20 optically reads the identification mark 9 attached to the adapter 6. Sensor 20 also reads (in other words, decodes) the identifier stored in the identification mark 9. In this embodiment, when the stocker 200 moves between the storage area AR1 and the processing area AR2, sensor 20 reads the identification mark 9 of the workpiece 5 stored in the storage section 210 when the stocker 200 passes through the through hole 16 of the partition wall 15. When the stocker 200 moves, the multiple storage sections 210 pass through the through hole 16 of the partition wall 15 in sequence. Therefore, sensor 20 can sequentially read the identification marks 9 of the workpieces 5 stored in the multiple storage sections 210.
[0035] Sensor 20 in this context is a non-contact sensor. Sensor 20 scans the identification mark 9 using an imaging method, for example, and reads an image of the identification mark 9. The term "image" here refers to any image that directly or indirectly depicts the identification mark 9, and includes captured images that directly display the identification mark 9, as well as imaging waveforms that represent the identification mark 9, such as analog waveforms like the scanning reflectance waveform (hereinafter also simply referred to as the scanning waveform), and digital waveforms.
[0036] Sensor 20 is, for example, a CCD (Charge Coupled Device) camera, and is an optical sensor that emits a predetermined amount of light and reads it optically. The accuracy of reading the identification mark 9 differs depending on the amount of light emitted from sensor 20. In this embodiment, calibration (hereinafter also simply referred to as calibration) is performed to adjust the amount of light emitted from sensor 20. This calibration is performed before reading the identification mark 9 of the workpiece 5. For example, when sensor 20 is replaced or the installation location of the cutting machine 100 is changed, calibration is performed before reading the identification mark 9 of the workpiece 5.
[0037] In this embodiment, to perform calibration to adjust the light intensity of the sensor 20, the storage unit 200 is provided with a calibration identification mark 290, as shown in Figure 5. Here, the calibration identification mark 290 is provided on the front of the storage unit body 201. Here, when the storage unit 200 is placed in the storage area AR1, the calibration identification mark 290 is provided on the part of the storage unit 200 closer to the partition wall 15 than the storage section 210 (in this case, the part of the storage unit body 201). The calibration identification mark 290 is provided on the part of the storage unit 200 below the storage section 210. More specifically, the calibration identification mark 290 is affixed to the front of the lower part of the storage unit body 201 with a sticker.
[0038] Here, as shown in Figure 5, with the workpiece 5 housed in the storage section 210, the calibration identification mark 290 and the identification mark 9 on the workpiece 5 are arranged in a straight line extending in the Z-axis direction D3. In other words, the calibration identification mark 290 and the multiple storage sections 210 of the stocker 200 are arranged in a straight line extending in the Z-axis direction D3 from the storage area AR1 to the machining area AR2. Here, as shown in Figure 4, when the stocker 200 moves between the storage area AR1 and the machining area AR2, the calibration identification mark 290 passes through the through hole 16 of the partition wall 15. At this time, the calibration identification mark 290 is positioned to face the sensor 20. Therefore, when the stocker 200 moves in the Z-axis direction D3, the sensor 20 can optically read the calibration identification mark 290 and also optically read the identification mark 9 housed in the storage section 210.
[0039] In this embodiment, the calibration identification mark 290 has the same configuration as the identification mark 9 and is configured to be optically readable by the sensor 20. The calibration identification mark 290 is, for example, an optical symbol. In this embodiment, the calibration identification mark 290 is a one-dimensional symbol barcode, but it may also be a two-dimensional symbol. The calibration identification mark 290 is represented in two tones, black and white. Figure 8 shows the calibration identification mark 290. Here, as shown in Figure 8, the calibration identification mark 290 is composed of two tones, a white portion 291 and a black portion 292. The black portion 292 is a black bar extending in the Y-axis direction D2. The white portion 291 has a first white portion 291a located above the black portion 292 and a second white portion 291b located below the black portion 292. The first white portion 291a and the second white portion 291b are white bars extending in the Y-axis direction D2. However, the configuration of the calibration identification mark 290 is not limited to the above.
[0040] Figure 9 is a block diagram of the cutting machine 100 according to this embodiment. In this embodiment, the cutting machine 100 is equipped with a control device 110. The control device 110 is a device that controls the cutting process on the workpiece 5. The control device 110 also controls the movement of the stocker 200 between the storage area AR1 and the processing area AR2, and performs calibration to adjust the light intensity of the sensor 20. The configuration of the control device 110 is not particularly limited. The control device 110 is, for example, a microcomputer. The control device 110 includes, for example, an I / F, a CPU, ROM, RAM, and a storage device. The control device 110 is located inside the case body 10. However, the control device 110 may be a computer or the like installed outside the case body 10. In this case, the control device 110 is connected to the cutting machine 100 via wired or wireless communication.
[0041] In this embodiment, the control device 110 is communicatively connected to the mobile mechanism 300 and the sensor 20. The control device 110 controls the mobile mechanism 300 and the sensor 20.
[0042] In this embodiment, the control device 110 includes a storage unit 120, a setting unit 122, a movement control unit 124, a reading unit 126, an adjustment unit 128, a workpiece reading unit 132, and a gripping unit 134. Each of the units 120 to 134 of the control device 110 may be configured by software or by hardware. For example, each of the units 120 to 134 of the control device 110 may be performed by one or more processors or incorporated into a circuit.
[0043] Next, the calibration procedure for adjusting the light intensity of the sensor 20 will be described. In this embodiment, the scan waveform W1 (see Figure 10) of the calibration identification mark 290 is read for each of the sensor 20 set to multiple light intensity ratios R10 (see Figure 11). Based on the scan waveform W1 read for each light intensity ratio R10, an appropriate light intensity ratio R10 is calculated and determined as the set light intensity ratio R30 (see Figure 12).
[0044] Here, the light intensity ratio R10 is the ratio of the current light intensity to the maximum light intensity at sensor 20. The current light intensity is the amount of light actually emitted by sensor 20. In this case, the higher the light intensity ratio R10, the greater the light intensity at sensor 20, and the lower the light intensity ratio R10, the less light intensity at sensor 20. The light intensity ratio R10 is what is commonly known as the duty cycle.
[0045] The set light intensity ratio R30 is the light intensity ratio R10 that is set in the sensor 20 when reading the identification mark 9. With the light intensity ratio R10 set to the set light intensity ratio R30, the sensor 20 can read the identification mark 9 of the workpiece 5 housed in the housing 210 appropriately.
[0046] Figure 10 shows the scan waveform W1. As shown in Figure 10, the scan waveform W1 is the waveform obtained when the sensor 20 reads the calibration identification mark 290 when the sensor 20 is scanned (for example, moved) relative to the calibration identification mark 290. In the scan waveform W1, for example, the horizontal axis represents the position D3 in the Z-axis direction of the calibration identification mark 290, and the vertical axis represents the reflectance. Here, the reflectance tends to be high in the white portion 291 of the calibration identification mark 290 and low in the black portion 292. In this embodiment, the set light intensity ratio R30 to be set for the sensor 20 is determined based on the lowest reflectance in the scan waveform W1, i.e., the minimum reflectance of the black portion 292 (hereinafter also referred to as the minimum reflectance), and the light intensity of the sensor 20 is adjusted.
[0047] The setting unit 122 in Figure 9 sets the light intensity ratio R10 of the sensor 20 to a predetermined target ratio R11 (see Figure 11). This target ratio R11 is the light intensity ratio R10 set in the sensor 20 during calibration. Here, the calibration identification mark 290 is read with the sensor 20, which has the light intensity ratio R10 set to the target ratio R11, to obtain the scan waveform W1. In this embodiment, multiple target ratios R11 are set. For example, four values are set as target ratios R11: 20%, 40%, 60%, and 80%. However, the number of target ratios R11 is not particularly limited. The target ratios R11 are pre-set in the storage unit 120 (see Figure 9).
[0048] In Figure 9, the movement control unit 124 controls the movement mechanism 300 to move the sensor 20, which has been set to a light intensity ratio R10 to a target ratio R11, in a predetermined movement direction (in this case, the Z-axis direction D3) relative to the calibration identification mark 290. Here, the movement control unit 124 moves the stocker 200 between the storage area AR1 and the processing area AR2. More specifically, the movement control unit 124 controls the movement mechanism 300 to move the stocker 200 and the calibration identification mark 290 downwards in the Z-axis direction D3 from the storage area AR1 towards the processing area AR2.
[0049] In Figure 9, the reading unit 126 reads the scan waveform W1 of the calibration identification mark 290 by the sensor 20 when the sensor 20 is moved relative to the calibration identification mark 290. Here, as shown in Figure 4, the reading unit 126 reads the calibration identification mark 290 by the sensor 20 when the stocker 200 (more specifically, the calibration identification mark 290 provided on the stocker body 201) passes through the through hole 16 of the partition wall 15.
[0050] The adjustment unit 128 in Figure 9 adjusts the light intensity of the sensor 20 based on the reading result read by the reading unit 126. In this embodiment, the adjustment unit 128 calculates a target ratio R11 that results in a predetermined target reflectance R20 (see Figure 12) based on the scanning waveform W1 read by the reading unit 126, and determines this as the set light intensity ratio R30 (see Figure 12). Then, the light intensity of the sensor 20 is adjusted by setting the light intensity ratio R10 of the sensor 20 to the set light intensity ratio R30.
[0051] Here, the target reflectance R20 is the lowest reflectance of the set light intensity ratio R30 (in this case, the minimum reflectance of the black portion 292 of the calibration identification mark 290). In other words, the target ratio R11 when the minimum reflectance is the target reflectance R20 is determined to be the set light intensity ratio R30. The target reflectance R20 is pre-stored in the memory unit 120 (see Figure 9).
[0052] Next, the specific procedure for calibration to adjust the light intensity of sensor 20 will be explained following the flowchart in Figure 11.
[0053] First, in step S101 of Figure 11, the setting unit 122 of Figure 9 sets the light intensity ratio R10 of the sensor 20 to the target ratio R11. Here, the light intensity ratio R10 of the sensor 20 is first set to 20%, which is the target ratio R11. Next, in step S103 of Figure 11, the movement control unit 124 of Figure 9 starts moving the stocker 200 from the storage area AR1 to the processing area AR2. At this time, as shown in Figure 4, the calibration identification mark 290 provided on the stocker 200 passes through the through hole 16 formed in the partition wall 15.
[0054] Next, in step S105 of Figure 11, the reading unit 126 of Figure 9 reads the scan waveform W1 (here, the first scan waveform W11 for a 20% light intensity ratio R10) of the calibration identification mark 290 (see Figure 10) by the sensor 20 as the stocker 200 moves from the storage area AR1 to the processing area AR2 and passes through the through hole 16 of the partition wall 15. At this time, the sensor 20 reads the calibration identification mark 290 at a 20% light intensity ratio R10. This read first scan waveform W11 is stored in the storage unit 120.
[0055] Next, in step S107 of Figure 11, the control device 110 acquires the minimum reflectance in the first scan waveform W11 (see Figure 10) where the light intensity ratio R10 (in other words, the target ratio R11) is 20%, as read by the reading unit 126. Here, as shown in Figure 10, the minimum reflectance of the black portion 292 is acquired. In this embodiment, the reflectance of the scan waveform W1 in the white portion 291 is high. For example, the portion of the scan waveform W1 with the highest reflectance is the reflectance of the white portion 291 of the calibration identification mark 290. Therefore, the position of the scan waveform W1 in the black portion 292 is predicted from the portion with the highest reflectance in the scan waveform W1. Based on this prediction, the minimum reflectance of the black portion 292 of the first scan waveform W11 at a light intensity ratio R10 (in other words, the target ratio R11) of 20% is acquired.
[0056] In this way, the procedure for a target ratio R11 of 20% is completed, and the stocker 200 is moved upward by the moving mechanism 300 so that it is placed in the storage area AR1. Next, when the target ratio R11 is 40%, steps S101 to S107 are performed to obtain the minimum reflectance of the black portion 292 of the second scan waveform W12 (see Figure 10) when the light intensity ratio R10 (in other words, the target ratio R11) is 40%. Similarly, when the target ratio R11 is 60%, steps S101 to S107 are performed to obtain the minimum reflectance of the black portion 292 of the third scan waveform W13 (see Figure 10) when the light intensity ratio R10 (in other words, the target ratio R11) is 60%. Furthermore, when the target ratio R11 is 80%, steps S101 to S107 are performed to obtain the minimum reflectance of the black portion 292 of the fourth scan waveform W14 (see Figure 10) when the light intensity ratio R10 (in other words, the target ratio R11) is 80%.
[0057] Next, in step S109 of Figure 11, the adjustment unit 128 of Figure 9 determines the set light intensity ratio R30 and adjusts the light intensity of the sensor 20. The adjustment unit 128 determines the set light intensity ratio R30 based on the scan waveform W1 (here, the first scan waveform W11 to the fourth scan waveform W14) for each of the multiple target ratios R11 (here, 20%, 40%, 60%, and 80%). Here, the adjustment unit 128 determines the set light intensity ratio R30 based on the minimum reflectance (here, minimum reflectance) of the portion of the scan waveform W1 corresponding to the black portion 292 of the calibration identification mark 290.
[0058] Figure 12 shows the linear equation F1 used to determine the set light intensity ratio R30. In this embodiment, the adjustment unit 128 calculates the linear equation F1 as shown in Figure 12, and determines the target ratio R11 at the intersection of the linear equation F1 and the linear equation F2 representing the target reflectance R20 as the set light intensity ratio R30. The linear equation F1 is an equation that shows an approximate straight line plotted when the minimum reflectance is 20%, 40%, 60%, and 80% of the target ratio R11. The straight line represented by the linear equation F1 is a straight line where the horizontal axis represents the target ratio R11 and the vertical axis represents the minimum reflectance. As shown in Figure 12, the target ratio R11 when the minimum reflectance is the target reflectance R20 is determined to be the set light intensity ratio R30. The set light intensity ratio R30 determined by the adjustment unit 128 is stored in the storage unit 120 (see Figure 9).
[0059] Furthermore, it is possible to determine the set light intensity ratio R30 without calculating the linear F1. For example, the adjustment unit 128 may determine the target ratio R11 of the scanning waveform W1 whose minimum reflectance is closest to the target reflectance R20 among the multiple scanning waveforms W1 as the set light intensity ratio R30.
[0060] In this embodiment, the light intensity ratio R10 of the sensor 20 is set to the above-mentioned set light intensity ratio R30, and the identification mark 9 (see Figure 3) of the workpiece 5 housed in the storage section 210 is read. Here, for example, the movement control unit 124 in Figure 9 moves the stocker 200 from the storage area AR1 to the processing area AR2, as shown in Figure 4. At this time, the workpiece 5 housed in the storage section 210 passes through the through hole 16 of the partition wall 15. The workpiece reading unit 132 in Figure 9 reads the identification mark 9 of the workpiece 5 housed in the storage section 210 using the sensor 20, which has its light intensity ratio R10 set to the set light intensity ratio R30, with the sensor 20 moved relative to the identification mark 9 in the Z-axis direction D3. Then, the grasping unit 134 in Figure 9 determines, according to the position of the stocker 200 when the sensor 20 reads the identification mark 9, the control device 110 determines the position of the storage unit 210 containing the workpiece 5 with the read identification mark 9 relative to the stocker 200. Here, determining the position of the workpiece 5 relative to the stocker 200 (in this case, the position of the storage unit 210 containing the workpiece 5 relative to the stocker 200) means storing the position of the workpiece 5 relative to the stocker 200 in the storage unit 120.
[0061] In this embodiment, the cutting machine 100 includes a stocker 200 (see Figure 5), a case body 10 (see Figure 1), a partition wall 15 (see Figure 4), a moving mechanism 300 (see Figure 6), a calibration identification mark 290 (see Figure 5), a sensor 20 (see Figure 4), and a control device 110 (see Figure 9). As shown in Figure 5, the stocker 200 has a storage section 210 that accommodates one workpiece 5. As shown in Figure 1, the case body 10 has a storage area AR1 where the user places the workpiece 5 in the storage section 210, and a processing area AR2 where the workpiece 5 is cut. As shown in Figure 4, the partition wall 15 separates the storage area AR1 and the processing area AR2. The partition wall 15 has a through hole 16 through which the stocker 200 passes. As shown in Figures 6 and 7, the moving mechanism 300 moves the stocker 200 between the storage area AR1 and the processing area AR2. As shown in Figure 5, the calibration identification mark 290 is provided on the stocker 200. As shown in Figure 4, the sensor 20 is provided on the partition wall 15 and reads the calibration identification mark 290. As shown in Figure 9, the control device 110 includes a movement control unit 124, a reading unit 126, and an adjustment unit 128. As shown in Figure 4, the movement control unit 124 moves the stocker 200 between the storage area AR1 and the processing area AR2. The reading unit 126 reads the calibration identification mark 290 using the sensor 20 when the stocker 200 passes through the through hole 16 of the partition wall 15. The adjustment unit 128 adjusts the light intensity of the sensor 20 based on the reading result read by the reading unit 126.
[0062] According to this embodiment, when cutting a workpiece 5 stored in the stocker 200, the stocker 200 moves from the storage area AR1 to the processing area AR2, as shown in Figure 4. When the stocker 200 moves from the storage area AR1 to the processing area AR2, the sensor 20 can read the calibration identification mark 290 provided on the stocker 200 as the stocker 200 passes through the through hole 16 of the partition wall 15. Then, calibration can be performed to adjust the light intensity of the sensor 20 based on the reading result of the sensor 20. In this way, calibration can be performed by utilizing the mechanism by which the stocker 200 moves from the storage area AR1 to the processing area AR2. Therefore, a configuration for performing calibration to adjust the light intensity of the sensor 20 can be realized at a reduced cost.
[0063] In this embodiment, as shown in Figure 4, when the stocker 200 is positioned in the storage area AR1, the calibration identification mark 290 is provided in the part of the stocker 200 closer to the partition wall 15 than to the storage section 210. Specifically, the storage area AR1 is positioned above the processing area AR2. As shown in Figure 5, the calibration identification mark 290 is provided in the part of the stocker 200 below the storage section 210 (here, the lower front of the stocker body 201). As a result, when the stocker 200 moves from the storage area AR1 to the processing area AR2, the calibration identification mark 290 passes through the through hole 16 formed in the partition wall 15 before the storage section 210. Therefore, the sensor 20 can read the calibration identification mark 290 before the identification mark 9 of the workpiece 5 stored in the storage section 210. Thus, calibration can be performed by reading the calibration identification mark 290 prior to reading the identification mark 9 by the sensor 20.
[0064] In this embodiment, as shown in Figure 5, an adapter 6 with an identification mark 9 is attached to the workpiece 5 housed in the storage section 210. When the workpiece 5 is housed in the storage section 210, the calibration identification mark 290 and the identification mark 9 are arranged in a straight line extending from the storage area AR1 to the processing area AR2 (here, in the Z-axis direction D3). Here, the storage section 210 (more specifically, multiple storage sections 210) and the calibration identification mark 290 are arranged in a straight line extending in the Z-axis direction D3 from the storage area AR1 to the processing area AR2. As a result, when the stocker 200 is moving from the storage area AR1 to the processing area AR2, the sensor 20 can read the calibration identification mark 290 and the identification mark 9 of the workpiece 5 housed in the storage section 210 without changing its position (more specifically, its position in the Y-axis direction D2).
[0065] In this embodiment, as shown in Figure 4, the sensor 20 is positioned to face the calibration identification mark 290 when the stocker 200 passes through the through hole 16 of the partition wall 15. This allows the sensor 20 to properly read the calibration identification mark 290 when the stocker 200 passes through the through hole 16 of the partition wall 15. Therefore, the sensor can read the calibration identification mark 290 with a simple procedure of moving the stocker 200 from the storage area AR1 to the processing area AR2. [Explanation of symbols]
[0066] 5 Workpiece 6 adapters 9 Identification Mark 10 Case body 15 Bulkhead 16 Passing hole 20 sensors 100 cutting machine 110 Control device 124 Movement Control Unit 126 Reading Unit 128 Adjustment section 200 storage containers 210 Storage Unit 290 Calibration identification marks 300 Moving mechanism AR1 Containment Area AR2 Processing Area
Claims
1. A stocker having a storage section for storing one workpiece, A case body having a storage area for the user to store a workpiece in the storage section and a processing area for cutting the workpiece, A partition wall is formed to separate the storage area and the processing area, and through holes through which the stocker passes. A moving mechanism for moving the stocker between the storage area and the processing area, A calibration identification mark provided on the aforementioned storage unit, A sensor is provided in the partition wall for reading the calibration identification mark, Control device and Equipped with, The aforementioned sensor is an optical sensor that emits a predetermined amount of light and reads it optically. The control device is A movement control unit for moving the stocker between the storage area and the processing area, When the stocker passes through the passage hole in the partition wall, the reading unit reads the calibration identification mark using the sensor, An adjustment unit adjusts the light intensity of the sensor based on the reading result read by the reading unit, A cutting machine equipped with [specific features / equipment].
2. The cutting machine according to claim 1, wherein, when the stocker is positioned in the storage area, the calibration identification mark is provided on a portion of the stocker closer to the partition wall than the storage section.
3. The aforementioned storage area is located above the aforementioned processing area. The cutting machine according to claim 1 or 2, wherein the calibration identification mark is provided in the stocker portion below the storage portion.
4. The workpiece housed in the aforementioned storage section is fitted with an adapter bearing an identification mark. A cutting machine according to any one of claims 1 to 3, wherein, when the workpiece is housed in the housing, the calibration identification mark and the identification mark are arranged on the same straight line extending in the direction from the housing area toward the machining area.
5. A cutting machine according to any one of claims 1 to 4, wherein the housing section and the calibration identification mark are arranged on the same straight line extending in the direction from the housing area toward the machining area.
6. Multiple storage compartments are provided in the storage unit. A cutting machine according to any one of claims 1 to 5, wherein the plurality of housing sections and the calibration identification marks are arranged on the same straight line extending in the direction from the housing area toward the processing area.
7. The cutting machine according to any one of claims 1 to 6, wherein the sensor is positioned opposite the calibration identification mark when the stocker passes through the through hole in the partition wall.