Machine tool and method for determining the clamping position of a workpiece in the set-up station and for generating geometric 3D models of the workpiece and of the clamping device

Abstract

The machine tool (10) according to the invention has a 3D image capture device (16) and an evaluation apparatus (17), by means of which 3D image capture device and evaluation apparatus the at least one workpiece (19) is captured in 3D image data (23) in the set-up station (11). The evaluation apparatus (17) is designed to identify the workpiece (19), the clamping device (18) and the carrier device (14) in the 3D image data (23) and to calculate the clamping position (24) of the workpiece (19) therefrom. Furthermore, the evaluation apparatus (19) is designed to generate and store 3D models (25) of the workpiece (19) and of the clamping device (18), or to communicate said 3D models to the machine controller (26) of the machining station (27). The concept according to the invention significantly simplifies the determination of the clamping position in the machining space (12), since, unlike before, to determine the clamping position it is only necessary to sense, by means of a measuring probe tool (32), the reference marks (20a, 20b) and (20c) which are fixedly applied to the clamping device (18).

Description

Machine tool and method for determining the clamping position of a workpiece in the setup station as well as for generating geometric 3D models of the workpiece and the clamping device

[0001] The invention relates to a machine tool and a method for determining the clamping position of at least one workpiece relative to a carrier device in the setup station of the machine tool and for determining the generation of geometric 3D models of the workpiece and the clamping device.

[0002] Machine tools are machines used to machine workpieces with tools. Machine tools typically have a workpiece table on which the workpiece to be machined can be clamped. The movement between the workpiece and the tool is controlled by a machine control system, thus controlling the machining of the workpiece. Machine tools can be, for example, lathes, milling machines, mill-turn machines, or similar machines. Carrier fixtures, also called workpiece pallets, are frequently used in production. Carrier fixtures make it possible to prepare one or more workpieces for machining in the work area at a setup station, i.e., by fixing one or more workpieces to the carrier fixture using a clamping device. After the carrier fixture has been prepared, it can be transported into the work area of ​​the machine tool and positioned there. They are machined using a work spindle or tool spindle. For some machining processes, it is necessary to know the exact clamping pose, i.e., the position and orientation of the workpiece in the work area.

[0003] Camera-based monitoring devices are known from the prior art, which are arranged in the working area of ​​the machine tool.

[0004] For example, DE 10 2005 022 344 B4 describes a device and a method for determining the positional information of a workpiece relative to a tool intended for its machining. The device comprises a camera for capturing at least a partial area of ​​the workpiece, a first processing unit for determining geometric parameters of the workpiece based on the partial area captured by the camera, and a second processing unit for determining the positional information of the workpiece by comparing the geometric parameters with a provided geometric model. The second processing unit serves to determine the positional information by recognizing characteristic features of the workpiece and their perspective distortions compared to the provided geometric model.

[0005] In DE 10 2016 008 284 B4, a machine tool control is further disclosed in which an image of the workpiece to be machined is captured in the working area of ​​a machine tool using an image acquisition device, and the three-dimensional coordinates of the workpiece are calculated based on the image using its 3D coordinate calculation unit. The machine tool control also has a coordinate conversion unit that converts the three-dimensional coordinates using a Converts the coordinate origin on the workpiece into a position in a workspace coordinate system for the machine tool.

[0006] Furthermore, DE 10 2008 005 034 A1 describes a monitoring device for monitoring the type, position, and / or orientation of a workpiece in a workpiece machining device. The workpiece machining device comprises a setup station, a workpiece changeover area, and a workpiece machining area. The setup station is monitored by a camera that can determine whether a workpiece pallet of the correct type, with a workpiece holder of the correct type, has been properly inserted into the setup station and whether the clamping elements are fixed relative to the holes of the workpiece holder according to a specification. In the workpiece changeover area, on the other hand, it is monitored whether a workpiece of the correct type is clamped in the correct position and orientation on the workpiece holder.

[0007] Furthermore, DE 10 2014 103 194 A1 describes a numerical control system for controlling a relative movement between a tool and a workpiece with a clamping device. The numerical control system comprises a model memory, a measuring unit, a measurement data memory, and a form processor. The form processor described therein generates a fully measured model from the measurement data of the workpiece stored in the measurement data memory. The tool and the clamping device are represented in the complete, measured model. The form processor also generates individual models of the workpiece and clamping device, in which the workpiece and the clamping direction are individually distinguished.

[0008] All prior art devices share the common feature that the workpieces are measured within the machine tool's work area. If optical methods are used for measurement within the work area, parts of the measuring devices, such as objectives, lenses, and the like, can become contaminated or even damaged by chips or lubricant during machining. However, non-optical measurement of the workpieces within the work area, e.g., by probing the workpiece point by point with probes mounted on the spindle, can be time-consuming, as the workpieces must be approached slowly and carefully with the probes. During this time, the workpiece cannot be machined, which can negatively impact the machine's productivity.

[0009] Based on this, the object of the invention is to provide an improved machine tool and an improved method for determining the clamping position or length of the workpiece and, in particular, for measuring the workpiece to be machined, without adversely affecting the machine productivity of the machine tool.

[0010] The object of the invention is solved by the machine tool according to claim 1 and the method according to claim 16.

[0011] The machine tool according to the invention has a setup station in which at least one workpiece to be machined can be arranged on a carrier device and clamped by means of at least one clamping device, and a working area in which the machine tool is designed to machine the at least one workpiece clamped on the carrier device, in particular by machining. The clamping device and / or the support device has / have at least one geometric reference mark. The machine tool can be configured to transport the support device from the setup station to the work area and vice versa. A 3D image acquisition device is arranged in the setup station, which is designed to capture 3D image data of at least a partial area of ​​the at least one workpiece, the clamping device, and the at least one reference mark in the setup station.The machine tool further comprises an evaluation unit configured to receive the 3D image data and to identify the at least one workpiece and the at least one clamping device in the 3D image data and / or to determine a clamping position of the at least one workpiece relative to the clamping device and the at least one geometric reference mark in the setup station from the 3D image data, wherein a spatial position of the at least one workpiece in the workspace can be determined based on the relative clamping position determined in the setup station. The evaluation unit can be configured to determine the clamping position or the clamping pose of the workpiece, i.e., the clamping position and the clamping position, from the 3D image data. For example, 3D image data contains voxels that represent grid points in a three-dimensional, equidistant grid.The setup station can be connected to the machining area of ​​the machine tool or arranged in a separate workpiece automation system.

[0012] By identifying the workpiece and the clamping device, as well as, if applicable, the carrier device, errors in the loading of the carrier device can be detected and corrected early on. From the identification of the Based on the workpiece's position in the 3D image data and the determination of its clamping position in the setup station, the clamping position of the workpiece in the machine tool's work area can also be inferred. Specifically, the carrier device, together with the clamping device and the workpiece clamped within it, is transported from the setup station to the work area, while the relationships between the workpiece and the carrier device remain unchanged. This allows for an assignment between the detected workpiece and the corresponding machining program in the work area. Furthermore, interference contours of the workpiece and the clamping device can be determined, enabling the machine control system, which manages the machining process in the work area, to avoid collisions between the tools, the workpiece, and the clamping device or the carrier device.

[0013] A special feature of the invention is that time-consuming, point-by-point probing of the workpiece with a measuring tool in the work area is not required. Furthermore, the machine tool according to the invention does not require image acquisition devices in the work area, which would otherwise have to be protected from contamination or damage, for example by chips, fluid, or lubricants.

[0014] In a further, special aspect of the invention, the evaluation unit can generate a geometric 3D model of the clamping device and the workpiece, which constitutes the raw part to be machined, from the 3D image data. The 3D model of the clamping device and the at least one workpiece are independent and can be identified by the evaluation unit. In this context, "identified" means that it can be determined which part in the 3D image data corresponds to which part. The clamping device and the proportion that can be assigned to at least one workpiece (blank). The 3D models can be sent to the machine control of the machine tool or to a separate or integrated collision monitoring device. The concept according to the invention thus makes it possible to check, even while the workpiece is in the setup station, whether the correct clamping position, the correct clamping device, the correct workpiece (blank), and the correct corresponding CNC machining program are linked and assigned to each other. Knowledge of the aforementioned circumstances thus leads to an increase in the machining time of the machine tool (main time) and avoids or prevents collisions that can lead to potentially costly losses of clamping devices, tools, and the like.

[0015] The evaluation unit preferably includes a model module configured to generate a geometric 3D model of the at least one workpiece and the clamping device from the 3D image data. The 3D models generated by the model module can also be referred to as digital twins. Generating a geometric 3D model of the at least one workpiece and the clamping device makes it possible to have the contours of the workpiece and the clamping device available digitally. Collision monitoring can thus be pre-simulated or simulated in parallel with the machining of the workpiece.

[0016] In particular, the machine tool has a collision monitoring device which is communicatively connected to the evaluation device and is configured to use the geometric 3D models of the at least one workpiece and the clamping device to determine a collision. To generate a collision-free machining sequence, the separate provision of the geometric 3D models of the at least one workpiece and the clamping device is necessary for the collision monitoring device so that the at least one workpiece and the clamping device can be distinguished when calculating the collision-free machining sequence. Preferably, a tool envelope of the tools used in the movement sequence is also taken into account in the calculation of a collision-free motion sequence. The tool envelopes can be predefined, for example, by specifying standard values ​​and correction values ​​that account for tool deviations between the standard value and the actual value. The tool envelopes can, for example, be provided in a database.

[0017] The evaluation unit includes, in particular, a recognition module configured to identify the type of at least one workpiece and the clamping device in the 3D image data using an artificial intelligence object recognition algorithm. The recognition module can also map the individual voxels (3D pixels) to the respective recognized object. This is called segmentation. The image recognition algorithms can include at least one of the following approaches: neural networks, support vector machines, deep neural networks, convolutional neural networks, or similar.

[0018] The machine tool can also have a storage device configured to store geometric 3D models of different workpiece types, clamping device types, and support device types. The storable 3D models can be accessed by the Evaluation equipment is generated or provided via an (external) interface.

[0019] The clamping device can, in particular, clamp several workpieces onto the carrier device. The carrier device can, in particular, be designed as a workpiece pallet. Clamping devices serve to position workpieces, hold their position, and clamp them in that position. The clamping device can, for example, have fixed and / or movable clamping jaws.

[0020] In particular, the 3D image acquisition device comprises at least one projector for projecting a pattern, preferably a pattern consisting of lines, points, stars, rectangles, squares, or a grid, onto which at least one workpiece and at least two spaced-apart camera units for determining the 3D image data are projected. For example, the 3D image acquisition device is an image sensor that generates 3D image data containing depth and image information. The projector can, for example, project structured light, i.e., a known light pattern, onto a scene, which can be captured by the camera units and from which the depth information can be determined, for example, by triangulation. The structured light pattern can, for example, be in the near-infrared (NIR) wavelength range or also in the visible wavelength range.

[0021] The clamping device has at least one geometric reference mark, the spatial position and / or orientation of which can be determined by means of the 3D image acquisition device in the setup station and by means of a measuring probe in the work area. It is preferred that in the The workspace does not house a 3D image acquisition device. The 3D image acquisition device preferably captures only an area within the setup station. At least three geometric reference marks can also be attached to the clamping device. Reference elements are preferably used as geometric reference marks, which are, for example, spherical, cuboid, cube-shaped, or other polygonal. The reference elements can be monolithic or multi-part.

[0022] Preferably, the reference marks form a reference coordinate system on the clamping device or the support device.

[0023] The evaluation unit is preferably configured to assign individual areas of the 3D image data to at least one workpiece, the clamping device, the support device, or the scene background. Furthermore, the evaluation unit can be configured to determine the position of the at least one workpiece and the clamping device relative to the reference mark(s). The position of the workpiece and the clamping device can thus be specified in the reference coordinate system.

[0024] The machine tool may further include a machine control system configured to control a work spindle designed to hold a tool and / or a workpiece table designed to hold the tool holder with one or more workpieces clamped thereon, in the work area, such that the workpiece(s) are machined by machining. The machine control system may be configured to select and execute a specific machining sequence depending on the detected and identified workpiece.

[0025] The work spindle can be controlled, particularly by the machine control system, in such a way that a touch probe can be mounted on it and the position of the reference mark(s) in the workspace coordinate system can be determined. This allows the touch probe to detect only one position of the reference mark, or—in the case of multiple reference marks—of several reference marks in the workspace, in order to determine the position of the clamping device within the workspace. The touch probe is used to probe the reference marks, thereby determining the position of the clamping device. The position of the workpieces relative to the clamping device is determined, in particular, by the 3D image data.

[0026] The data regarding the relative position of the reference mark(s) to a clamping surface defined by the clamping device can be determined and provided to the machine control.

[0027] The transformed data of the workpiece and the clamping device can be fed into a collision avoidance module, in which restricted areas are defined into which the work spindle and / or the tool mounted in the work spindle cannot move. Furthermore, the collision avoidance module can be configured to define areas in the workspace, depending on the three-dimensional model of the workpiece and the clamping device, in which the work spindle and / or the tool can only be driven at a reduced speed.

[0028] Additionally or alternatively, the reference marks are designed differently with respect to at least one geometric feature, for example by Different geometric dimensions or shapes. For example, two of the at least three reference marks may be spherical, while the third reference mark may be cuboid. In another example, one of the reference marks may have a smaller radius than the other reference marks, and vice versa.

[0029] Preferably, the setup station has a rotary table rotatable about at least one axis, on which the carrier device with the at least one workpiece clamped thereon by means of the clamping device can be positioned. By rotating the carrier device by means of the rotary table, the 3D image acquisition device can preferably capture the workpiece completely.

[0030] The evaluation unit can also be configured to generate a geometric 3D model of the workpiece from the 3D images of the 3D image acquisition device. This geometric 3D model can then be used in the collision avoidance module to define the various areas. Furthermore, a quality check can be performed at the setup station, where the generated 3D model of the workpiece can be compared with a 3D model of the desired workpiece.

[0031] The object of the invention is further achieved by the inventive method for determining the clamping position of at least one workpiece, in particular in a machine tool of the type described above. The inventive method The procedure includes:

[0032] - (exclusively) one-time referencing of the clamping device and / or the support device in the working area of ​​the machine tool;

[0033] Arranging the at least one workpiece on the carrier device and clamping the at least one workpiece by means of a clamping device in a setup station of a machine tool, in particular of the type above;

[0034] - Capture of 3D image data from at least one Partial area of ​​the at least one workpiece, the clamping device and the support device in the setup station;

[0035] - Identifying at least one workpiece and clamping device in the 3D image data, as well as

[0036] - Determining the relative clamping position of at least one workpiece to the clamping device.

[0037] The features and advantages described in connection with the machine tool according to the invention apply equally to the method according to the invention.

[0038] Preferably the procedure further comprises the following steps:

[0039] - Transporting the carrier device into the working area of ​​the machine tool;

[0040] - optional mounting of a measuring probe tool with the work spindle;

[0041] - Determining the position of the reference mark(s) attached to the clamping device in the workspace (exclusively) once per configured support device; as well as

[0042] - Creating a reference dataset from 3D image data for each configured support device of the at least one workpiece with respect to the workspace coordinate system and a (unique) identification number. In this context, a configured support device is understood to be a support device on which a clamping device with the at least one workpiece is clamped.

[0043] Further details of advantageous embodiments or specific aspects of the invention will become apparent from the drawings, the description, and the dependent claims. They show:

[0044] Figure 1 A perspective view of an example of the machine tool according to the invention;

[0045] Figure 2 A perspective view of a 3D model generated by the evaluation unit from the 3D image data of the 3D image acquisition device;

[0046] Figure 3 A 3D model of the clamping device, created from the 3D image data of the 3D image acquisition device; and

[0047] Figure 4 A detailed view of an example of the reference mark.

[0048] Figure 1 shows a schematic perspective view of an embodiment of the machine tool 10 according to the invention.

[0049] Figure 1 shows one type of machine tool, but the machine tool can stand for any type of machine tool 10 on which the The concept of the 3D image acquisition device can be implemented at the setup station according to the invention.

[0050] The machine tool 10 is preferably a machining tool, for example in the form of the machining center shown in Fig. 1. The machine tool 10 comprises a setup station 11 and a work area 12. The setup station has a rotary table 13 to which a support device 14 can be attached. The rotary table 13 is rotatable about a vertical axis 15. The support device 14 arranged on the rotary table 13 rotates with it when the rotary table 13 is rotated about the vertical axis 15. The setup station 11 also has a 3D image acquisition device 16 and an evaluation device 17.

[0051] A clamping device 18 can be attached to the carrier device 14, which clamps a workpiece 19 to be machined. The clamping device 18 can also be configured to clamp several workpieces 19 (not shown in Figure 1) on the carrier device 14. The clamping device 18 is rigidly connected to the carrier device 14. In Figure 1, three reference marks 20a, 20b, and 20c are also fixedly attached to the clamping device 18. The reference marks 20a, 20b, and 20c in Figure 1 are designed as spherical reference elements.

[0052] The 3D image acquisition device 16 has a projector 21 which is configured to project a pattern 22 onto a section of the carrier device 14. The projector 21 is preferably arranged such that it projects the pattern 22 onto a part of the workpiece 19. The image acquisition device 16 shown in Fig. 1 further comprises at least two camera units 22a and 22b. The 3D image acquisition device 16 is designed to capture 3D image data of a partial area of ​​the setup station 11, preferably comprising at least a portion of the workpiece 19. The 3D image data consists of camera images to which depth information is additionally assigned. The 3D image acquisition device shown in Figure 1 uses, for example, a triangulation algorithm to determine the depth information. The pattern 22 projected onto the workpiece 19 by the projector 22 can, for example, be a line or dot pattern, and the projector 21 can, for example, be a laser projector.

[0053] In Figure 1, the 3D image capture device 16 is stationary in the setup station 11, while the carrier device 14 with the clamping device 18 and the workpiece 19 is movably arranged in the setup station 11. However, in contrast to Figure 1, the carrier device 14 with the clamping device 18 and the workpiece 19 can also be fixed in place, while the 3D image capture device 16 can be movably arranged around the workpiece 19 in order to capture the workpiece 19, the clamping device 18, and the carrier device 14 as completely as possible (from all sides). The 3D image capture device 16 can also be designed as a handheld device, enabling hands-free scanning of the workpiece 19 and the clamping device 18.

[0054] The 3D image acquisition device 16 is in communication connection with the evaluation device 17, so that the 3D image data 23 can be transferred from the 3D image acquisition device 16 to the evaluation device 17. Evaluation unit 17 is configured to identify the workpiece 19, the clamping device 18, and the support device 14 in the 3D image data 23. Image recognition algorithms, for example, can be used to identify the workpiece 19, the clamping device 18, and the support device 14. For example, evaluation unit 17 can have a segmentation algorithm based on an artificial intelligence algorithm. Such an algorithm can include, for example, at least one of the following: neural networks, support vector machines, deep neural networks, convolutional neural networks, or the like. The algorithm used in evaluation unit 17 can, for example, assign to each voxel in the 3D image data whether it belongs to the workpiece 19, the clamping device 18, the support device 14, or something else.

[0055] The evaluation unit 17 is further configured to determine a clamping position 24 of the workpiece 19 relative to the support device 14. The 3D image acquisition device 16 can also be configured to determine reference marks 20a, 20b, 20c in the 3D image data 23. The evaluation unit 17 can furthermore be configured to generate 3D models 25 of the workpiece 19, the clamping device 18 and the support device 14.

[0056] The evaluation unit 17 can be connected to a database 39 to store the generated 3D models 25 there or, conversely, to receive 3D models from the database 39. For example, the 3D image acquisition device 16 can recognize a specific workpiece 19, a specific clamping device 18, or a specific support device 14 in the setup station 11 and to... be set up to receive the 3D models 25 if they are already stored in the database 39.

[0057] Alternatively, the evaluation unit 17 can also be configured to calculate a 3D model 25 for each workpiece 19 clamped in the clamping device 18 on the support device 14 and to store it in the database 39. The 3D models 25 are also provided with a unique identification number in order to be able to find them again in the database 39.

[0058] The evaluation unit 17 can additionally or alternatively be communicatively connected to a machine control 26 of the machine tool 10. The machine control 26 can thus receive the clamping position 24 and the 3D models 25 directly from the evaluation unit 17.

[0059] Unlike what is shown in Figure 1, the machine control 26 can also be connected to the database 39 (not shown), so that the evaluation unit 17 only needs to be configured to communicate the identification number for the 3D models 25 and the clamping position 24 to the machine control 26. The machine control 26 can then retrieve the 3D models 25 from the database 39. The machine control 26 is configured to control all axes of the machining station 27 of the machine tool 10.

[0060] After the workpiece 19 is clamped using the clamping device 18, the workpiece 19, together with the clamping device 18 and the support device 14, is completely scanned, for example by rotating the rotary table 13, and the 3D image data 23 is processed using the evaluation unit 17. Afterwards, the support device, together with the clamping device 18 and the workpiece 19, can be removed from the The components are transported from setup station 11 to processing station 27. This is illustrated in Figure 1 by arrow 28a.

[0061] In the setup station 11, the position of the carrier device 14, the clamping device 18 and the workpiece 19 is described in relation to the reference marks 20a, 20b and 20c on the clamped reference coordinate system R, S , V .

[0062] Preferably, no camera is arranged in the machining station 27, as it could become dirty and / or damaged during the machining of the workpiece. The machining station 27 has a work area 12, which is arranged above a machine bed 28. A workpiece table 29 is mounted on the machine bed 28, which, in the example shown in Figure 1, is rotatable about a horizontal axis A and a vertical axis B. The workpiece table 29 is also movable along the Z-axis towards a machining tower 30.

[0063] The machining tower 30 can also be stationary on the machine bed 28. The machining tower 30 has a work spindle 31 that is rotatable about a machining axis and can be moved along the X and / or Y axis of the machining station 27 in a controlled manner. All axes of the machining station 27 are controlled by the machine control 26. After the transport 28a of the carrier device 14 from the setup station 11 to the machining station 27, the carrier device 14 can be clamped onto the workpiece table 29. Subsequently, the machine control 26 is configured to use the work spindle 31 to pick up a measuring probe 32, for example, from a tool magazine (not shown). The work spindle 31 can now be controlled by the machine control 26 such that the position of the reference marks 20a, 20b, 20c in the workspace coordinate system X, Y, Z, A, and B is determined. The machine control can be configured to perform a coordinate transformation between the reference coordinate system R, S, V of the setup station 11 and the workspace coordinate system X, Y, Z, A, and B. The determination of the position of the reference marks 20a, 20b, 20c only needs to be carried out once for each individual clamping device 18 arranged on a support device 14 by means of the measurement described above using the measuring probe 32. This determination can also be carried out without a workpiece 19 clamped on the clamping device. The determined positions of the reference marks 20a, 20b, 20c are assigned to each individual clamping device 18 and a reference data record 38 is stored in the database 39 for this purpose.Each time a workpiece 19 is loaded onto the clamping device 18 in the setup station 11, the clamping position is determined by the 3D image acquisition device 16. By simultaneously determining the positions of the reference marks 20a, 20b, 20c, the evaluation unit 17 can determine the position of a workpiece 19 with respect to the workspace coordinate system X, Y, Z, A and B using the respective reference data set 38. Thus, for all subsequent machining operations, the time-consuming probing of the reference marks 20a, 20b, 20c by the measuring probe 32 can be omitted. This improves machine productivity. If several clamping devices 18 arranged on support devices 14 are used, or if a clamping device 18 is newly arranged on a support device 14 (e.g. after a collision in the work area), the reference described above must be entered in each case. The workspace is used and the respective reference data set 38 is stored in the database 39. Each individual arrangement of support device 14 and clamping device 18 thus has an individual reference data set 38.

[0064] The coordinate transformation can be translational and / or rotational.

[0065] Figure 2 shows an example of a 3D model 25 of the workpiece 19 in the reference coordinate system R, S, V. The 3D model 25 of the workpiece 19 can be defined relative to a clamping surface 33. Reference marks 20a, 20b, and 20c are also shown in Figure 2. A reference surface 34, which has a predefined datum, is also shown in Figure 2 with respect to the clamping surface 33. The 3D model 25 of the workpiece 19 shown in Figure 2 is extracted from the 3D image data 23. The clamping device 18 and the support device 14 are not shown in Figure 2.

[0066] Figure 3 also shows the 3D model 25 of the clamping device 18. Figure 3 also shows the two clamping jaws 35a and 35b of the clamping device 18. The clamping device 18 was extracted from the 3D image data 23.

[0067] Both the 3D model 25 of the workpiece 19 and the 3D model 25 of the clamping device 18 can be stored in a database 39 with a corresponding identification number.

[0068] Figure 4 also shows a detailed view. Reference marks 20a, 20b and 20c are designed as spherical reference elements. Reference marks 20a, 20b and Reference marks 20c can differ from one another, for example, in their geometric dimensions or geometric shape. Reference marks 20a, 20b, and 20c have a center point 36 and a diameter 37, which can, for example, differ. However, unlike what is shown in Figure 4, a reference mark can also differ in shape.

[0069] The machine tool 10 according to the invention comprises a 3D image acquisition device 16 and an evaluation unit 17, with which the at least one workpiece 19 is captured in 3D image data 23 at the setup station 11. The evaluation unit 17 is configured to identify the workpiece 19, the clamping device 18, and the support device 14 in the 3D image data 23 and to calculate the clamping position 24 of the workpiece 19 from this. In addition, the evaluation unit 17 is configured to generate and store 3D models 25 of the workpiece 19 and the clamping device 18, and to communicate these models to the machine control 26 of the machining station 27.The concept according to the invention significantly simplifies the determination of the clamping position 24 in the machining space 12, since, unlike before, to determine the clamping position 24 only the reference marks 20a, 20b and 20c which are fixedly attached to the clamping device 18 need to be detected with a measuring probe tool 32. Reference symbol: 10 machine tool 11 Equipment station 12 Workroom 13 Turntable 14 Carrier device 15 vertical axis 16 3D image capture devices 17 Evaluation unit 18 Clamping device 19 workpieces 20a, 20, 20c Reference marks 21 Projector 22 samples 22a, 22b camera units 23 3D image data 24 clamping position 25 3D models 26 Machine control 27 Processing Station 28 machine bed 29 Workpiece table 30 processing towers 31 working spindle 32 measuring tools 33 clamping surface 34 Reference area 35a, 35b clamping jaws 36 Center 37 diameter 38 Reference data set 39 database A, B Axes of the workspace coordinate system R, S, V axes of the reference coordinate system

Claims

Patent claims:

1. Machine tool (10) with a setup station (11) in which at least one workpiece (19) to be machined can be arranged on a carrier device (14) and clamped by means of a clamping device (18), and with a work area (12) into which the carrier device (14) with the at least one workpiece (19) clamped on it can be transferred, wherein the machine tool (10) is designed for machining, in particular by machining, the at least one workpiece (19) in the work area (12), wherein the clamping device (18) and / or the carrier device (14) has at least one geometric reference mark (20a, 20b, 20c), wherein a 3D image acquisition device (16) is arranged in the setup station (11), which is configured to acquire 3D image data (23) of at least one partial area of ​​the at least one workpiece (19), the clamping device (18) and the at least one geometric reference mark (20a, 20b, 20c). to detect reference mark (20a, 20b, 20c) in the setup station (11),wherein the machine tool (10) has an evaluation device (17) which is configured to identify the at least one workpiece (19) and the at least one clamping device (18) in the 3D image data (23) and / or to determine a relative clamping position (24) of the at least one workpiece (19) to the at least one geometric reference mark (20a, 20b, 20c) in the setup station (11) from the 3D image data (23), wherein a spatial position of the at least one workpiece (19) in the work space (12) is determined on the basis of the relative position determined in the setup station (11). The clamping position can be determined.

2. Machine tool (10) according to claim 1, characterized in that the evaluation device (17) has a model module which is configured to generate a geometric 3D model of the at least one workpiece (19) and the clamping device (18) from the 3D image data (23).

3. Machine tool (10) according to claim 2, characterized by a collision monitoring device (39) which is communicatively connected to the evaluation device (17) and is configured to generate a collision-free machining process on the basis of the geometric 3D models of the at least one workpiece (19) and the clamping device (18).

4. Machine tool (10) according to one of claims 1 to 3, characterized in that the evaluation device (17) has a recognition module which is configured to recognize the type of the at least one workpiece (19) and / or the clamping device (18) in the 3D image data by means of an object recognition algorithm of artificial intelligence.

5. Machine tool (10) according to one of the preceding claims, characterized by a storage device which is configured to store geometric 3D models of different types of workpieces (19), clamping devices (18) and carrier devices (14) which can be created by the evaluation device (17) or made available via an interface.

6. Machine tool (10) according to one of the preceding claims, characterized in that a reference coordinate system (R, S, V) is formed by the reference marks (20a, 20, 20c).

7. Machine tool (10) according to one of the preceding claims, characterized in that the evaluation device (17) is configured to assign individual areas of the 3D image data (23) to a workpiece (19), the clamping device (18), the support device (14) or the scene background.

8. Machine tool (10) according to one of the preceding claims, characterized in that the evaluation device (17) is configured to determine the position of the at least one workpiece (19) and the clamping device (18) with respect to the reference mark(s) (20a, 20, 20c).

9. Machine tool (10) according to one of the preceding claims, characterized by a machine control (26) which is configured to control a work spindle (31) which is designed to receive a tool, and / or a workpiece table (29) which is designed to receive a carrier device (14) with one or more workpiece(s) clamped thereon, in the work space (12) such that the workpiece(s) (19) are machined by machining.

10. Machine tool (10) according to claim 9, characterized in that the work spindle (31) can be controlled by the machine control (26) such that with this a measuring probe tool (32) can be picked up and the position of the reference mark(s) can be determined relatively in a work space coordinate system (X, Y, Z, A, B).

11. Machine tool (10) according to one of the preceding claims, characterized in that the data regarding the relative position of the reference mark(s) to a clamping surface (33) defined by the clamping device (18) are determined and provided to the machine control (26).

12. Machine tool (10) according to one of the preceding claims, characterized in that the reference marks (20a, 20b, 20c) are designed differently with respect to at least one geometric feature, for example by different geometric dimensions or shapes.

13. Machine tool (10) according to one of the preceding claims, characterized in that the setup station (11) has a rotary table (13) rotatable about at least one axis (15), on which the carrier device (14) with the at least one workpiece (19) clamped thereon by means of the clamping device (18) can be placed, wherein the workpiece (19) can be completely captured by means of the 3D image acquisition device (16), preferably by rotating the rotary table (13).

14. Machine tool (10) according to claim 1, characterized in that the 3D image acquisition device (16) has at least one projector (21) for projecting a pattern (22) which has at least one workpiece (19) and at least two spaced-apart camera units (22a, 22b) for determining the 3D image data (23).

15. Machine tool (10) according to one of the preceding claims, characterized by a storage device () which is configured to store geometric 3D models of different types of workpieces (19) to store which can be created by the evaluation unit (17) or made available via an interface.

16. Method for determining the clamping position (24) of at least one workpiece (19) relative to a support device (14), in particular in a machine tool (10) according to one of the preceding claims, comprising: - one-time referencing of the clamping device (18) and / or the support device (14) in a work area (12) of a machine tool (10) ; - Arranging the at least one workpiece (19) on the carrier device (14) and clamping the at least one workpiece (19) by means of a clamping device (18) in a setup station (11) of a machine tool (10), in particular according to one of the preceding claims; - Acquisition of 3D image data (23) of at least one sub-area () of the at least one workpiece (19) and the carrier device (14) in the setup station (II) ; - Recording the reference marks (20a, 20b, 20c) in the Equipment station; - Identifying the at least one workpiece (19) and the clamping device (18) in the 3D image data; and / or - Determining the relative clamping position (24) of at least one workpiece (19) relative to the reference marks (20a, 20b, 20c) .

17. The method of claim 16, characterized by the following steps: - Transporting the carrier device (14) into the working area (12) of the machine tool; comprising referencing the clamping device (18) and / or the carrier device (14): - Picking up a measuring probe tool (32) with the working spindle; - Determining the position of the reference mark(s) (20a, 20b, 20c) attached to the clamping device (18) in the workspace once per configured carrier device (14); and - forming a reference data set (38) from 3D data for each configured carrier device (14) of the at least one workpiece (19) with respect to the workspace coordinate system (X, Y, Z, A, B) and an identification number.

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