TWI392984B - Workpiece measuring device, collision prevention device and working machine - Google Patents

Description

Workpiece measuring device, conflict prevention device and working machine

The present invention relates to a workpiece measuring device, a collision preventing device, and a working machine, particularly an optimum workpiece measuring device, a collision preventing device, and a working machine used for performing a three-dimensional processing on a workpiece.

In general, when the machine is controlled by the numerical control device (hereinafter referred to as "NC"), the NC program (processing NC data) for recording the tool of the machine tool is debugged. That is, the machining target, that is, the workpiece, is placed on the mounting table of the working machine beforehand, and the operator performs verification of the NC program for each step of the NC program.

At this time, a part of the working machine such as a tool or a hammer may be damaged by contact with the workpiece due to a human error such as a failure of the NC program or an operator's erroneous operation (for example, refer to Patent Document 1).

In particular, in the positioning work of the tool that does not perform the cutting of the workpiece, the operation speed is increased in order to improve the work efficiency. In the case where the NC program is debugged in this state, when a part of the working machine comes into contact with the workpiece quickly, it is difficult to stop the spindle operation of the working machine at the moment of the operator's judgment.

In order to prevent breakage of the machine tool caused by the contact of the workpiece as described above, various techniques have been proposed.

For example, a sensor that detects contact between a workpiece and a tool is known, and the presence or absence of contact between the tool and the workpiece is confirmed by the sensor.

On the other hand, in order to avoid conflicts between workpieces and tools, etc., a control method of stopping a tool or the like before collision of a workpiece is also known. When the control method is implemented, it is necessary to grasp the third-dimensional data (3D-CAD data) of the workpiece shape such as the size and shape of the workpiece and the position of the workpiece on the mounting table.

However, the third-order data of the workpiece shape before machining cannot be grasped in advance, and it is necessary to grasp the method of measuring the workpiece or the like.

A method of grasping the three-dimensional data of the shape of the workpiece is known as a method of non-contact measurement. For example, a digital conversion device that digitizes a three-dimensional object is known (for example, refer to Non-Patent Document 1).

A technique of measuring a fine surface shape such as a processed streak (cutting mark) by a non-contact displacement meter is also known (for example, refer to Patent Documents 2 and 3). The positioner replacement tool can be mounted on, for example, a ram, and by scanning the workpiece, the shape of the workpiece can be detected with high precision.

As a method of expressing the three-dimensional data thus obtained, a three-dimensional bitmap method is known (for example, refer to Patent Document 4).

Further, a technique in which the detecting device of the above-described workpiece is automatically exchanged in the same manner as the tool is known (for example, refer to Patent Document 5).

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2007-048210

[Patent Document 2] Japanese Patent Laid-Open Publication No. 2004-012430

[Patent Document 3] Japanese Patent Laid-Open Publication No. 2004-012431

[Patent Document 4] International Publication No. 02/023408

[Patent Document 5] Japanese Patent Laid-Open No. Hei 4-089513

[Non-patent document 1] "Product enhancement for the 3-D digital conversion device "Danae series", from the 15th line to the 16th line, [online], June 20, 2005, [Heisei 20 years 3 Search on the 7th of the month], Internet <URL: http://www.nec-eng.co.jp/press/050620press.html>

In the method of using the sensor for detecting the contact between the workpiece and the tool described above, there is a problem that the speed of the operation cannot be improved due to the contact tool or the like, and the efficiency is inferior. Further, the case where the ram is in contact with the workpiece or the like differs depending on the portion in contact with the workpiece, and there is a problem that the contact of the workpiece cannot be detected.

In the technique of Non-Patent Document 1 described above, it is necessary to match the coordinate system when the workpiece is set, and there is a problem that it takes time and effort in measurement. Further, there is a problem that the shape of the workpiece cannot be measured by the sensor, that is, the problem of the dead angle occurs. Others have high prices.

In the techniques of Patent Documents 2 and 3 described above, when the collision avoidance of the workpiece and the tool is used, the obtained data of the three-dimensional shape is too detailed. With the operating axis of the working machine, since the sensor scans all the faces of the workpiece, there is a problem that the efficiency of obtaining the three-dimensional data is poor. Since there is a need for a scanning sensor that can match the shape of the workpiece, when the third-order data is acquired, there is a problem that the workpiece, a part of the working machine, and the cable of the sensor occur.

In order to solve the above-described problems, an object of the present invention is to provide a workpiece measuring device, a collision preventing device, and a working machine, and it is possible to easily obtain a ternary data for a workpiece shape for preventing collision of a part of a workpiece and a working machine.

In order to achieve the above object, the present invention provides the following means.

A workpiece measuring apparatus according to the present invention is characterized in that: a measuring unit is attached to a spindle on which a tool for machining a workpiece, that is, a workpiece is mounted, and a distance measured by a non-contact scan to the workpiece; and a shape understanding unit a three-dimensional mesh structure formed by dividing a space into a polyhedron shape, and calculating a coordinate of the measurement point of the workpiece based on the measured distance information up to the workpiece, and also for scanning and the three-dimensional mesh structure When the calculated point of the number of times of the position of the workpiece corresponding to one unit is equal to or greater than a predetermined threshold value, the unit is formed as a measurement shape map as the shape of the workpiece.

According to the present invention, since the measurement shape map of the workpiece is created in accordance with the ratio of the number of times the measurement points in one unit for the number of scans are included, it is possible to ensure the accuracy of the 3-dimensional data of the workpiece, that is, the shape map.

In other words, by comparing the measurement shape map of the workpiece with the ratio of the number of times the measurement points are included in one unit for the number of scans, compared with the case where the distance map obtained by one scan is used to measure the shape map, The measurement accuracy of the measurement unit and the distance from the measurement unit to the workpiece are less likely to be affected, and the accuracy of the measurement shape map can be easily ensured.

Further, compared with the method of measuring the measurement unit having different measurement accuracy, the accuracy of the measurement shape map can be easily adjusted by adjusting the number of times of scanning and the value of the threshold value, which are easy to measure the change to the workpiece. .

On the other hand, since the measuring unit is attached to the main shaft, it is easy to ensure the accuracy of the measurement shape map as compared with the case where the measuring unit is attached to another portion.

In other words, in order to use the machining of the workpiece, the measuring unit is attached to the spindle that is controlled by the high positional accuracy, so that the arrangement position of the measuring unit is grasped with high accuracy. As a result, the arrangement position of the workpiece such as the work machine including the spindle is also recognized with high accuracy, and the positional accuracy of the measurement pattern of the work machine or the like is easily secured.

In other words, since the measurement of the shape map and the arrangement position measurement of the measurement shape map of the machine tool or the like are performed at the same time, it is not necessary to separately perform the method of using the three-dimensional design data of the workpiece as the measurement shape map. The arrangement position measurement of the measurement shape map of the working machine or the like is corrected, and the measurement of the shape map is easy.

Since the measuring unit can set a plurality of points for measuring the distance up to the workpiece, the unmeasured area in the workpiece, that is, the occurrence of a dead angle in the workpiece seen from the measuring portion can be prevented.

Since the measuring unit is mounted on the main shaft as described above, the number of points to be measured is set in plural, and the accuracy of the measurement shape map can be ensured even if the measuring unit is moved between the plurality of points. Further, by measuring the distance from the measuring portion to the workpiece at a plurality of points, the occurrence of the unmeasured field in the workpiece is prevented, and the entire workpiece can be measured.

Further, since the distance from the measuring portion attached to the main shaft to the workpiece is measured, for example, a mounting table on which the workpiece is placed and a fixing jig for fixing the workpiece to the mounting table are also included, and the distance from the measuring portion is simultaneously measured. . Therefore, a measurement shape map including a mounting table, a fixing jig, and the like is also prepared. This measurement shape map is compared with the case where the three-dimensional design data of the workpiece is used as the measurement shape map. Since the mounting table and the fixing jig are also included, the measurement shape map is suitable for preventing collision of a part of the workpiece and the working machine. .

In the above invention, the size of one of the one units is preferably set in accordance with the distance between the tool and the portion where the spindle approaches the workpiece and travels to the workpiece, and the distance between the workpieces.

According to the present invention, since the size of one side of one unit of the three-dimensional mesh structure is set according to the position at which the tool approaching the workpiece is moved to the workpiece and the distance between the workpieces is set, the tool and the spindle move at a high speed. Contact between workpieces and tools during the period is prevented.

That is, the interval between the above-described machining transition point and the measurement shape map is ensured by controlling the movement of the tool and the main shaft in accordance with the measurement shape map.

Further, since the size of one of the units in the shape map is to be measured, the distance between the machining transition point and the workpiece is set according to the above-described processing, and the gap between the measurement shape map and the workpiece is not present. Therefore, the distance between the actual machining travel point and the workpiece is such that the contact between the above-described interval and the above-described gap and the workpiece and the tool during the high-speed movement of the tool and the spindle are prevented from coming into contact.

In the above aspect of the invention, the measuring unit includes: a sensor head that scans a distance up to the workpiece; and a transmitting unit that transmits distance information measured by the sensor head, and The sensor head and the battery that supplies power to the transmitting unit further include a receiving unit that receives the distance information sent from the transmitting unit and outputs the distance information received by the shape understanding unit.

According to the present invention, since the measurement unit performs measurement of the distance up to the workpiece without using wiring such as power supply and distance information transmission, the measured distance information can be output to the shape recognition unit. That is, since the sensor head measures the distance from the power supplied from the battery to the workpiece, the transmitting unit transmits the distance information obtained by the measurement to the shape recognition unit through the receiving unit, so that it is not required to use Wiring for power supply, distance information, etc.

Therefore, it is easy to attach and remove the measuring unit toward the main shaft, and the measuring unit can be exchanged by an automatic switching device such as an automatic tool changing device.

Further, since the wiring or the like connected between the measuring portion and the shape recognizing portion is unnecessary, it is possible to prevent wiring and the like from drying up the workpiece.

In the above invention, the measuring unit is provided with a mounting portion that receives power supply through the spindle and transmits the measurement information to the shape understanding unit through the spindle.

According to the present invention, since the measurement unit performs the measurement of the distance up to the workpiece without using wiring for supplying power and distance information, etc., the measured distance information can be output to the shape recognition unit. In other words, since the measuring unit receives the distance from the workpiece by receiving the supply of electric power through the main shaft and the mounting portion, the distance information obtained by the measurement is transmitted to the shape recognizing unit through the main shaft and the mounting portion, so that no additional setting is required. Wiring for power supply, distance information, etc.

Therefore, since it is not necessary to connect wirings and the like between the measuring portion and the shape recognizing portion, it is possible to prevent the wiring or the like from drying up with the workpiece.

The collision preventing device of the present invention is characterized in that: the workpiece measuring device according to the first to fourth aspects of the patent application, and the judging portion for determining the dryness between at least the main shaft or the tool and the measurement shape map, and A control unit that controls the movement of the spindle based on the determination result of the determination unit.

According to the present invention, at least the spindle or the collision between the tool and the workpiece can be prevented in accordance with the measurement shape map created by the above-described workpiece measuring apparatus of the present invention.

In other words, by judging the measurement shape map larger than the workpiece and the dryness between the spindles and the like, the collision between the workpiece and the spindle, which is smaller than the measurement shape map, can be reliably prevented.

A machine tool according to the present invention is characterized in that: a mounting table to which a workpiece is to be mounted, and a spindle to which the workpiece machining tool is attached, and a collision preventing device according to item 5 of the patent application are provided.

According to the present invention, in accordance with the measurement shape map created by the above-described workpiece measuring apparatus of the present invention, it is possible to prevent at least a conflict between the spindle or the tool, the workpiece, the stage, and the like.

In other words, by judging the measurement shape map larger than the workpiece, the mounting table, and the like, and the dryness between the spindle and the like, the collision between the workpiece, the mounting table, and the like, which is smaller than the measurement shape map, and the spindle can be reliably prevented. .

According to the workpiece measuring device, the collision preventing device, and the working machine of the present invention, since the measurement shape map of the workpiece is created based on the ratio of the number of times the measurement point is included in one unit of the number of scans, it is possible to easily obtain the workpiece and the workpiece. The effect of the 3-dimensional data of the workpiece shape used when the part of the working machine collides.

[First Embodiment]

Hereinafter, a machine tool according to a first embodiment of the present invention will be described with reference to Figs. 1 to 5 .

Fig. 1 is a view showing the overall configuration of a working machine of the present embodiment. Fig. 2 is a block diagram showing a control unit in the machine tool of Fig. 1.

The work machine 1 of the present embodiment includes a workpiece measuring device 2 that forms a measurement shape map MP based on a workpiece W or the like, and a collision preventing device 3 that prevents collision between the hammer 13 of the working machine 1 and a tool, and the like, and the workpiece W. Further, the machining target, that is, the five-face machining machine in which the workpiece W is machined from the five directions, is controlled by the NC.

In the work machine 1, as shown in FIGS. 1 and 2, a mounting table 11 that moves in the X-axis direction, a saddle 12 that moves in the Y-axis direction, and a ram that moves in the Z-axis direction are provided. The (spindle) 13 and the measuring unit 15 for measuring the distance from the ram 13 to the workpiece W and the working machine control unit 16 for controlling the movement of the mounting table 11, the saddle 12, and the ram 13 are controlled.

The mounting table 11 is a table for fixing the workpiece W, and is movably arranged along the X-axis direction as shown in Fig. 1 . As shown in FIG. 2, the stage 11 is controlled to move in the X-axis direction by the movement control unit 26 of the machine control unit 16.

As shown in FIG. 1 , the saddle 12 is provided with a ram 13 and is formed in a gate shape and disposed in a beam portion 14A extending in the Y-axis direction of the support portion 14 disposed across the mounting table 11 , and is formed. It can be moved along the Y axis. As shown in FIG. 2, the saddle 12 is controlled to move in the Y-axis direction by the movement control unit 26.

In the case of measuring the shape of the workpiece W, the ram 13 is attached to the end portion on the mounting table 11 side as shown in Fig. 1, and a tool is attached to the workpiece W during cutting. Further, the ram 13 is disposed on the saddle 12 and is movable in the Z-axis direction. The ram 13 is controlled to move in the Z-axis direction by the movement control unit 26 as shown in Fig. 2 .

Fig. 3 is a partially enlarged view for explaining the configuration of the measuring unit and the ram of Fig. 1;

The measuring unit 15 is a laser distance sensor used when the measurement shape map MP of the workpiece W is formed, and is attached to the end of the ram 13 on the stage 11 side as shown in FIGS. 1 and 3 . unit.

As shown in FIG. 3, the measuring unit 15 changes the emission angle θ of the laser light used for the distance measurement to perform a 2-dimensional scanning. Further, by rotating the above-described ram 13 toward the center axis L, the measuring unit 15 performs a 3-dimensional scanning.

The distance information from the workpiece W and the mounting table 11 and the like measured by the measuring unit 15 to the measuring unit 15 is input to the shape recognizing unit 23 as shown in Fig. 2 .

The work machine control unit 16 is a measurement shape map MP for forming the workpiece W before the cutting of the workpiece W, and in the case of debugging the NC program for describing the movement of the tool for cutting the workpiece W, the measurement shape map MP is prevented according to the creation. The collision between the ram 13 and the tool and the workpiece W controls the movement of the mounting table 11, the saddle 12, and the ram 13 during the cutting process of the workpiece W.

As shown in FIG. 2, the work machine control unit 16 is provided with a program storage unit 21 and a program interpretation unit 22 for controlling signal generation for moving the tool during machining of the workpiece W, and measurement of the workpiece W. The shape recognition unit 23 formed by the shape map MP, the shape memory unit 24 that memorizes the shape of the tool attached to the spindle, and the dryness determination unit (determination unit) 25, and the control stage 11, the saddle 12, and the ram 13 Mobile movement control unit (control unit) 26.

Here, the workpiece measuring device 2 is composed of the measuring unit 15 and the shape recognizing unit 23, and the collision preventing device 3 is composed of the workpiece measuring device 2, the dry judging unit 25, and the movement control unit 26.

The program memory unit 21 is an NC program memory that describes the movement path of the tool for performing the cutting process of the workpiece W.

As shown in FIG. 2, the program storage unit 21 is connected to the program interpretation unit 22, and causes the NC program stored in the program storage unit 21 to be output to the program interpretation unit 22.

The program interpreting unit 22 creates information on the amount of movement and the moving speed of the tool based on the NC program.

As shown in FIG. 2, the program interpreting unit 22 is connected to the cognac determining unit 25 and the movement control unit 26, and causes information such as the amount of movement of the tool or the like created by the program interpreting unit 22 to the cognac determining unit 25. The movement control unit 26 is output.

The shape recognition unit 23 is a measurement shape map MP used for preventing collision of the hammer 13 and the tool and the workpiece W when the NC program is debugged.

The shape recognition unit 23 is connected to the measurement unit 15 and the interference determination unit 25 as shown in FIG. 2 . In the shape recognition unit 23, the distance information measured by the measurement unit 15 is input, and the information of the measurement shape map MP is output from the shape recognition unit 23 to the dry determination unit 25.

The method of creating the measurement shape map MP in the shape recognition unit 23 will be described later.

The shape memory unit 24 memorizes the shape of the ram 13 which is likely to collide when approaching the workpiece W, the shape of the tool attached to the ram 13, and the like.

The shape memory unit 24 is connected to the cognac determining unit 25 as shown in Fig. 2 . The shape of the ram 13 or the like memorized in the shape memory portion 24 is output to the dryness determining unit 25.

The cognac determining unit 25 prevents the collision between the ram 13 and the tool and the workpiece W by judging the dryness of the measurement shape map MP and the ram 13 when the NC program is debugged.

The dryness determining unit 25 is connected to the shape recognizing unit 23, the shape memory unit 24, the program interpreting unit 22, and the movement control unit 26 as shown in Fig. 2 . In the sputum determination unit 25, the measurement shape map MP is input from the shape recognition unit 23, and the shape of the ram 13 or the like is input from the shape storage unit 24, and information on the amount of movement of the tool or the like is from the program interpretation unit. 22 was entered. On the other hand, the determination result of the presence or absence of the dryness in the determination unit 25 is output to the movement control unit 26.

The movement control unit 26 controls the amount of movement and the moving speed of the tool or the like attached to the end portion of the ram 13 by controlling the movement of the mounting table 11, the saddle 12, and the ram 13.

Further, when it is determined that the measurement shape map MP and the ram 13 are dry when the NC program is debugged, the movement of the mounting table 11, the saddle 12, and the ram 13 is stopped.

The movement control unit 26 is connected to the program interpretation unit 22 and the interference determination unit 25 as shown in Fig. 2 . In the movement control unit 26, information such as the amount of movement of the tool or the like is input from the program interpretation unit 22, and the result of determination of the presence or absence of the measurement of the shape map MP and the ram 13 is input from the cognac determining unit 25. On the other hand, control signals for controlling the movement of the mounting table 11, the saddle 12, and the ram 13 to be formed in the movement control unit 26 are output to the mounting table 11, the saddle 12, and the ram 13, respectively.

Next, a method of processing the workpiece W in the machine tool 1 configured by the above configuration will be described.

When the workpiece W is machined by the work machine 1, first, the workpiece W is fixed to the mounting table 11 by using the fixing jig (see FIG. 5).

Then, as shown in FIG. 2, the program storage unit 21 causes the NC program to output a unit (one moving unit, for example, one line) unit to the program interpreting unit 22.

The program interpretation unit 22 creates information on the amount of movement and the moving speed of the tool from the NC program, and outputs it to the movement control unit 26. The movement control unit 26 decomposes the input information into the movement amount and the moving speed of the mounting table 11, the saddle 12, and the ram 13, and separately outputs the movement amount of the control stage 11, the saddle 12, and the ram 13. And the control signal for moving speed.

The control signal is the mounting table 11, the saddle 12, and the ram 13 that are input from the movement control unit 26, and the workpiece W is processed by being driven by the input control signal by a separately provided motor.

Next, the feature of the present embodiment is a method of forming the measurement shape map MP of the workpiece W, a method of preventing the collision of the workpiece W using the created measurement shape map MP, and a part of the work machine 1.

The preparation of the measurement shape map MP of the workpiece W and the collision prevention control described herein are, for example, the debugging of the NC program in the previous stage of the processing of the workpiece W described above, that is, the workpiece W and the ram 13 and the tool. It is carried out when there is inspection of the cognac.

Fig. 4 is a flow chart for explaining a method of forming a measurement shape map. Fig. 5 is a view showing the distance measurement from the measuring unit to the workpiece.

First, as shown in Fig. 5, the workpiece W is placed on the mounting table 11 (step S1). At this time, the workpiece W is fixed to the mounting table 11 by the fixing jig J.

Thereafter, as shown in Fig. 3, the measuring portion 15 is attached to the end of the ram 13 (step S2). The shape recognizing unit 23 of the measuring unit 15 and the working machine control unit 16 can supply electric power to the measuring unit 15 by, for example, a cable, and the distance information measured by the measuring unit 15 can be directed to the shape recognizing unit 23. The input ground is connected (refer to Figure 2).

When the measuring unit 15 is attached to the ram 13, as shown in Fig. 5, the measuring unit 15 moves toward the first measuring position P1, and the distance from the measuring unit 15 to the workpiece W is measured (step S3).

As shown in FIG. 3, the measuring unit 15 emits laser light while changing the scanning angle θ, and measures the distance r from the measuring unit 15 to the workpiece W. In other words, a 2-dimensional scan is performed. At this time, the distance from the measuring unit 15 to the mounting table 11 and the distance from the measuring unit 15 to the fixed jig J are simultaneously measured. Further, the ram 13 is rotated around the central axis L, and the scanning direction of the laser light generated by the measuring unit 15 is changed again to perform the 2-dimensional scanning. Thereby, the 3-dimensional scanning of the workpiece W is performed.

When the third-dimensional scanning in the first measurement position P1 is completed, the measurement unit 15 is moved to the second measurement position P2, and the three-dimensional scanning of the workpiece W is performed again. The second measurement position P2 is that the measurement unit 15 can measure the dead angle BA generated when the workpiece W3 is scanned from the first measurement position P1, in other words, the position of the unmeasured area can be measured.

These measurement positions can be exemplified by five places of the workpiece W (the positive direction of the Z axis), the front (the positive direction of the X axis), the rear (the negative direction of the X axis), and the two sides (the positive direction of the Y axis and the negative direction). Further, the number and location of the measurement positions may be changed depending on the arrangement position and shape of the workpiece W, the reflectance of the laser light emitted from the measurement unit 15, and the like, and are not particularly limited.

The distance r measured by the measuring unit 15 and the scanning angle θ are input to the shape recognizing unit 23 as shown in Fig. 2 . Further, the position (Xr, Yr, Zr) of the ram 13 in the point when the distance r is measured, and the rotation angle Φ of the ram 13 are also input to the shape recognizing portion 23.

The shape recognizing unit 23 calculates the distance r from the measured coordinates (Xm, Ym, Zm) of the measured point of the workpiece W based on the input information, based on the following calculation formula (step S4).

Xm=Xr+r‧sinθ

Ym=Yr+r‧sin Φ

Zm=Zr-r‧cos Φ ‧cosθ

Fig. 6 is a view for explaining the shape of a measurement shape map defined by the shape recognition portion.

The shape recognizing unit 23 is a three-dimensional mesh field in which the measurement space is divided into a hexahedron shape, that is, a three-dimensional mesh structure is generated, and the coordinates (Xm, Ym, Zm) of the above-described measurement points are included. One unit of the dimensional mesh structure (hereinafter referred to as "stereoscopic pixel") is voted, and the measurement shape map MP is defined (step S5).

Specifically, the 2-dimensional scan of the measurement unit 15 is performed, and the coordinates of the measurement points are voted for the included voxels, for example, "1" is registered. This process is performed for all 2 scans.

As a result, in each of the voxels, only the number of times that the most-vote 2-dimensional scan is performed is performed, and at least the number of times is not voted once.

The shape recognizing unit 23 determines whether or not the workpiece W is included in each voxel based on the number of votes for the total number of scans performed twice. In other words, when the ratio of the number of voting times of the total number of scans is higher than a predetermined threshold value, it is determined that the workpiece W is included in the voxel, and if the threshold value is lower than a predetermined threshold value, It is judged that the workpiece W is not included in the voxel.

Further, the value of the predetermined threshold value may vary depending on the measurement accuracy of the measuring unit 15 and the reflectance of the workpiece W, and the like, and is not particularly limited.

On the other hand, the size of one side of the above-described three-dimensional pixel is based on the tool used when the approach mode of the tool approaching the workpiece W during the machining of the machine tool 1 is switched to the machining mode in which the workpiece W of the tool is machined. The position of the work machine 1 such as the ram 13 and the distance of the workpiece W are set.

This distance is set in consideration of items such as the performance and use of the work machine 1, the specifications of the workpiece, the workability of the operator, and the processing speed of the measurement. Therefore, the size of one side of the voxel may be a value of about 1 mm to 40 mm, but it is not particularly limited because it is changed in consideration of the above items.

When the shape recognition unit 23 creates the measurement shape map MP, the NC program is debugged.

First, a tool for an end mill or the like used for machining the workpiece W is attached to the end of the ram 13 .

As shown in FIG. 2, the program is stored in the program storage unit 21 from the program storage unit 21 by the operator's instruction, and the amount of movement of the tool or the like is changed from the program interpretation unit 22. The information is output to the interference determination unit 25.

The information determining unit 25 is based on information such as the amount of movement of the input tool or the like, the measurement shape map MP input from the shape recognition unit 23, and the tool and the ram 13 input from the shape memory unit 24. The shape to judge the presence or absence of cognac.

The shape of the tool and the ram 13 that is input to the dryness determining unit 25 is previously stored in the shape memory unit 24, that is, the shape of the tool and the ram 13 attached to the machine tool 1 when performing a debugging operation or the like.

The dryness determining unit 25 determines whether the tool or the ram 13 is dry with the measurement shape map MP when the tool and the ram 13 are moved based on information such as the amount of movement of the tool or the like, and the determination result is directed to the movement control unit 26. Output.

When the cognac determining unit 25 determines that the cognac has occurred, the movement control unit 26 suspends execution of the NC program in which the cognac has occurred, and prevents the collision of the tool or the ram 13 and the workpiece W.

On the other hand, when the determination unit 25 determines that the dryness does not occur, the movement control unit 26 is directed to the mounting table 11, the saddle 12, and the ram 13 based on the information on the amount of movement of the tool or the like to be input. Output control signals.

According to the above configuration, since the measurement shape map MP of the workpiece W is created in accordance with the ratio of the number of times the measurement point is included in the number of voxels for the number of 2-dimensional scans, it is possible to ensure the accuracy of the 3-dimensional data of the workpiece W, that is, the measurement of the shape map MP. . Therefore, it is possible to easily acquire the ternary data of the shape of the workpiece W used for preventing the collision between the workpiece W and the ram 13 of the machine tool 1.

That is, the measurement shape map MP of the workpiece W is created by the ratio of the number of times the measurement point is included in the number of voxels for the number of scans of the second dimension, and the measurement shape map MP is created by the scan and the obtained distance information and the like. In comparison with the situation, it is difficult to receive the influence of the measurement accuracy of the measuring unit 15 and the distance r from the measuring unit 15 to the workpiece W, and the accuracy of the measurement shape map MP can be ensured.

Further, the accuracy of the measurement shape map MP can be easily adjusted by changing the number of times of the binary scanning which is easy to adjust and the value of the threshold value, etc., compared with the method of measuring the measurement unit 15 having different measurement accuracy.

On the other hand, since the measuring unit 15 is attached to the ram 13, the accuracy of the measurement shape map MP can be easily ensured as compared with the case where the measuring unit 15 is attached to another portion.

In other words, in order to attach the measuring unit 15 to the ram 13 controlled by the high positional accuracy used in the machining of the workpiece W, the arrangement position of the measuring unit 15 is grasped with high accuracy. As a result, the position of the workpiece W of the work machine 1 including the ram 13 is also accurately grasped, and the positional accuracy of the measurement shape map MP for the machine tool 1 can be easily ensured.

In other words, since the measurement of the shape map MP and the measurement position measurement of the measurement shape map MP of the work machine 1 are performed at the same time, compared with the method of using the three-dimensional design data of the workpiece W as the measurement shape map MP, It is necessary to separately perform the arrangement position measurement, that is, the correction of the measurement shape map MP of the work machine 1, and the measurement shape map MP can be easily created.

The measuring unit 15 is a place where the distance r to be measured up to the workpiece W is set in plural, and the unmeasured area in the workpiece W, that is, the occurrence of the dead angle BA in the workpiece W seen from the measuring unit can be prevented.

Since the measuring unit 15 is attached to the ram 13, the number of points to be measured is set in plural, and the accuracy of the measurement shape map MP can be ensured even if the measuring unit 15 is moved between the plurality of points. Further, by measuring the distance r from the measuring portion 15 to the workpiece W at the plurality of points P1, P2, and preventing the occurrence of the dead angle BA in the workpiece W, the entire measurement of the workpiece W can be performed.

Further, since the distance r from the measuring unit 15 attached to the ram 13 to the workpiece W is measured, the mounting table 11 on which the workpiece W is placed and the fixed fixture J that fixes the workpiece W to the mounting table are included. The distance from the measuring section 15 is measured at the same time. Therefore, the measurement shape map MP in which the mounting table 11 and the fixed fixture J are also included is created. This measurement shape map MP is compared with the case where the three-dimensional design data of the workpiece W is used as the measurement shape map MP. Since the mounting table 11 and the fixed fixture J are also included, it is suitable for preventing the workpiece W and the work. The measurement shape map MP for the collision of the hammer 13 of the machine 1 or the like.

The size of one side of the voxel is set based on the distance between the tool that moves the tool W to the workpiece W and the distance between the workpiece W, so that the tool and the ram 13 can be prevented from moving during the high-speed movement. Contact of workpiece W and tools.

That is, the interval between the above-described machining transition point and the measurement shape map MP is ensured by the movement of the measurement shape map MP control tool and the ram 13 .

Further, the size of one side of the three-dimensional pixel of the shape map MP is set, and the distance between the measurement shape map MP and the workpiece W is not satisfied by the gap between the measurement shape map MP and the workpiece W. Therefore, the distance between the actual machining travel point and the workpiece W is the sum of the above-described interval and the above-described gap, and the contact between the workpiece W and the tool during the high-speed movement of the tool and the ram 13 can be prevented.

[Second Embodiment]

Next, a second embodiment of the present invention will be described with reference to Figs. 7 to 9 .

The basic configuration of the working machine of the present embodiment is the same as that of the first embodiment, but the configuration of the measuring unit and the working machine control unit is different from that of the first embodiment. Therefore, in the present embodiment, the periphery of the measuring unit and the working machine control unit will be described with reference to FIGS. 7 to 9 , and the description of the same components and the like will be omitted.

Fig. 7 is an overall view for explaining the structure of the working machine of the embodiment. Fig. 8 is a block diagram showing the configuration of a measuring unit of Fig. 7.

Further, the same constituent elements as those of the first embodiment are symbols in which the same phase is added, and the description thereof is omitted.

As shown in FIGS. 7 and 8 , the work machine 101 is provided with a mounting table 11 that moves in the X-axis direction and a saddle 12 that moves in the Y-axis direction, and a ram that moves in the Z-axis direction. 13; and a measuring unit 115 attached to the ram 13 and measuring the distance up to the workpiece W; and a working machine control unit 116 for controlling the movement of the mounting table 11, the saddle 12, and the ram 13 by the NC.

The measuring unit 115 is a laser distance sensor used when the measurement shape map MP of the workpiece W is formed, and is attached to the end portion of the ram 13 on the mounting table 11 side as shown in Fig. 7 .

Further, the measuring unit 115 is attached to and detached from the end portion of the ram 13 by the automatic tool changing device of the working machine 101, similarly to the tool for machining the workpiece W.

As shown in FIG. 8, the measuring unit 115 includes a sensor head 121, a sensor control unit 122, a transmitting unit 123, and a battery 124.

The sensor head 121 performs a 2-dimensional scanning by changing the emission angle θ of the laser light measured by the distance.

The sensor head 121 is connected to the sensor control unit 122 and the battery 124 as shown in FIG. In the sensor head 121, a control signal is input from the sensor control section 122, and electric power is supplied from the battery 124. On the other hand, the distance information measured by the sensor head 121 is output to the sensor control unit 122.

The sensor control unit 122 controls the emission of the laser light emitted from the sensor head 121 and the scanning angle θ.

The sensor control unit 122 is connected to the sensor head 121, the transmitting unit 123, and the battery 124 as shown in FIG. In the sensor control unit 122, distance information measured from the sensor head 121 is input, and electric power is supplied from the battery 124. On the other hand, the control signal is output from the sensor control unit 122 toward the sensor head 121, and the distance information is output to the transmitting unit 123.

The transmitting unit 123 wirelessly transmits the distance information measured by the sensor head 121 to the receiving unit 131 of the work machine control unit 116.

The transmitting unit 123 is connected to the sensor control unit 122 and the battery 124 as shown in FIG. In the transmitting unit 123, the distance information is input from the sensor control unit 122, and the electric power is supplied from the battery 124. The distance information input to the transmitting unit 123 is transmitted to the receiving unit 131 by wireless.

The battery 124 supplies electric power to the sensor head 121, the sensor control unit 122, and the transmitting unit 123. As shown in Fig. 8, the battery 124 is connected to the sensor head 121, the sensor control unit 122, and the transmitting unit 123 in a power supply manner.

The work machine control unit 116 is a measurement shape map MP for forming the workpiece W before the cutting of the workpiece W, and when the NC program for moving the tool for cutting the workpiece W is decoded, the measurement shape map MP is prevented from being rammed according to the creation. 13 collides with the tool and the workpiece W, and controls the movement of the stage 11, the saddle 12, and the ram 13 during the cutting of the workpiece W.

Fig. 9 is a block diagram showing the configuration of a machine tool control unit in Fig. 8.

As shown in FIG. 9, the work machine control unit 16 is provided with a receiving unit 131 for receiving distance information transmitted from the measuring unit 115, a program memory unit 21, a program interpretation unit 22, and a shape. The recognition unit 23, the shape memory unit 24, the interference determination unit 25, and the movement control unit 26.

The receiving unit 131 is distance information that is wirelessly transmitted from the transmitting unit 123 of the measuring unit 115.

As shown in FIG. 9, the receiving unit 131 is connected to the shape recognizing unit 23, and outputs the received distance information to the shape recognizing unit 23.

Next, the features of the present embodiment, that is, the functions of the transmitting unit 123 and the working machine control unit 116 will be described.

The measuring unit 115 of the present embodiment is automatically attached and detached to the ram 13 by an automatic tool changing device similarly to the tool for machining the workpiece W.

When the distance from the measuring unit 115 to the workpiece W is measured, the control signal is output from the sensor control unit 122 toward the sensor head 121, and the measurement laser is output from the sensor head 121. The distance information measured by the sensor head 121 is output from the sensor head 121 toward the sensor control unit 122, and is output from the sensor control unit 122 to the signaling unit 123.

The transmitting unit 123 transmits the distance information to be input to the work machine control unit 116 by wireless as shown in FIGS. 8 and 9. The distance information transmitted by the wireless is received by the receiving unit 131, and is output from the receiving unit 131 to the shape recognizing unit 23.

Since the subsequent operation is the same as that of the first embodiment, the description thereof will be omitted.

According to the configuration described above, the measurement unit 115 can measure the distance up to the workpiece W without using wiring such as power supply and distance information transmission, and output the measured distance information to the shape recognition unit 23. That is, the sensor head 121 measures the distance up to the workpiece W using the electric power supplied from the battery 124, and the transmitting unit 123 recognizes the distance information obtained by the measurement through the receiving unit 131. In order to send a message, it is not necessary to use wiring for power supply and distance information.

Therefore, it is easy to attach and remove the measuring unit 115 to the ram 13, and the measuring unit 115 can be exchanged by, for example, an automatic switching device such as an automatic tool changing device.

Further, since it is not necessary to connect wiring or the like between the measuring unit 115 and the shape recognizing unit 23, it is possible to prevent wiring and the like from drying up the workpiece W.

[Third embodiment]

Next, a third embodiment of the present invention will be described with reference to Fig. 10.

The basic configuration of the processing machine of the present embodiment is the same as that of the first embodiment, but is different from the first embodiment in the ram, the measuring unit, and the mounting method. Therefore, in the present embodiment, only the periphery of the ram and the measuring unit will be described using FIG. 10, and the description of the same components and the like will be omitted.

Fig. 10 is an overall view showing the structure of the working machine of the embodiment.

Further, the same constituent elements as those of the first embodiment are symbols in which the same phase is added, and the description thereof is omitted.

As shown in FIG. 10, the work machine 201 is provided with a mounting table 11 that moves in the X-axis direction, a saddle 12 that moves in the Y-axis direction, and a ram 13 that moves in the Z-axis direction, and is A measuring assembly 215 mounted to the ram 13 .

The measuring unit 215 is provided with a measuring unit 15 that measures the distance up to the workpiece W and a mounting portion 216 that is attached to the ram 13 .

The attachment portion 215 is an attachment that is provided with the measurement portion 15 and is detachably attached to the ram 13 .

The mounting portion 216 is provided with an interface (not shown) for supplying power between the ram 13 and transmitting signals such as control signals and distance information.

In the present embodiment, the description is applied to the mounting portion 215 which is configured to extend from the end portion of the ram 13 in the Z-axis direction, and the central axis is the support portion 13 supported in the direction along the Z-axis, but is not limited thereto. In the configuration, for example, the configuration in which the center axis is parallel to the XY plane and the configuration in which the measurement unit 13 is supported and the direction in which the central axis of the measurement unit 13 can be arbitrarily controlled may be arbitrarily controlled, and is not particularly limited.

In the same manner as in the first and second embodiments, the measuring unit 215 is attached to the ram 13 when the NC program is debugged or the like.

The mounting work is an exchange device (not shown) that uses an accessory used for processing of the workpiece W, and is automatically performed in the same manner as the processing accessory. When the measuring unit 215 is not used, the workpiece W is stored in the automatic exchange storage box (not shown) provided in the work machine 201, similarly to the processing attachment.

According to the configuration described above, the measurement unit 15 can measure the distance up to the workpiece W without using wiring such as power supply and distance information transmission, and output the measured distance information to the shape recognition unit 23. In other words, the measurement unit 15 receives the supply of electric power through the ram 13 and the attachment portion 215 and measures the distance up to the workpiece W. The distance information obtained by the measurement is transmitted through the ram 13 and the mounting portion 215 toward the shape recognition portion. Since 23 is transmitted, it is not necessary to separately provide wiring for supplying power and transmitting information such as distance information.

Therefore, wiring or the like that connects the measurement unit 15 and the shape recognition unit 23 is not required, so that wiring or the like and the dryness of the workpiece W can be prevented.

1. . . Working machine

2. . . Workpiece measuring device

3. . . Conflict prevention device

11. . . Mounting table

12. . . Saddle

13. . . Hammer

14. . . Support

14A. . . Beam

15. . . Measurement department

16. . . Work machine control department

twenty one. . . NC program memory

twenty two. . . NC program interpretation department

twenty three. . . Shape awareness department

twenty four. . . Shape memory

25. . . Cognac judgment department

26. . . Mobile control department

101. . . Working machine

115. . . Measurement department

116. . . Work machine control department

121. . . Sensor head

122. . . Sensor control unit

123. . . Ministry of Communications

124. . . battery

131. . . Receiving department

201. . . Working machine

215. . . Measuring component

216. . . Installation department

[Fig. 1] A view showing the overall configuration of a machine tool according to a first embodiment of the present invention.

[Fig. 2] A block diagram showing a control unit in the machine tool of Fig. 1.

[Fig. 3] A partially enlarged view showing the configuration of the measuring unit and the ram of Fig. 1 .

[Fig. 4] A flow chart for explaining a method of forming a measurement shape map.

[Fig. 5] A view showing the distance measurement from the measuring unit to the workpiece.

[Fig. 6] A diagram illustrating the shape of a measurement shape map defined by the shape recognition portion.

[Fig. 7] An overall view showing a configuration of a working machine according to a second embodiment of the present invention.

[Fig. 8] A block diagram showing the configuration of a measuring unit of Fig. 7.

[Fig. 9] A block diagram showing the configuration of the machine tool control unit of Fig. 8.

[Fig. 10] An overall view showing a configuration of a working machine according to a third embodiment of the present invention.

2. . . Workpiece measuring device

3. . . Conflict prevention device

11. . . Mounting table

12. . . Saddle

13. . . Hammer

15. . . Measurement department

16. . . Work machine control department

twenty one. . . NC program memory

twenty two. . . NC program interpretation department

twenty three. . . Shape awareness department

twenty four. . . Shape memory

25. . . Cognac judgment department

26. . . Mobile control department

Claims (6)

A workpiece measuring device comprising: a measuring unit mounted on a spindle on which a tool for machining a workpiece, that is, a workpiece, is mounted, and a distance measured by a non-contact scan to the workpiece; and a shape recognition unit is generated a three-dimensional mesh structure formed by dividing a space into a polyhedron shape, and calculating a coordinate of the measurement point of the workpiece based on the measured distance information up to the workpiece, and also for scanning and the structure of the three-dimensional mesh structure When the calculated point of the number of times of the position of the workpiece corresponding to the unit is equal to or greater than a predetermined threshold value, the one unit is used as the shape of the workpiece as a measurement shape map. The workpiece measuring device according to claim 1, wherein the size of one of the one units is based on a distance between the tool and the position where the spindle approaches the workpiece and travels to the workpiece and the distance between the workpieces set up. The workpiece measuring device according to claim 1 or 2, wherein the measuring unit is provided with: a sensor head that scans a distance measurement up to the workpiece, and a distance to be measured by the sensor head The communication unit of the information transmission and the battery that supplies power to the sensor head and the transmitting unit further include a receiving unit that receives the distance information transmitted from the transmitting unit and outputs the shape recognition. The aforementioned distance information received by the Ministry. The workpiece measuring apparatus according to claim 1 or 2, wherein the measuring unit is provided with a mounting portion that receives power supply through the spindle and outputs the measurement information to the shape understanding unit through the spindle. A collision preventing device, comprising: a workpiece measuring device according to claims 1 to 4; and a judging portion for judging at least the main shaft or the tool and the measurement shape map, and The determination result of the determination unit is a control unit that controls the movement of the spindle. A work machine characterized in that: a processing table, that is, a mounting table on which a workpiece can be mounted, and a spindle on which the tool for machining the workpiece is attached, and a collision preventing device according to item 5 of the patent application are provided.