KR960003211B1 - Method of monitoring and detecting tool-state in n.c. machine system - Google Patents
Method of monitoring and detecting tool-state in n.c. machine system Download PDFInfo
- Publication number
- KR960003211B1 KR960003211B1 KR1019930015216A KR930015216A KR960003211B1 KR 960003211 B1 KR960003211 B1 KR 960003211B1 KR 1019930015216 A KR1019930015216 A KR 1019930015216A KR 930015216 A KR930015216 A KR 930015216A KR 960003211 B1 KR960003211 B1 KR 960003211B1
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- tool
- robot
- camera
- tool wear
- monitoring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Machine Tool Sensing Apparatuses (AREA)
Abstract
Description
제1도는 본 발명의 구성도.1 is a block diagram of the present invention.
* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings
1 : 로봇 2 : N.C. 선반 또는 밀링 머신1: Robot 2: N.C. Lathe or milling machine
3 : N.C. 컨트롤러 4 : 로봇 컨트롤러3: N.C. Controller 4: Robot Controller
5 : 팔 6 : ON-OFF 공압 밸브5: arm 6: ON-OFF pneumatic valve
7 : 공압실린더 8 : DSP(Digital Signal Processing) 보드7 Pneumatic Cylinder 8 DSP (Digital Signal Processing) Board
9 : PC(Personal Computer)9: PC (Personal Computer)
본 발명은 NC(Numerical control) 절삭시스템의 공구마모 감시를 위해 C.C.D. 카메라와 범용 로봇 그리고 화상처리기법을 이용하여 공구마모를 자동으로 감시하여 절삭공정의 무인화를 가능하게 하는 기술에 관한 것이다.The present invention provides a C.C.D. The present invention relates to a technology that enables the unmanned cutting process by automatically monitoring tool wear using a camera, a general-purpose robot and an image processing technique.
종래의 기술에 있어서는 공구의 마모를 일일이 확인할 수 없어서 몇개의 샘플을 택하여 공구마모를 현미경으로 관찰하였으며 생산현장에서는 일정한 시간동안 공구를 사용한 후 폐기하였다.In the prior art, the wear of the tool could not be confirmed one by one, and several samples were taken and the tool wear was observed under a microscope.
그러므로 공구의 수명이 다하지 않았는데도 폐기하거나 공구마모가 과다하여 공작물의 표면이 거칠어지는 문제가 있었다.Therefore, there was a problem that the surface of the workpiece is rough because of the excessive disposal of the tool even if the life of the tool has not expired.
이러한 종래의 문제를 해결하기 위해 본 발명은 선반 외부에 위치하는 일반 로봇을 이용 공구마모 감시용 C.C.D. 카메라를 운반하도록 하고 화상처리를 하여 공구마모를 측정하는 방법을 창출하였는데 그 요지를 첨부도면에 연계시켜 상세히 설명하면 다음과 같다.In order to solve this conventional problem, the present invention provides a tool wear monitoring C.C.D. The camera was transported and image processing was performed to create a method for measuring tool wear. The gist thereof will be described in detail with reference to the accompanying drawings.
N.C. 선반 및 밀링의 절삭가공시 공구마모 감시에 사용될 C.C.D. 카메라를 적절한 위치에 놓기 위하여, 공작물과 지그를 설치하거나 완성된 공작물을 컨베이어 벨트나 무인자동운송 차량에 옮기는 역할을 하는 로봇 팔의 끝에 카메라를 설치하여 가공중 한 공정이 끝나고 다음 공정으로 넘어갈 때 또는 한 공작물의 가공이 완전히 끝난이후 로봇 팔을 적당한 위치까지 움직여 공구마모 감시를 하게 하는 방법과 C.C.D 카메라를 DSP보드에 연결화상을 PC에 옮긴 후 PC에서 공구마모 여부를 판정하여 그 결과에 따라 로봇 컨트롤러와 NC 컨트롤러에 신호 공구 교환작업을 할 수 있도록 연결한 것을 특징으로 하는 NC 절삭시스템의 이상진단을 위한 공구마모 모니터링 방법에 관한 것이다.N.C. C.C.D. to be used for tool wear monitoring during cutting of lathes and milling. To position the camera in the proper position, install the workpiece and jig, or install the camera at the end of the robotic arm, which transfers the finished workpiece to the conveyor belt or unmanned automatic transport vehicle, and then moves to the next process after the end of the processing. After the processing of one workpiece is completed, the robot arm is moved to the proper position to monitor tool wear and the CCD camera is connected to the DSP board. The image is transferred to the PC and the tool is judged on the PC. And a tool wear monitoring method for abnormal diagnosis of an NC cutting system, which is connected to the NC controller to perform a signal tool replacement work.
무인화 공장의 실현을 위해서는 공구마모 감시시스템과 더불어 공구 자동교환장치 및 공작물 및 지그의 설치 장치가 필수적이다.In order to realize the unmanned plant, tool automatic monitoring device and installation device of workpiece and jig together with tool wear monitoring system are essential.
공작물이 컨베이어 벨트 또는 무인 자동차에 의해 공작기계에 전달이 되면 그 공작물을 로봇(1)이 N.C. 선반 또는 밀링 머신(2)에 설치하게 된다. 이때 로봇은 또한 지그도 사용하여 공작물을 테이블 위에 고정시키고 절삭작업에 들어가게 된다. 한 공정이 끝나고 공구마모상태 감시를 위해 N.C. 컨트롤러(3)가 로봇 컨트롤러(4)에 로봇이 카메라가 설치된 팔(5)을 장착한 뒤 로봇 팔을 공구마모 감시가 용이한 장소로 이동하라는 명령을 전달한다. 명령을 받은 로봇 컨트롤러는 우선 ON-OFF 공압밸브(6)로 공압실린더(7)를 작동, 가공중 닫혀 있었던 N.C. 선반의 출입문을 연다. 동시에 로봇을 움직여 카메라가 장착된 팔로 바꾼뒤 장착된 카메라가 공구마모를 감시하기 용이한 지점까지 로봇을 움직여 간다. 카메라가 어떤 주어진 점에 도달하기 위한 로봇 팔의 궤적은 여러가지가 있는데 이러한 로봇 팔의 유연성을 이용하여 로봇과 공구 중간의 장애물을 피해갈 수 있는 적절한 로봇의 궤적 선정이 가능하게 된다. 이런 과정으로 카메라가 적절한 위치에 옮겨지면 공구를 촬영하게 되고 촬영된 공구의 마모상태가 DSP(Digital Signal Processing) 보드(8)를 통해 PC(Personal Computer)(9)로 옮겨져서 마모여부의 판정을 받는다. PC에서는 원화상을 히스토그램 분석을 하여 이진화상을 만들고 형태적인 화상처리기법인 오프닝(Opening) 기법을 통하여 잡화상을 제거한다. 이렇게 처리된 이진화상으로부터 평균 마멸폭과 최대 마멸폭을 계산하여 공구 수명을 판정한다. 공구를 교환해야 할 시기로 판정되면 PC에서 N.C. 컨트롤러와 로봇 컨트롤러에 공구교환 명령을 내려 로봇이나 N.C. 컨트롤러 공구를 교환케하도록 한다. 공구교환이 끝나면 NC 선반은 다시 작업에 들어가고 로봇은 완성된 공작물을 다음 공정으로 넘기거나 가공될 공작물을 점위치에 놓는 등의 다른 작업에 이용될 수 있다.When the workpiece is transferred to the machine tool by conveyor belt or driverless vehicle, the robot 1 sends the workpiece to N.C. It will be installed on a lathe or milling machine 2. The robot also uses a jig to hold the workpiece on the table and cut it. After one process, N.C. The controller 3 mounts the robot 5 on the robot controller 4 with the arm 5 on which the camera is installed, and then transmits a command to move the robot arm to a place where tool wear monitoring is easy. The robot controller receiving the command first operates the pneumatic cylinder (7) with the ON-OFF pneumatic valve (6), and the N.C. Open the shelf door. At the same time, the robot is moved to the arm where the camera is mounted, and then the robot moves to the point where the mounted camera can easily monitor tool wear. There are many trajectories of the robot arm for the camera to reach a given point. By using the flexibility of the robot arm, it is possible to select the appropriate trajectory of the robot to avoid obstacles between the robot and the tool. In this process, when the camera is moved to the proper position, the tool is photographed. The wear state of the photographed tool is transferred to the personal computer (9) through the DSP (Digital Signal Processing) board (8) to determine whether it is worn. Receive. On PC, binary image is made by histogram analysis of original image and general image is removed by opening method, which is a form image processing technique. The tool life is determined by calculating the average wear width and the maximum wear width from the binary image thus processed. If it is determined that the tool needs to be changed, the N.C. The tool change command is issued to the controller and the robot controller to the robot or N.C. Have the controller tool replaced. At the end of the tool change, the NC lathe is put back into operation and the robot can be used for other tasks, such as passing the finished workpiece to the next process or placing the workpiece to be machined in the point position.
그러므로 본 발명은 공장기계 산업분야에 널리 실용화시킬 수 있는 것이다.Therefore, the present invention can be widely applied to the factory machinery industry.
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019930015216A KR960003211B1 (en) | 1993-08-05 | 1993-08-05 | Method of monitoring and detecting tool-state in n.c. machine system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019930015216A KR960003211B1 (en) | 1993-08-05 | 1993-08-05 | Method of monitoring and detecting tool-state in n.c. machine system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| KR950005453A KR950005453A (en) | 1995-03-20 |
| KR960003211B1 true KR960003211B1 (en) | 1996-03-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1019930015216A KR960003211B1 (en) | 1993-08-05 | 1993-08-05 | Method of monitoring and detecting tool-state in n.c. machine system |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493610A (en) * | 2016-10-27 | 2017-03-15 | 齐齐哈尔华工机床股份有限公司 | A kind of online test method of contactless blade abrasion |
| US12017315B2 (en) | 2018-11-20 | 2024-06-25 | Korea Institute Of Industrial Technology | Machining device for controlling tool position considering tool wear and method for controlling tool position using the same |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100655312B1 (en) * | 1999-12-31 | 2006-12-08 | 두산인프라코어 주식회사 | A Self-Dignosis Unit of Auto Tool Changer |
-
1993
- 1993-08-05 KR KR1019930015216A patent/KR960003211B1/en not_active IP Right Cessation
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493610A (en) * | 2016-10-27 | 2017-03-15 | 齐齐哈尔华工机床股份有限公司 | A kind of online test method of contactless blade abrasion |
| US12017315B2 (en) | 2018-11-20 | 2024-06-25 | Korea Institute Of Industrial Technology | Machining device for controlling tool position considering tool wear and method for controlling tool position using the same |
Also Published As
| Publication number | Publication date |
|---|---|
| KR950005453A (en) | 1995-03-20 |
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