WO2011058618A1 - ワーク計測装置、衝突防止装置および工作機械 - Google Patents
ワーク計測装置、衝突防止装置および工作機械 Download PDFInfo
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- WO2011058618A1 WO2011058618A1 PCT/JP2009/069088 JP2009069088W WO2011058618A1 WO 2011058618 A1 WO2011058618 A1 WO 2011058618A1 JP 2009069088 W JP2009069088 W JP 2009069088W WO 2011058618 A1 WO2011058618 A1 WO 2011058618A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- 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
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
-
- 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
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
- B23Q17/2208—Detection or prevention of collisions
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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
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2452—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces
- B23Q17/2471—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces of workpieces
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4061—Avoiding collision or forbidden zones
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
Definitions
- the present invention relates to a workpiece measurement device, a collision prevention device, and a machine tool, and more particularly to a workpiece measurement device, a collision prevention device, and a machine tool that are suitable for use when performing three-dimensional machining on a workpiece.
- NC numerical control device
- the NC program (NC data for machining) describing the movement of the tool of the machine tool is debugged. Yes. That is, a workpiece to be machined is set in advance on a table of a machine tool, and an operator runs the NC program step by step to verify the NC program.
- a part of a machine tool such as a tool or a ram may be damaged due to a human error such as an NC program failure or an erroneous operation by an operator (for example, patent document). 1).
- the operation speed is set to be high in order to increase the work efficiency.
- a control method for stopping the tool or the like before the collision with the workpiece is also known.
- this control method it is necessary to grasp in advance the three-dimensional data (3D-CAD data) of the workpiece shape such as the workpiece size, dimensions, and shape and the position of the workpiece on the table.
- the three-dimensional data of the workpiece shape before machining is often not grasped in advance, and it is necessary to grasp the workpiece by a method such as measuring the workpiece.
- a non-contact measurement method is known as a method for grasping 3D data of a workpiece shape.
- a digitizer that converts a three-dimensional object into digital data is known (see, for example, Non-Patent Document 1).
- a technique for measuring a fine surface shape such as a machining mark (cutting mark) using a non-contact displacement meter is also known (see, for example, Patent Documents 2 and 3). By attaching this displacement meter to the ram instead of the tool and scanning the workpiece, the shape of the workpiece can be detected with high accuracy.
- Patent Document 4 As a method for expressing the three-dimensional data obtained in this way, a three-dimensional bitmap technique is known (see, for example, Patent Document 4). Furthermore, as described above, a technique for automatically exchanging a workpiece detection device in the same manner as a tool is also known (see, for example, Patent Document 5).
- the method using a sensor for detecting contact between the workpiece and the tool described above has a problem that the operation speed of the tool or the like cannot be increased because of the contact, resulting in poor efficiency. Furthermore, there has been a problem that contact with a workpiece cannot be detected depending on a portion in contact with the workpiece, such as when the ram contacts the workpiece.
- Non-Patent Document 1 there is a problem that it is necessary to match the coordinate system when setting a workpiece, and it takes a lot of time for measurement. Furthermore, there is a problem that a region where the shape of the workpiece cannot be measured by the sensor, that is, a blind spot occurs. Another problem was the high price.
- Patent Documents 2 and 3 described above have a problem that the obtained three-dimensional shape data is too detailed for use in avoiding a collision between a workpiece and a tool. Since the sensor is scanned on all surfaces of the workpiece using the operation axis of the machine tool, there is a problem that the efficiency of acquiring the three-dimensional data is deteriorated. Since it is necessary to scan the sensor in accordance with the shape of the workpiece, there has been a problem that interference between the workpiece and a part of the machine tool, a sensor cable, or the like occurs when acquiring three-dimensional data.
- the present invention has been made to solve the above-described problem, and can easily acquire three-dimensional data of a workpiece shape used when preventing a workpiece and a part of a machine tool from colliding with each other. It aims at providing a measuring device, a collision prevention device, and a machine tool.
- a workpiece measuring apparatus is provided with a measuring unit that is attached to a main shaft to which a tool for machining a workpiece to be machined is attached, scans and measures the distance to the workpiece in a non-contact manner, and a space
- a three-dimensional mesh structure formed by dividing the polyhedron into a polyhedron, and based on the measured distance information to the workpiece, the measurement point coordinates of the workpiece are calculated, and one unit of the three-dimensional mesh structure
- the measurement shape map assumes that the unit is the shape of the workpiece.
- the accuracy of the measurement shape map that is the three-dimensional data of the workpiece is ensured. can do.
- the measurement accuracy of the measurement shape map is less likely to be affected by the measurement accuracy of the measurement unit and the distance from the measurement unit to the workpiece, and the accuracy of the measurement shape map is easily ensured.
- the accuracy of the measurement shape map is facilitated by adjusting the number of scans and threshold values that measure the distance to the workpiece that can be easily changed. Can be adjusted.
- the measurement 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 measurement unit is attached to other parts. That is, since the measurement unit is attached to the spindle controlled with high positional accuracy because it is used for workpiece processing, the arrangement position of the measurement unit can be grasped with high accuracy. As a result, the arrangement position of the workpiece with respect to the machine tool including the spindle is grasped with high accuracy, and it is easy to ensure the position accuracy of the measurement shape map with respect to the machine tool.
- the measuring unit measures the distance to the workpiece, it is possible to prevent the occurrence of a blind spot in the unmeasured area of the workpiece, that is, the workpiece as viewed from the measuring portion. Since the measurement unit is attached to the spindle as described above, the accuracy of the measurement shape map is ensured even if a plurality of measurement points are set and the measurement unit is moved between the plurality of points. In addition, by measuring the distance from the measurement unit to the workpiece at a plurality of points, the occurrence of an unmeasured area in the workpiece can be prevented, and the entire workpiece can be measured.
- the distance from the measuring unit attached to the spindle to the workpiece is measured at the same time, including a table on which the workpiece is placed and a fixing jig for fixing the workpiece to the table. . Therefore, a measurement shape map including a table and a fixing jig is created.
- the measurement shape map includes a table, a fixing jig, and the like as compared with the case where the three-dimensional design data of the workpiece is used as the measurement shape map. For example, the collision between the workpiece and a part of the machine tool is included. It becomes a measurement shape map suitable for prevention.
- the dimension of one side in the unit is based on the distance between the tool and the spindle approaching the workpiece and shifting to the machining of the workpiece, and the workpiece. It is desirable to set.
- the size of one side in one unit of the three-dimensional mesh structure based on the distance between the point at which the tool approaching the workpiece shifts to the workpiece machining and the workpiece. The contact between the workpiece and the tool or the like during the period in which the tool and the spindle are moving at high speed is prevented.
- the interval between the machining transition point and the measurement shape map is ensured. Furthermore, since the dimension of one side in one unit in the measurement shape map is set based on the distance between the above-described processing transition point and the workpiece, there is a gap less than the above-mentioned distance between the measurement shape map and the workpiece. Exists. Therefore, the distance between the actual machining transition point and the workpiece is the sum of the above-described interval and the above-described gap, and contact between the workpiece and the tool or the like during the period in which the tool and the spindle are moving at high speed is prevented.
- the measurement unit includes a sensor head that scans and measures a distance to the workpiece, a transmission unit that transmits distance information measured by the sensor head, the sensor head, and the sensor head.
- a battery for supplying power to the transmitter, and a receiver for receiving the distance information transmitted from the transmitter and outputting the distance information received by the shape recognizer. It is desirable that
- the measurement unit measures the distance to the workpiece without using a wiring for supplying power or transmitting distance information, and outputs the measured distance information to the shape recognition unit.
- the sensor head measures the distance to the workpiece using the power supplied from the battery, and the transmission unit transmits the distance information obtained by the measurement to the shape recognition unit via the reception unit. There is no need to use wiring or the like for supplying or transmitting distance information.
- the measuring unit it is easy to attach and remove the measuring unit to / from the spindle, and the measuring unit can be replaced by an automatic exchange device such as an auto tool changer. Furthermore, since the wiring etc. which connect between a measurement part and a shape recognition part are unnecessary, interference with wiring etc. and a workpiece
- the measurement unit is provided with an attachment unit that receives power supply through the main shaft and outputs the measurement information to the shape recognition unit through the main shaft. Is desirable.
- the measurement unit measures the distance to the workpiece without using a wiring for supplying power or transmitting distance information, and outputs the measured distance information to the shape recognition unit.
- the measuring unit receives power supplied through the main shaft and the mounting unit, measures the distance to the workpiece, and distance information obtained by the measurement is transmitted to the shape recognition unit through the main shaft and the mounting unit.
- a collision prevention apparatus includes a workpiece measurement apparatus according to the present invention, a determination unit that determines at least interference between the spindle or the tool and the measurement shape map, And a controller that controls movement of the spindle based on the determination result.
- At least a collision between the spindle or the tool and the workpiece can be prevented based on the measurement shape map created by the workpiece measuring device of the present invention.
- the collision between the workpiece smaller than the measurement shape map and the spindle or the like is surely prevented.
- a machine tool is provided with a table on which a workpiece to be machined is installed, a spindle to which a tool for machining the workpiece is attached, and the collision preventing device of the present invention. Yes.
- the third aspect it is possible to prevent a collision between at least the spindle or the tool and the workpiece, the table, or the like based on the measurement shape map created by the workpiece measuring device of the present invention.
- the collision between the workpiece and table etc. smaller than the measurement shape map and the spindle and the like is surely prevented.
- the collision preventing device since the measurement shape map of the workpiece is created based on the ratio of the number of measurement points included in one unit with respect to the number of scans, There is an effect that it is possible to easily acquire the three-dimensional data of the workpiece shape used when preventing the collision with the part.
- FIG. 1 is a schematic diagram illustrating the overall configuration of the machine tool according to the present embodiment.
- FIG. 2 is a block diagram illustrating a control unit in the machine tool of FIG.
- the machine tool 1 includes a workpiece measuring device 2 that creates a measurement shape map MP based on a workpiece W and the like, and a collision prevention that prevents a collision between the ram 13 or the tool of the machine tool 1 and the workpiece W or the like.
- a five-face processing machine that includes the apparatus 3 and processes the workpiece W to be processed from five directions, and the operation of which is controlled by the NC. As shown in FIGS.
- the machine tool 1 includes a table 11 that moves in the X-axis direction, a saddle 12 that moves in the Y-axis direction, a ram (main shaft) 13 that moves in the Z-axis direction, a ram 13, a measuring unit 15 that measures the distance to the workpiece W, and a machine tool control unit 16 that performs NC control of the movement of the table 11, the saddle 12, and the ram 13 are provided.
- the table 11 is a table on which the workpiece W is fixed, and is arranged so as to be movable along the X-axis direction as shown in FIG. As shown in FIG. 2, the movement of the table 11 in the X-axis direction is controlled by the movement control unit 26 of the machine tool control unit 16.
- the saddle 12 is provided with a beam portion 14 ⁇ / b> A in which a ram 13 is disposed and extends along the Y-axis direction of a support portion 14 that is formed in a portal shape and straddles the table 11. It is arranged and can be moved along the Y-axis direction. As shown in FIG. 2, the movement of the saddle 12 in the Y-axis direction is controlled by the movement control unit 26.
- the ram 13 is provided with a measuring unit 15 at the end on the table 11 side when measuring the shape of the workpiece W, and with a tool when cutting the workpiece W. Further, the ram 13 is disposed on the saddle 12 and is movable along the Z-axis direction. As shown in FIG. 2, the movement of the ram 13 in the Z-axis direction is controlled by the movement control unit 26.
- FIG. 3 is a partially enlarged view illustrating the configuration of the measurement unit and the ram in FIG.
- the measurement unit 15 is a laser distance sensor used when creating the measurement shape map MP of the workpiece W, and is attached to the end of the ram 13 on the table 11 side as shown in FIGS. It is. As shown in FIG. 3, the measurement unit 15 performs two-dimensional scanning (scanning) by changing the emission angle ⁇ of the laser beam used for distance measurement. Further, by rotating the ram 13 around the central axis L, the measurement unit 15 performs a three-dimensional scan. The distance information from the workpiece W, the table 11 and the like measured by the measurement unit 15 to the measurement unit 15 is input to the shape recognition unit 23 as shown in FIG.
- the machine tool control unit 16 creates a measurement shape map MP of the workpiece W before cutting the workpiece W, and based on the created measurement shape map MP when debugging the NC program describing the movement of the tool for cutting the workpiece W
- the collision between the ram 13 and the tool and the workpiece W is prevented, and the movement of the table 11, the saddle 12 and the ram 13 is controlled when the workpiece W is cut.
- the machine tool control unit 16 includes a program storage unit 21 and a program interpretation unit 22 that generate a signal for controlling the movement of the tool when machining the workpiece W, and a measurement shape map of the workpiece W. Controls the movement of the shape recognition unit 23 that creates the MP, the shape storage unit 24 that stores the shape of the tool attached to the spindle, the interference determination unit (determination unit) 25, the table 11, the saddle 12, and the ram 13. A movement control unit (control unit) 26 is provided.
- the workpiece measuring device 2 includes a measuring unit 15 and a shape recognizing unit 23, and the collision prevention device 3 includes a workpiece measuring device 2, an interference determining unit 25, and a movement control unit 26.
- the program storage unit 21 stores an NC program describing a moving path of a tool for cutting the workpiece W. As shown in FIG. 2, the program storage unit 21 is connected to the program interpretation unit 22, and the NC program stored in the program storage unit 21 is output to the program interpretation unit 22.
- the program interpretation unit 22 creates information related to the moving amount and moving speed of the tool based on the NC program. As shown in FIG. 2, the program interpretation unit 22 is connected to the interference determination unit 25 and the movement control unit 26. Is output to the unit 26.
- the shape recognizing unit 23 creates a measurement shape map MP used for preventing the collision between the ram 13, the tool, and the work W when debugging the NC program. As shown in FIG. 2, the shape recognition unit 23 is connected to the measurement unit 15 and the interference determination unit 25. The distance information measured by the measuring unit 15 is input to the shape recognizing unit 23, and the information of the measured shape map MP is output from the shape recognizing unit 23 to the interference determining unit 25. A method for creating the measurement shape map MP in the shape recognition unit 23 will be described later.
- the shape storage unit 24 stores the ram 13 that may collide when approaching the workpiece W, the shape of a tool attached to the ram 13, and the like. As shown in FIG. 2, the shape storage unit 24 is connected to the interference determination unit 25. The shape of the ram 13 or the like stored in the shape storage unit 24 is output to the interference determination unit 25.
- the interference determination unit 25 prevents collision between the ram 13 or the tool and the workpiece W by determining interference between the measurement shape map MP and the ram 13 or the like when debugging the NC program.
- the interference determination unit 25 is connected to a shape recognition unit 23, a shape storage unit 24, a program interpretation unit 22, and a movement control unit 26.
- the interference determination unit 25 receives the measurement shape map MP from the shape recognition unit 23, the shape such as the ram 13 from the shape storage unit 24, and the information related to the amount of movement of the tool and the like from the program interpretation unit 22. ing.
- the determination result of the presence or absence of interference in the interference determination unit 25 is output to the movement control unit 26.
- the movement control unit 26 controls the movement amount and movement speed of a tool or the like attached to the end of the ram 13 by controlling the movement of the table 11, the saddle 12 and the ram 13. Further, when it is determined that the measurement shape map MP interferes with the ram 13 or the like during NC program debugging, the movement of the table 11, the saddle 12 and the ram 13 is stopped. As shown in FIG. 2, the movement control unit 26 is connected to the program interpretation unit 22 and the interference determination unit 25. Information such as the amount of movement of the tool or the like is input from the program interpretation unit 22 to the movement control unit 26, and a determination result of the presence or absence of interference between the measurement shape map MP and the ram 13 is input from the interference determination unit 25. . On the other hand, control signals for controlling the movement of the table 11, the saddle 12 and the ram 13 created in the movement control unit 26 are output to the table 11, the saddle 12 and the ram 13, respectively.
- work W in the machine tool 1 which consists of said structure is demonstrated.
- the workpiece W is fixed on the table 11 using the fixing jig J (see FIG. 5).
- the NC program is output from the program storage unit 21 to the program interpretation unit 22 in units of one block (one movement unit, for example, one line segment).
- the program interpretation unit 22 creates information on the moving amount and moving speed of the tool from the NC program and outputs the information to the movement control unit 26.
- the movement control unit 26 decomposes the input information into the movement amounts and movement speeds of the table 11, the saddle 12 and the ram 13, and sends control signals for controlling the movement amounts and movement speeds of the table 11, the saddle 12 and the ram 13, respectively. Output.
- the table 11, the saddle 12 and the ram 13 to which the control signal is input from the movement control unit 26 are driven based on the control signal input by the motor included therein, and the workpiece W is processed.
- a method of creating the measurement shape map MP of the workpiece W which is a feature of the present embodiment, and a method of preventing a collision between the workpiece W using the created measurement shape map MP and a part of the machine tool 1 explain.
- the creation of the measurement shape map MP of the workpiece W and the collision prevention control described here are, for example, the debugging of the NC program in the previous stage of machining the workpiece W, that is, the workpiece W and the ram 13 or tool. This is done when checking for interference.
- FIG. 4 is a flowchart illustrating a method for creating a measurement shape map.
- FIG. 5 is a schematic diagram for explaining the distance measurement from the measurement unit to the workpiece.
- the workpiece W is set on the table 11 (step S1).
- the workpiece W is fixed to the table 11 by the fixing jig J.
- the measurement unit 15 is attached to the end of the ram 13 (step S2).
- the measurement unit 15 and the shape recognition unit 23 of the machine tool control unit 16 can supply power to the measurement unit 15 and input distance information measured by the measurement unit 15 to the shape recognition unit 23 using, for example, a cable. Connected (see FIG. 2).
- the measurement unit 15 moves to the first measurement position P1, and the distance from the measurement unit 15 to the workpiece W is measured (step S3).
- the measurement unit 15 emits laser light while changing the scan angle ⁇ , and measures the distance r from the measurement unit 15 to the workpiece W. In other words, a two-dimensional scan is performed.
- the distance from the measurement unit 15 to the table 11 and the distance from the measurement unit 15 to the fixing jig J are also measured.
- the ram 13 is rotated around the central axis L, and the two-dimensional scanning is performed again by changing the scanning direction of the laser beam by the measuring unit 15. Thereby, a three-dimensional scan of the workpiece W is performed.
- the second measurement position P2 is a position at which a blind spot BA generated when the measuring unit 15 performs a three-dimensional scan of the workpiece W from the first measurement position P1, in other words, a non-measurement area can be measured.
- measurement positions for example, five locations above the workpiece W (Z-axis positive direction), front (X-axis positive direction), rear (X-axis negative direction), and both sides (Y-axis positive direction and negative direction). Can be mentioned. Note that the number and location of measurement positions are not particularly limited because they vary 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.
- the distance r and the scan angle ⁇ measured by the measurement unit 15 are input to the shape recognition unit 23 as shown in FIG. Further, the position (Xr, Yr, Zr) of the ram 13 at the time when the distance r is measured and the rotation angle ⁇ of the ram 13 are also input to the shape recognition unit 23. Based on the input information, the shape recognition unit 23 calculates the coordinates (Xm, Ym, Zm) of the measurement point of the workpiece W at which the distance r is measured based on the following calculation formula (step S4).
- FIG. 6 is a diagram for explaining the shape of the measurement shape map defined by the shape recognition unit.
- the shape recognition unit 23 divides the measurement space into hexahedral three-dimensional mesh regions, that is, generates a three-dimensional mesh structure, and the three-dimensional mesh structure including the coordinates (Xm, Ym, Zm) of the measurement points described above. Vote for one unit (hereinafter referred to as “voxel”) and define the measurement shape map MP (step S5).
- each time a two-dimensional scan is performed by the measurement unit 15 a vote, for example, “1” is registered in the voxel including the coordinates of the measurement point. This process is performed for all secondary scans. As a result, each voxel is voted as many times as the number of two-dimensional scans is performed, and when it is the smallest, it is not voted once.
- the shape recognition unit 23 determines whether or not the work W is included in each voxel according to the number of votes for the total number of secondary scans. That is, when the ratio of the number of votes to the total number of secondary scans is higher than a predetermined threshold, the work W is included in the voxel, and when the ratio is lower than the predetermined threshold, the work is included in the voxel. It is determined that W is not included.
- the value of the predetermined threshold varies depending on the measurement accuracy of the measurement unit 15, the reflectance of the workpiece W, and the like, and is not particularly limited.
- the dimensions of one side of the above-mentioned voxel are such as a tool and a ram 13 when switching from the approach mode in which the tool approaches the workpiece W to the machining mode in which the workpiece W is cut by the tool when the machine tool 1 is machined. It is set based on the distance between the part of the machine 1 and the workpiece W. This distance is set in consideration of items such as the performance and application of the machine tool 1, workpiece specifications, operator workability, and measurement processing speed. For this reason, the dimension of one side of the voxel can be exemplified by a value of about 1 mm to about 40 mm, but is not particularly limited because it is a value that varies depending on the above items.
- the NC program is debugged. First, a tool such as an end mill used for machining the workpiece W is attached to the end of the ram 13.
- the NC program is output from the program storage unit 21 to the program interpretation unit 22 block by block according to an operator's instruction, and information from the program interpretation unit 22 on the amount of movement of the tool etc. 25 is output.
- the interference determination unit 25 is based on the input information on the movement amount of the tool, the measurement shape map MP input from the shape recognition unit 23, and the tool and the shape of the ram 13 input from the shape storage unit 24. The presence or absence of interference is determined.
- the shape of the tool and the ram 13 input to the interference judgment unit 25 is stored in the shape storage unit 24 in advance, and the tool and the ram 13 attached to the machine tool 1 when performing a debugging operation or the like. Shape.
- the interference determination unit 25 determines whether the tool or the ram 13 interferes with the measurement shape map MP when the tool and the ram 13 are moved based on the information on the movement amount of the tool or the like, and the determination result is determined. Output to the movement control unit 26.
- the movement control unit 26 stops the execution of the NC program in which interference occurs, and the collision between the tool or ram 13 and the workpiece W is prevented.
- the movement control unit 26 controls the table 11, the saddle 12 and the ram 13 based on the input information on the movement amount of the tool and the like. Is output.
- the measurement shape map MP of the workpiece W is created based on the ratio of the number of times the measurement point is included in the voxel with respect to the number of two-dimensional scans, the measurement shape map MP that is three-dimensional data of the workpiece W Accuracy can be ensured. Therefore, the three-dimensional data of the workpiece W shape used when preventing the workpiece W from colliding with the ram 13 or the like of the machine tool 1 can be easily acquired.
- the measurement shape map MP is obtained using distance information obtained by one scan. Compared with the case of creating, it is less affected by the measurement accuracy of the measurement unit 15 and the distance r from the measurement unit 15 to the workpiece W, and the accuracy of the measurement shape map MP can be ensured.
- the accuracy of the measurement shape map MP can be easily adjusted by adjusting the number of two-dimensional scans, threshold values, and the like that can be easily changed, compared to a method of replacing the measurement unit 15 with a different measurement accuracy. .
- the accuracy of the measurement shape map MP can be easily ensured as compared with the case where the measurement unit 15 is attached to other parts. That is, since the measurement unit 15 is attached to the ram 13 that is controlled with high positional accuracy because it is used for machining the workpiece W, the arrangement position of the measurement unit 15 is grasped with high accuracy. As a result, the arrangement position of the workpiece W with respect to the machine tool 1 including the ram 13 is also grasped with high accuracy, and the position accuracy of the measurement shape map MP with respect to the machine tool 1 can be easily ensured.
- the measuring unit 15 By setting a plurality of points where the measuring unit 15 measures the distance r to the workpiece W, it is possible to prevent the occurrence of a blind spot BA in the unmeasured area in the workpiece W, that is, the workpiece W viewed from the measuring unit. Since the measurement unit 15 is attached to the ram 13, the accuracy of the measurement shape map MP is ensured even if a plurality of measurement points are set and the measurement unit 15 is moved between the plurality of points. In addition, by measuring the distance r from the measurement unit 15 to the workpiece W at a plurality of points P1 and P2, the occurrence of a blind spot BA in the workpiece W is prevented, and the entire workpiece W can be measured.
- the measurement unit 15 includes Are measured simultaneously. Therefore, a measurement shape map MP including the table 11 and the fixing jig J is created.
- the measurement shape map MP includes the table 11 and the fixing jig J as compared with the case where the three-dimensional design data of the workpiece W is used as the measurement shape map MP.
- the measurement shape map MP is suitable for preventing the collision with the ram 13 and the like.
- the tool and the ram 13 are moving at high speed. The contact between the workpiece W and the tool or the like during the period can be prevented.
- the interval between the machining transition point and the measurement shape map MP is ensured. Furthermore, since the dimension of one side in the voxel of the measurement shape map MP is set based on the distance between the processing transition point and the workpiece W, the distance between the measurement shape map MP and the workpiece W is set as described above. There are less than gaps. Therefore, the distance between the actual processing transition 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 or the like during the period in which the tool and the ram 13 are moving at high speed can be prevented. .
- FIG. 7 is an overall view illustrating the configuration of the machine tool of the present embodiment.
- FIG. 8 is a block diagram illustrating the configuration of the measurement unit in FIG.
- symbol is attached
- the machine tool 101 is attached to a table 11 that moves in the X-axis direction, a saddle 12 that moves in the Y-axis direction, a ram 13 that moves in the Z-axis direction, and a ram 13.
- a measuring unit 115 that measures the distance to the workpiece W and a machine tool control unit 116 that performs NC control of the movement of the table 11, the saddle 12 and the ram 13 are provided.
- the measurement unit 115 is a laser distance sensor used when creating the measurement shape map MP of the workpiece W, and is attached to the end of the ram 13 on the table 11 side as shown in FIG. Further, the measuring unit 115 is attached to and detached from the end of the ram 13 by an auto tool changer of the machine tool 101, like a tool for machining the workpiece W. As shown in FIG. 8, the measurement unit 115 is provided with a sensor head 121, a sensor control unit 122, a transmission unit 123, and a battery 124.
- the sensor head 121 performs two-dimensional scanning (scanning) by changing the emission angle ⁇ of the laser beam used for distance measurement. As shown in FIG. 8, the sensor head 121 is connected to the sensor control unit 122 and the battery 124. A control signal is input to the sensor head 121 from the sensor control unit 122 and 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 from the sensor head 121 and the scan angle ⁇ . As shown in FIG. 8, the sensor control unit 122 is connected to the sensor head 121, the transmission unit 123, and the battery 124. Distance information measured from the sensor head 121 is input to the sensor control unit 122, and power is supplied from the battery 124. On the other hand, a control signal is output from the sensor control unit 122 to the sensor head 121, and distance information is output to the transmission unit 123.
- the transmission unit 123 wirelessly transmits the distance information measured by the sensor head 121 to the reception unit 131 of the machine tool control unit 116. As shown in FIG. 8, the transmission unit 123 is connected to the sensor control unit 122 and the battery 124. The transmission unit 123 receives distance information from the sensor control unit 122 and is supplied with power from the battery 124. The distance information input to the transmission unit 123 is transmitted to the reception unit 131 by radio.
- the battery 124 supplies power to the sensor head 121, the sensor control unit 122, and the transmission unit 123. As shown in FIG. 8, the battery 124 is connected to the sensor head 121, the sensor control unit 122, and the transmission unit 123 so that power can be supplied.
- the machine tool control unit 116 creates a measurement shape map MP of the workpiece W before cutting the workpiece W, and based on the created measurement shape map MP when debugging the NC program describing the movement of the tool for cutting the workpiece W
- the collision between the ram 13 and the tool and the workpiece W is prevented, and the movement of the table 11, the saddle 12 and the ram 13 is controlled when the workpiece W is cut.
- FIG. 9 is a block diagram illustrating the configuration of the machine tool control unit of FIG.
- the machine tool control unit 116 includes a reception unit 131 that receives distance information transmitted from the measurement unit 115, a program storage unit 21 and a program interpretation unit 22, a shape recognition unit 23, and a shape A storage unit 24, an interference determination unit 25, and a movement control unit 26 are provided.
- the reception unit 131 receives distance information wirelessly transmitted from the transmission unit 123 of the measurement unit 115. As shown in FIG. 9, the reception unit 131 is connected to the shape recognition unit 23, and outputs the received distance information to the shape recognition unit 23.
- the measuring unit 115 is automatically attached to and detached from the ram 13 by an auto tool changer in the same manner as a tool for processing the workpiece W.
- a control signal is output from the sensor control unit 122 to the sensor head 121, and a 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 to the sensor control unit 122 and is output from the sensor control unit 122 to the transmission unit 123.
- the transmission unit 123 wirelessly transmits the input distance information to the machine tool control unit 116.
- the distance information transmitted wirelessly is received by the reception unit 131 and is output from the reception unit 131 to the shape recognition unit 23. Since the subsequent operation is the same as that of the first embodiment, the description thereof is omitted.
- the measurement unit 115 measures the distance to the workpiece W without using a wiring for supplying power or transmitting distance information, and outputs the measured distance information to the shape recognition unit 23. can do. That is, the sensor head 121 measures the distance to the workpiece W using the power supplied from the battery 124, and the transmission unit 123 transmits the distance information obtained by the measurement to the shape recognition unit via the reception unit 131. Therefore, it is not necessary to use wiring for supplying power or transmitting distance information.
- the measuring unit 115 can be exchanged by an automatic exchange device such as an auto tool changer. Furthermore, since the wiring etc. which connect between the measurement part 115 and the shape recognition part 23 are unnecessary, interference with wiring etc. and the workpiece
- FIG. 10 is an overall view illustrating the configuration of the machine tool of the present embodiment.
- symbol is attached
- the machine tool 201 includes a table 11 that moves in the X-axis direction, a saddle 12 that moves in the Y-axis direction, a ram 13 that moves in the Z-axis direction, and a measurement unit attached to the ram 13. 215 are provided.
- the measurement unit 215 is provided with a measurement unit 15 that measures the distance to the workpiece W and an attachment unit 216 that is attached to the ram 13.
- the attachment portion 216 is an attachment provided with the measurement portion 15 and configured to be detachable from the ram 13.
- the mounting portion 216 is provided with an interface (not shown) through which electric power is supplied to the ram 13 and signals such as control signals and distance information are transmitted.
- the description is applied to the mounting portion 216 configured to extend in the Z-axis direction from the end portion of the ram 13 and support the measurement unit 15 in a direction in which the central axis extends along the Z-axis, but is limited to this configuration.
- the measurement unit 15 may be supported so that the central axis is parallel to the XY plane, or the direction of the central axis of the measurement unit 15 can be arbitrarily controlled. It is not a thing.
- the measurement unit 215 is attached to the ram 13 when debugging an NC program or the like.
- the attaching operation is automatically performed in the same manner as the attachment for processing, using an exchange device (not shown) used for replacing the attachment used for processing the workpiece W.
- the measuring unit 215 is not used, such as when processing the workpiece W, it is stored in an automatic replacement storage box (not shown) provided in the machine tool 201, similarly to the processing attachment.
- the measurement unit 15 measures the distance to the workpiece W without using a wiring for supplying power, transmitting distance information, and the like, and outputs the measured distance information to the shape recognition unit 23. can do.
- the measurement unit 15 receives power supplied through the ram 13 and the attachment unit 216 and measures the distance to the workpiece W, and the distance information obtained by the measurement is recognized as a shape through the ram 13 and the attachment unit 216. Since it is transmitted to the unit 23, it is not necessary to separately provide wiring or the like for supplying power or transmitting distance information. Therefore, since the wiring etc. which connect between the measurement part 15 and the shape recognition part 23 are unnecessary, interference with wiring etc. and the workpiece
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Abstract
Description
例えば、ワークと工具との接触を検出するセンサが知られており、このセンサを利用して工具と、ワークとの接触の有無を確認することが行われている。
しかしながら、加工前のワーク形状の3次元データは、事前に把握できていないことが多く、ワークを計測するなどの方法により把握する必要があった。
さらに、上述のようにワークの検出装置を工具と同様に自動交換する技術も知られている(例えば、特許文献5参照。)。
本発明の第1の態様に係るワーク計測装置は、加工対象であるワークを加工する工具が取り付けられる主軸に取り付けられ、非接触で前記ワークまでの距離を走査して測定する測定部と、空間を多面体状に分割して形成された3次元メッシュ構造を生成し、測定された前記ワークまでの距離情報に基づいて、前記ワークの測定点座標を算出し、前記3次元メッシュ構造の一単位と対応する前記ワークの位置を走査した回数に対する、前記算出した測定点が前記一単位に含まれる回数の比率が所定の閾値以上のときに、前記一単位は前記ワークの形状であるとして測定形状マップを作成する形状認識部と、が設けられている。
つまり、走査回数に対する一単位に測定点が含まれる回数の比率に基づいてワークの測定形状マップを作成することにより、1回の走査で得られた距離情報などで測定形状マップを作成する場合と比較して、測定部の測定精度や、測定部からワークまでの距離などの影響を受けにくく、測定形状マップの精度が確保しやすい。
つまり、測定部を、ワークの加工に用いられるため高い位置精度で制御される主軸に取り付けるため、測定部の配置位置が高い精度で把握される。その結果、上記主軸を備える工作機械などに対するワークの配置位置も高い精度で把握され、工作機械などに対する測定形状マップの位置精度の確保が容易となる。
上述のように測定部を主軸に取り付けるため、測定する地点を複数設定して、複数の地点の間で測定部を移動させても測定形状マップの精度は確保される。その上で、複数の地点において測定部からワークまでの距離を測定することで、ワークにおける未測定領域の発生が防止され、ワーク全体について測定することができる。
さらに、測定形状マップにおける一単位における一辺の寸法を、上述の加工移行地点とワークとの距離に基づいて設定しているため、測定形状マップとワークとの間には、上述の距離未満の隙間が存在する。そのため、実際の加工移行地点とワークとの距離は、上述の間隔および上述の隙間の和となり、工具および主軸が高速で移動している期間におけるワークと工具等との接触が防止される。
さらに、測定部と形状認識部との間を接続する配線等が不要なため、配線等とワークとの干渉を防止できる。
そのため、測定部と形状認識部との間を接続する配線等が不要なため、配線等とワークとの干渉を防止できる。
つまり、ワークよりも大きな測定形状マップと、主軸等との間の干渉を判断することにより、測定形状マップよりも小さなワークと主軸等との衝突が確実に防止される。
つまり、ワークおよびテーブル等よりも大きな測定形状マップと、主軸等との間の干渉を判断することにより、測定形状マップよりも小さなワークおよびテーブル等と主軸等との衝突が確実に防止される。
以下、本発明の第1の実施形態に係る工作機械ついて図1から図5を参照して説明する。
図1は、本実施形態に係る工作機械の全体構成を説明する模式図である。図2は、図1の工作機械における制御部を説明するブロック図である。
工作機械1には、図1および図2に示すように、X軸方向に移動するテーブル11と、Y軸方向に移動するサドル12と、Z軸方向に移動するラム(主軸)13と、ラム13に取り付けられワークWまでの距離を測定する測定部15と、テーブル11,サドル12およびラム13の移動をNC制御する工作機械制御部16と、が設けられている。
測定部15は、ワークWの測定形状マップMPを作成する際に使用されるレーザ距離センサであって、図1および図3に示すように、ラム13におけるテーブル11側の端部に取り付けられるものである。
測定部15は、図3に示すように、距離測定に用いるレーザ光の出射角θを変更して2次元スキャン(走査)を行うものである。さらに、上述のラム13を中心軸線Lまわりに回転させることにより、測定部15により3次元スキャンが行われる。
測定部15により計測されたワークWやテーブル11等から測定部15までの距離情報は、図2に示すように、形状認識部23に入力されている。
プログラム記憶部21は、図2に示すように、プログラム解釈部22と接続され、プログラム記憶部21に記憶されたNCプログラムはプログラム解釈部22に出力されている。
プログラム解釈部22は、図2に示すように、干渉判断部25および移動制御部26と接続され、プログラム解釈部22により作成された工具等の移動量等に関する情報は干渉判断部25および移動制御部26に出力されている。
形状認識部23は、図2に示すように、測定部15および干渉判断部25と接続されている。形状認識部23には、測定部15により測定された距離情報が入力され、形状認識部23から干渉判断部25に測定形状マップMPの情報が出力されている。
なお、形状認識部23における測定形状マップMPの作成方法については後述する。
形状記憶部24は、図2に示すように、干渉判断部25と接続されている。形状記憶部24に記憶されたラム13等の形状は干渉判断部25に出力されている。
干渉判断部25は、図2に示すように、形状認識部23、形状記憶部24、プログラム解釈部22および移動制御部26と接続されている。干渉判断部25には、形状認識部23から測定形状マップMPが入力され、形状記憶部24からラム13等の形状が入力され、プログラム解釈部22から工具等の移動量等に関する情報が入力されている。一方、干渉判断部25における干渉の有無の判断結果は、移動制御部26に出力されている。
移動制御部26は、図2に示すように、プログラム解釈部22および干渉判断部25と接続されている。移動制御部26には、プログラム解釈部22から工具等の移動量等の情報が入力され、干渉判断部25から測定形状マップMPとラム13等との干渉の有無の判断結果が入力されている。一方、移動制御部26において作成されたテーブル11、サドル12およびラム13の移動を制御する制御信号は、それぞれテーブル11、サドル12およびラム13に出力されている。
工作機械1によりワークWを加工する場合には、まず、テーブル11の上に固定治具Jを用いてワークWが固定される(図5参照。)。
その後、図2に示すように、プログラム記憶部21からNCプログラムが1ブロック(1つの移動単位、例えば1線分)単位でプログラム解釈部22に出力される。
ここで説明するワークWの測定形状マップMPの作成、および、衝突防止制御は、例えば、上述のワークWの加工を行う前段階におけるNCプログラムのデバッグ、つまり、ワークWとラム13や工具との干渉の有無のチェックの際に行われている。
まず、図5に示すように、テーブル11の上にワークWが設置される(ステップS1)。このとき、ワークWは固定治具Jによりテーブル11に固定される。
測定部15は、図3に示すように、スキャン角度θを変えながらレーザ光を出射し、測定部15からワークWまでの距離rを測定する。言い換えると2次元スキャンを行う。このとき同時に、測定部15からテーブル11までの距離、および、測定部15から固定治具Jまでの距離も測定される。さらに、ラム13を中心軸線L周りに回転させて、測定部15によるレーザ光のスキャン方向を変えて再び2次元スキャンを行う。これにより、ワークWの3次元スキャンが行われる。
形状認識部23では、これら入力された情報に基づき、距離rが測定されたワークWの測定点の座標(Xm,Ym,Zm)が以下の計算式に基づいて算出される(ステップS4)。
Xm=Xr+r・sinθ
Ym=Yr+r・sinφ
Zm=Zr-r・cosφ・cosθ
形状認識部23は計測空間を六面体状の3次元メッシュ領域に分割し、つまり、3次元メッシュ構造を生成し、上述の測定点の座標(Xm,Ym,Zm)が含まれる3次元メッシュ構造の一単位(以下、「ボクセル」と表記する。)に投票し、計測形状マップMPを定義する(ステップS5)。
その結果、各ボクセルには、最も多くて2次元スキャンを行った回数だけ投票され、最も少ない場合には1回も投票されない。
この距離は、工作機械1の性能や用途や、ワークの仕様や、操作者の作業性や、計測の処理速度等の項目を総合的に勘案して設定される。このため、ボクセルの一辺の寸法としては、1mm程度から40mm程度の値を例示することができるが、上記項目を考慮することにより変動する値であるため、特に限定するものではない。
まず、ラム13の端部にワークWの加工に用いられるエンドミルなどの工具が取り付けられる。
干渉判断部25に入力される工具およびラム13の形状は、予め形状記憶部24に記憶されたものであって、デバッグ作業等を行う際に工作機械1に取り付けられている工具およびラム13の形状である。
つまり、測定部15を、ワークWの加工に用いられるため高い位置精度で制御されるラム13に取り付けるため、測定部15の配置位置が高い精度で把握される。その結果、ラム13を備える工作機械1に対するワークWの配置位置も高い精度で把握され、工作機械1に対する測定形状マップMPの位置精度を容易に確保できる。
測定部15をラム13に取り付けるため、測定する地点を複数設定して、複数の地点の間で測定部15を移動させても測定形状マップMPの精度は確保される。その上で、複数の地点P1,P2において測定部15からワークWまでの距離rを測定することで、ワークWにおける死角BAの発生が防止され、ワークWの全体について測定することができる。
さらに、測定形状マップMPのボクセルにおける一辺の寸法を、上述の加工移行地点とワークWとの距離に基づいて設定しているため、測定形状マップMPとワークWとの間には、上述の距離未満の隙間が存在する。そのため、実際の加工移行地点とワークWとの距離は、上述の間隔および上述の隙間の和となり、工具およびラム13が高速で移動している期間におけるワークWと工具等との接触を防止できる。
次に、本発明の第2の実施形態について図7から図9を参照して説明する。
本実施形態の工作機械の基本構成は、第1の実施形態と同様であるが、第1の実施形態とは、測定部および工作機械制御部の構成が異なっている。よって、本実施形態においては、図7から図9を用いて測定部および工作機械制御部の周辺のみを説明し、同一の構成要素等の説明を省略する。
図7は、本実施形態の工作機械の構成を説明する全体図である。図8は、図7の測定部の構成を説明するブロック図である。
なお、第1の実施形態と同一の構成要素には同一の符号を付して、その説明を省略する。
さらに、測定部115は、ワークWを加工する工具等と同様に、工作機械101のオートツールチェンジャによりラム13の端部に着脱されるものである。
測定部115には、図8に示すように、センサヘッド121と、センサ制御部122と、送信部123と、バッテリ124と、が設けられている。
センサヘッド121は、図8に示すように、センサ制御部122およびバッテリ124と接続されている。センサヘッド121には、センサ制御部122から制御信号が入力されているとともに、バッテリ124から電力が供給されている。一方、センサヘッド121により計測された距離情報は、センサ制御部122に出力されている。
センサ制御部122は、図8に示すように、センサヘッド121,送信部123およびバッテリ124と接続されている。センサ制御部122には、センサヘッド121から測定された距離情報が入力され、バッテリ124から電力が供給されている。一方、センサ制御部122からセンサヘッド121に制御信号が出力され、送信部123に距離情報が出力されている。
送信部123は、図8に示すように、センサ制御部122およびバッテリ124と接続されている。送信部123には、センサ制御部122から距離情報が入力され、バッテリ124から電力が供給されている。送信部123に入力された距離情報は、無線により受信部131に送信されている。
工作機械制御部116には、図9に示すように、測定部115から送信された距離情報を受信する受信部131と、プログラム記憶部21およびプログラム解釈部22と、形状認識部23と、形状記憶部24と、干渉判断部25と、移動制御部26と、が設けられている。
受信部131は、図9に示すように、形状認識部23と接続され、受信した距離情報を形状認識部23に出力するものである。
本実施形態に係る測定部115は、ワークWを加工する工具と同様にオートツールチェンジャによりラム13に自動的に着脱される。
以後の作用は第1の実施形態と同様であるので、その説明を省略する。
さらに、測定部115と形状認識部23との間を接続する配線等が不要なため、配線等とワークWとの干渉を防止できる。
次に、本発明の第3の実施形態について図10を参照して説明する。
本実施形態の加工機械の基本構成は、第1の実施形態と同様であるが、第1の実施形態とは、ラムと測定部と取り付け方法が異なっている。よって、本実施形態においては、図10を用いてラムおよび測定部周辺のみを説明し、同一の構成要素等の説明を省略する。
図10は、本実施形態の工作機械の構成を説明する全体図である。
なお、第1の実施形態と同一の構成要素には同一の符号を付して、その説明を省略する。
測定ユニット215は、ワークWまでの距離を測定する測定部15と、ラム13に取り付けられる取付部216と、が設けられている。
取付部216には、ラム13との間で電力の供給や、制御信号や距離情報などの信号が伝送されるインターフェイス(図示せず)が設けられている。
取り付け作業は、ワークWの加工に用いられるアタッチメントの交換作業に用いられる交換装置(図示せず)を用いて、加工用アタッチメントと同様に自動的に行われる。ワークWの加工時などのように、測定ユニット215が使用されない場合には、加工用アタッチメントと同様に、工作機械201に設けられた自動交換用収納箱(図示せず)に収納されている。
そのため、測定部15と形状認識部23との間を接続する配線等が不要なため、配線等とワークWとの干渉を防止できる。
2,102 ワーク計測装置
3,103 衝突防止装置
13 ラム(主軸)
15,115 測定部
23 形状認識部
25 干渉判断部(判断部)
26 移動制御部(制御部)
121 センサヘッド
123 送信部
124 バッテリ
216 取付部
W ワーク
MP 測定形状マップ
Claims (6)
- 加工対象であるワークを加工する工具が取り付けられる主軸に取り付けられ、非接触で前記ワークまでの距離を走査して測定する測定部と、
空間を多面体状に分割して形成された3次元メッシュ構造を生成し、
測定された前記ワークまでの距離情報に基づいて、前記ワークの測定点座標を算出し、
前記3次元メッシュ構造の一単位と対応する前記ワークの位置を走査した回数に対する、前記算出した測定点が前記一単位に含まれる回数の比率が所定の閾値以上のときに、前記一単位は前記ワークの形状であるとして測定形状マップを作成する形状認識部と、
が設けられているワーク計測装置。 - 前記一単位における一辺の寸法は、前記工具および前記主軸が前記ワークに接近して、前記ワークの加工に移行する地点と、前記ワークとの間の距離に基づいて設定される請求項1記載のワーク計測装置。
- 前記測定部には、前記ワークまでの距離を走査して測定するセンサヘッドと、該センサヘッドにより測定された距離情報を送信する送信部と、前記センサヘッドおよび前記送信部に電力を供給するバッテリと、が設けられ、
さらに、前記送信部から送信された前記距離情報を受信し、前記形状認識部に受信した前記距離情報を出力する受信部と、が設けられている請求項1または2に記載のワーク計測装置。 - 前記測定部には、前記主軸を介して電力の供給を受けるとともに、前記主軸を介して前記測定情報を前記形状認識部に出力する取付部が設けられている請求項1または2に記載のワーク計測装置。
- 請求項1から請求項4に記載のワーク計測装置と、
少なくとも前記主軸または前記工具と前記測定形状マップとの間の干渉を判断する判断部と、
該判断部の判断結果に基づいて、前記主軸の移動を制御する制御部と、
が設けられている衝突防止装置。 - 加工対象であるワークが設置されるテーブルと、
前記ワークを加工する工具が取り付けられる主軸と、
請求項5に記載の衝突防止装置と、
が設けられている工作機械。
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PCT/JP2009/069088 WO2011058618A1 (ja) | 2009-11-10 | 2009-11-10 | ワーク計測装置、衝突防止装置および工作機械 |
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