JP2021000665A - Discrimination device, discrimination system and discrimination method for tool corner radius - Google Patents

Discrimination device, discrimination system and discrimination method for tool corner radius Download PDF

Info

Publication number
JP2021000665A
JP2021000665A JP2019113872A JP2019113872A JP2021000665A JP 2021000665 A JP2021000665 A JP 2021000665A JP 2019113872 A JP2019113872 A JP 2019113872A JP 2019113872 A JP2019113872 A JP 2019113872A JP 2021000665 A JP2021000665 A JP 2021000665A
Authority
JP
Japan
Prior art keywords
point
corner radius
stylus
tool
coordinates
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2019113872A
Other languages
Japanese (ja)
Other versions
JP7249214B2 (en
Inventor
睦 廣川
Mutsumi Hirokawa
睦 廣川
森下 誠
Makoto Morishita
誠 森下
孝雄 杉本
Takao Sugimoto
孝雄 杉本
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kawasaki Heavy Industries Ltd
Original Assignee
Kawasaki Heavy Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kawasaki Heavy Industries Ltd filed Critical Kawasaki Heavy Industries Ltd
Priority to JP2019113872A priority Critical patent/JP7249214B2/en
Publication of JP2021000665A publication Critical patent/JP2021000665A/en
Application granted granted Critical
Publication of JP7249214B2 publication Critical patent/JP7249214B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • A Measuring Device Byusing Mechanical Method (AREA)
  • Machine Tool Sensing Apparatuses (AREA)

Abstract

To provide a discrimination device for a tool corner radius which enables correctness of a corner radius of a tool tip to be recognized with a high degree of accuracy, and furthermore allows for significant reduction of a cost therefor.SOLUTION: A discrimination device 10 is provided that is connected to: a touch sensor 6 having a probe 7; and a mobile device 5 which changes a relative position between the touch sensor and a tool 2 which has a tip 4 being an edge 4a of tool and in which a corner radius is formed, the discrimination device 10 comprises: a movement control unit which controls the mobile device in such a way that the probe comes in contact with each of at least three points separated from each other in a circumferential direction at the tooth point of the tip; a coordinate calculation unit which calculates each coordinate of at least three points from each signal obtained by contact of the probe with at least three points; and a discrimination information calculation unit which calculates information for discriminating whether the tip corner radius is correct or not on the basis of each calculated coordinate.SELECTED DRAWING: Figure 1

Description

本開示は、刃先に所定のコーナ半径をもつチップを有する工具のコーナ半径の判別装置、判別システム及び判別方法に関する。 The present disclosure relates to a corner radius discriminating device, a discriminating system, and a discriminating method for a tool having a tip having a predetermined corner radius at the cutting edge.

旋削加工等に用いる工具では、刃先交換チップと呼ばれる使い捨てのチップ(刃)を工具本体に固定することで工具の刃先を形成するものが知られている。この工具の場合、加工の目的形状や加工面粗さの要求等に合った刃先のコーナ半径を有するチップを選択して工具本体に取り付ける。そして、その工具のチップにタッチセンサの測定子を接触させ、工具の刃先位置をコンピュータに正しく認識させてから加工を開始する(例えば、特許文献1参照)。 As a tool used for turning or the like, it is known that a disposable tip (blade) called a cutting edge replacement tip is fixed to a tool body to form a cutting edge of the tool. In the case of this tool, a tip having a corner radius of the cutting edge that meets the target shape of machining and the requirement for machined surface roughness is selected and attached to the tool body. Then, the stylus of the touch sensor is brought into contact with the tip of the tool, and the computer correctly recognizes the position of the cutting edge of the tool before starting machining (see, for example, Patent Document 1).

実公平3−30804号公報Jitsufuku No. 3-30804

このような工具では、加工の目的形状や加工面粗さの要求等に合ったコーナ半径を有する刃先交換チップを工具本体に取り付ける必要がある。しかし、刃先交換チップのコーナ半径の違いは、目視で判別し難く、意図するものとは異なる形状のチップを間違って工具本体に取り付ける可能性がある。そのため、チップのコーナ半径が正しいことを保障する方法が求められる。 In such a tool, it is necessary to attach a cutting edge replacement tip having a corner radius that meets the target shape of machining and the requirement of machined surface roughness to the tool body. However, the difference in the corner radius of the cutting edge replacement tip is difficult to visually discern, and there is a possibility that a tip having a shape different from the intended one may be mistakenly attached to the tool body. Therefore, a method for ensuring that the corner radius of the chip is correct is required.

チップのコーナ半径を測定する手法としては、工作機械に設置されたカメラにて工具本体に取り付けられたチップを撮影し、その撮影された画像から画像処理技術によってチップの刃先形状を認識するものがある。しかし、この手法では、撮影及び画像処理のための高額な装置コストが必要となるとともに、撮影環境によってはチップやカメラに油分や水滴が付着するため、別途、除去手段が必要となる。 As a method of measuring the corner radius of the tip, a camera installed in the machine tool takes a picture of the tip attached to the tool body, and the shape of the cutting edge of the tip is recognized by image processing technology from the taken image. is there. However, this method requires a high equipment cost for shooting and image processing, and oil and water droplets adhere to the chip and the camera depending on the shooting environment, so that a separate removing means is required.

そこで本発明は、工具のチップのコーナ半径が正しいか否かを精度良く把握できるようにしながらも、そのためのコストを大幅に抑制することを目的とする。 Therefore, an object of the present invention is to make it possible to accurately grasp whether or not the corner radius of the tool tip is correct, and to significantly reduce the cost for that purpose.

本開示の一態様に係る工具のコーナ半径の判別装置は、測定子を有するタッチセンサと、刃先となるコーナが形成されたチップを有する工具と前記タッチセンサとの間の相対位置を変化させる移動装置と、に接続される判別装置であって、前記チップの刃先における円周方向に互いに離れた少なくとも3点に前記測定子をそれぞれ接触させるように前記移動装置を制御する移動制御部と、前記少なくとも3点に前記測定子がそれぞれ接触して得られる各信号から前記少なくとも3点の各座標を算出する座標算出部と、前記算出された各座標に基づいて、前記チップのコーナ半径が正しいか否かを判別するための情報を演算する判別情報演算部と、を備える。 The device for determining the corner radius of a tool according to one aspect of the present disclosure is a movement that changes the relative position between a touch sensor having a stylus and a tool having a tip having a corner as a cutting edge and the touch sensor. A discrimination device connected to the device, a movement control unit that controls the moving device so that the stylus comes into contact with at least three points separated from each other in the circumferential direction of the cutting edge of the chip, and the above. Whether the corner radius of the chip is correct based on the coordinate calculation unit that calculates each coordinate of the at least three points from each signal obtained by the stylus contacting at least three points and each of the calculated coordinates. It is provided with a discrimination information calculation unit that calculates information for determining whether or not to use it.

前記構成によれば、撮影及び画像処理のための装置が不要であり、既存のタッチセンサを利用することで、チップのコーナ半径が正しいか否かを判別するための情報が演算されるので、コーナ半径の判別のためのコストが低廉に抑えられる。また、チップの刃先の少なくとも3点にタッチセンサの測定子を接触すればよいので、チップに油分や水滴が付着する計測環境であっても正しく座標を算出できる。よって、工具のチップのコーナ半径が正しいか否かを精度良く把握できるようにしながらも、そのためのコストを大幅に抑制できる。 According to the above configuration, no device for photographing and image processing is required, and by using the existing touch sensor, information for determining whether or not the corner radius of the chip is correct is calculated. The cost for determining the corner radius can be kept low. Further, since the stylus of the touch sensor may be brought into contact with at least three points on the cutting edge of the chip, the coordinates can be calculated correctly even in a measurement environment in which oil or water droplets adhere to the chip. Therefore, while making it possible to accurately grasp whether or not the corner radius of the tool tip is correct, the cost for that purpose can be significantly suppressed.

一例として、前記刃先に要求される規定コーナ半径を記憶する記憶部と、前記算出された各座標に基づいて、前記チップのコーナ半径が前記規定コーナ半径に合致するか否かを判定する判定部と、を更に備え構成としてもよい。 As an example, a storage unit that stores a specified corner radius required for the cutting edge and a determination unit that determines whether or not the corner radius of the tip matches the specified corner radius based on the calculated coordinates. And, may be further provided and configured.

前記構成によれば、規定コーナ半径に対する実際のコーナ半径の合致性が判定され、工具のチップのコーナ半径が正しいか否かを的確に把握できる。 According to the above configuration, the conformity of the actual corner radius with respect to the specified corner radius is determined, and it is possible to accurately grasp whether or not the corner radius of the tool tip is correct.

一例として、前記記憶部は、第1点、第2点及び第3点を含む前記少なくとも3点のうち前記第1点及び前記第2点における前記コーナ半径の接線方向を第1接線方向及び第2接線方向として記憶し、前記移動制御部は、前記測定子を前記第1点及び前記第2点にそれぞれ接触させるように前記移動装置を制御し、前記判定部は、前記座標算出部で算出された前記第1点の座標と、前記記憶部に記憶された前記第1接線方向とを用いて、前記第1点における接線である第1接線を算出し、前記座標算出部で算出された前記第2点の座標と、前記記憶部に記憶された前記第2接線方向とを用いて、前記第2点における接線である第2接線を算出し、前記第1接線と前記第2接線との交点の座標を始点座標として算出すると共に、前記第1接線に直交して前記第1点を通る第1半径線と前記第2接線に直交して前記第2点を通る第2半径線との交点の座標を中心座標として算出し、前記移動制御部は、前記測定子を前記始点座標から前記中心座標に近づく向きに相対移動させることで前記測定子を前記第3点に接触させるように前記移動装置を制御し、前記判定部は、前記座標算出部で算出された前記第3点の座標と前記始点座標との間の前記移動装置の移動距離に基づいて、前記チップのコーナ半径が前記規定コーナ半径に合致するか否かを判定する構成としてもよい。 As an example, the storage unit sets the tangential direction of the corner radius at the first point and the second point among the at least three points including the first point, the second point, and the third point as the first tangent direction and the first tangent direction. Stored as two tangent directions, the movement control unit controls the movement device so that the stylus comes into contact with the first point and the second point, respectively, and the determination unit calculates with the coordinate calculation unit. The first tangent line, which is the tangent line at the first point, was calculated by using the coordinates of the first point and the first tangent direction stored in the storage unit, and was calculated by the coordinate calculation unit. Using the coordinates of the second point and the second tangent direction stored in the storage unit, a second tangent line which is a tangent line at the second point is calculated, and the first tangent line and the second tangent line are combined with each other. The coordinates of the intersection of the above points are calculated as the start point coordinates, and the first radius line orthogonal to the first tangent line and passing through the first point and the second radius line orthogonal to the second tangent line and passing through the second point. The coordinate of the intersection of the above points is calculated as the center coordinate, and the movement control unit moves the stylus relative to the start point coordinate in a direction approaching the center coordinate so that the stylus comes into contact with the third point. The moving device is controlled, and the determination unit determines the corner radius of the chip based on the moving distance of the moving device between the coordinates of the third point and the starting point coordinates calculated by the coordinate calculation unit. It may be configured to determine whether or not it matches the specified corner radius.

前記構成によれば、刃先におけるタッチセンサの接触位置である第1点及び第2点での接線方向が予め記憶され、第1点及び第2点の各接線の交点である始点座標が予め特定可能であるため、第3点の座標と始点座標との間の移動装置の移動距離に基づいてコーナ半径を判別できる。そのため、コーナ半径の判別のためのタッチセンサの接触個所は3点で足り、コーナ半径の判別作業を短時間で行うことができる。 According to the above configuration, the tangential directions at the first and second points, which are the contact positions of the touch sensor at the cutting edge, are stored in advance, and the starting point coordinates, which are the intersections of the tangents of the first and second points, are specified in advance. Since it is possible, the corner radius can be determined based on the moving distance of the moving device between the coordinates of the third point and the coordinates of the starting point. Therefore, three contact points of the touch sensor for determining the corner radius are sufficient, and the corner radius determination work can be performed in a short time.

一例として、前記移動制御部は、前記第1接線方向と前記第2接線方向とが互いに直交するように前記第1点及び前記第2点を決定し、前記測定子を前記第1点及び前記第2点にそれぞれ接触させるように前記移動装置を制御し、前記移動距離をL、前記規定コーナ半径の曲率半径をR、所定の許容誤差をαとすると、前記判定部は、下記数式(1)を満たすときに前記チップのコーナ半径が前記規定コーナ半径に合致すると判定し、下記数式(1)を満さないときに前記チップのコーナ半径が前記規定コーナ半径に合致しないと判定する構成としてもよい。
[数1]
R{(√2)−1}−α < L < R{(√2)−1}+α・・・(1)
As an example, the movement control unit determines the first point and the second point so that the first tangential direction and the second tangential direction are orthogonal to each other, and the stylus is used as the first point and the second point. Assuming that the moving device is controlled so as to be in contact with the second point, the moving distance is L, the radius of curvature of the specified corner radius is R, and the predetermined tolerance is α, the determination unit uses the following formula (1). ), It is determined that the corner radius of the chip matches the specified corner radius, and when the following formula (1) is not satisfied, it is determined that the corner radius of the chip does not match the specified corner radius. May be good.
[Number 1]
R {(√2) -1} -α <L <R {(√2) -1} + α ... (1)

前記構成によれば、第1点及び第2点の各接線が互いに直交するため、規定コーナ半径に対する実際のコーナ半径の合致性を判定するための数式を簡素化できる。 According to the above configuration, since the tangents of the first point and the second point are orthogonal to each other, the mathematical formula for determining the matching of the actual corner radius with respect to the specified corner radius can be simplified.

本開示の一態様に係る工具のコーナ半径の判別システムは、前記判別装置と、前記判別装置に接続され、前記測定子を有する前記タッチセンサと、を備え、前記測定子は、前記工具の刃先に接触可能で互いに直交する縦面部及び横面部と、前記縦面部と前記横面部との間の角部を面取りした面取部と、を有し、前記判別装置の前記移動制御部は、前記縦面部を前記第1点に接触させ、前記横面部を前記第2点に接触させ、前記面取部を前記第3点に接触させるように前記移動装置を制御する。 The tool corner radius discrimination system according to one aspect of the present disclosure includes the discriminating device and the touch sensor connected to the discriminating device and having the stylus, and the stylus is the cutting edge of the tool. The movement control unit of the discriminating device has a vertical surface portion and a horizontal surface portion that are in contact with each other and are orthogonal to each other, and a chamfered portion that chamfers a corner portion between the vertical surface portion and the horizontal surface portion. The moving device is controlled so that the vertical surface portion is brought into contact with the first point, the horizontal surface portion is brought into contact with the second point, and the chamfered portion is brought into contact with the third point.

前記構成によれば、タッチセンサ及び工具の姿勢をあまり変えずに第1〜3点に測定子を接触させることができ、姿勢変化による誤差発生を防止できる。 According to the above configuration, the stylus can be brought into contact with the first to third points without changing the posture of the touch sensor and the tool so much, and it is possible to prevent the occurrence of an error due to the posture change.

本開示の一態様に係る工具のコーナ半径の判別方法は、工具のチップの刃先における円周方向に互いに離れた少なくとも3点にタッチセンサの測定子をそれぞれ接触させるように、前記工具と前記タッチセンサとの間の相対位置を変化させ、前記少なくとも3点に前記測定子がそれぞれ接触して得られる各信号から前記少なくとも3点の各座標を算出し、前記算出された各座標に基づいて、前記チップのコーナ半径が正しいか否かを判別するための情報を演算する。 The method for determining the corner radius of the tool according to one aspect of the present disclosure is such that the tool and the touch are brought into contact with each other at least three points on the cutting edge of the tip of the tool that are separated from each other in the circumferential direction. The relative position between the sensor and the sensor is changed, the coordinates of the at least three points are calculated from the signals obtained by the stylus contacting the at least three points, and the coordinates of the at least three points are calculated based on the calculated coordinates. The information for determining whether or not the corner radius of the chip is correct is calculated.

前記方法によれば、前記同様に、工具のチップのコーナ半径が正しいか否かを精度良く把握できるようにしながらも、そのためのコストを大幅に抑制できる。 According to the method, similarly, it is possible to accurately grasp whether or not the corner radius of the tip of the tool is correct, but the cost for that purpose can be significantly suppressed.

本開示によれば、工具のチップのコーナ半径が正しいか否かを精度良く把握できるようにしながらも、そのためのコストを大幅に抑制できる。 According to the present disclosure, it is possible to accurately grasp whether or not the corner radius of the tool tip is correct, and at the same time, it is possible to significantly reduce the cost for that purpose.

実施形態に係る工具のコーナ半径の判別システムを示す概略図である。It is the schematic which shows the determination system of the corner radius of the tool which concerns on embodiment. 図1に示す判別装置のブロック図である。It is a block diagram of the discrimination apparatus shown in FIG. 図1に示すチップの拡大図である。It is an enlarged view of the chip shown in FIG. (A)〜(C)はコーナ半径の判別の動作説明図である。(A) to (C) are operation explanatory diagrams of determination of the corner radius. 図2に示す判別装置の処理を説明するフローチャートである。It is a flowchart explaining the process of the discrimination apparatus shown in FIG.

以下、図面を参照して実施形態を説明する。 Hereinafter, embodiments will be described with reference to the drawings.

図1は、実施形態に係る工具2のコーナ半径の判別システム1を示す概略図である。図1に示すように、判別システム1は、移動装置5、タッチセンサ6及び判別装置10を備える。移動装置5は、工具2とタッチセンサ6との間の相対位置を変化させる駆動装置であり、加工装置の一部である。移動装置5は、例えば移動テーブルやロボット等である。移動装置5は、工具2を移動させてもよいし、タッチセンサ6を移動させてもよい。工具2は、移動装置5に接続される工具本体3と、工具本体3の先端部に固定されるチップ4とを備える。チップ4は、刃先交換チップと呼ばれる使い捨てのチップである。チップ4の刃先(コーナ)は、コーナ半径をもつ。即ち、チップ4の刃先は円弧面を有する。チップ4の刃先4aの両側に隣接する各辺は、90度未満の角度をなす。 FIG. 1 is a schematic view showing a corner radius determination system 1 of the tool 2 according to the embodiment. As shown in FIG. 1, the discrimination system 1 includes a mobile device 5, a touch sensor 6, and a discrimination device 10. The moving device 5 is a driving device that changes the relative position between the tool 2 and the touch sensor 6, and is a part of the processing device. The moving device 5 is, for example, a moving table, a robot, or the like. The moving device 5 may move the tool 2 or the touch sensor 6. The tool 2 includes a tool body 3 connected to the moving device 5 and a tip 4 fixed to the tip of the tool body 3. The tip 4 is a disposable tip called a cutting edge replacement tip. The cutting edge (corner) of the tip 4 has a corner radius. That is, the cutting edge of the tip 4 has an arc surface. Each side of the tip 4 adjacent to both sides of the cutting edge 4a forms an angle of less than 90 degrees.

タッチセンサ6は、加工装置に設けられた支軸部8と、支軸部8の先端に固定された測定子7と、支軸部8に設けられた検知部9とを備える。タッチセンサ6は、対象物が測定子7に接触して支軸部8に歪が発生したことを検知部9(例えば、歪センサ等)が検知することで、測定子7に対する対象物の接触が発生した時点を把握できる。測定子7の位置は既知であるので、その接触が発生した時点での移動装置5の位置を把握することで、対象物の位置を把握することが可能になる。 The touch sensor 6 includes a support shaft portion 8 provided in the processing apparatus, a stylus 7 fixed to the tip of the support shaft portion 8, and a detection unit 9 provided in the support shaft portion 8. In the touch sensor 6, the detection unit 9 (for example, a strain sensor) detects that the object comes into contact with the stylus 7 and the support shaft portion 8 is distorted, so that the object comes into contact with the stylus 7. Can be grasped at the time when Since the position of the stylus 7 is known, it is possible to grasp the position of the object by grasping the position of the moving device 5 at the time when the contact occurs.

タッチセンサ6は、工具2のチップ4の刃先にタッチセンサ6の測定子7を接触させることで、加工開始前にチップ4の刃先4aの位置を加工装置のコンピュータ(図示せず)に正しく認識させることに使用される。更に本実施形態では、タッチセンサ6は、後述するようにチップ4のコーナ半径(曲率)が正しいか否かを判別することにも使用される。 By bringing the stylus 7 of the touch sensor 6 into contact with the cutting edge of the tip 4 of the tool 2, the touch sensor 6 correctly recognizes the position of the cutting edge 4a of the tip 4 by the computer (not shown) of the machining apparatus before starting machining. Used to make it. Further, in the present embodiment, the touch sensor 6 is also used to determine whether or not the corner radius (curvature) of the chip 4 is correct, as will be described later.

測定子7は、概略立方体形状又は概略直方体形状を有する。測定子7は、互いに直交する縦面部7a及び横面部7bと、縦面部7aと横面部7bとの間の角部を面取りした面取部7cとを有する。チップ4の刃先4aは、縦面部7a、横面部7b及び面取部7cに接触し得る。 The stylus 7 has a roughly cubic shape or a roughly rectangular parallelepiped shape. The stylus 7 has a vertical surface portion 7a and a horizontal surface portion 7b that are orthogonal to each other, and a chamfered portion 7c that chamfers a corner portion between the vertical surface portion 7a and the horizontal surface portion 7b. The cutting edge 4a of the chip 4 may come into contact with the vertical surface portion 7a, the horizontal surface portion 7b, and the chamfered portion 7c.

移動装置5及びタッチセンサ6の検知部9は、判別装置10に電気的に接続されている。判別装置10は、入力装置11及び表示装置12に電気的に接続されている。判別装置10は、入力装置11から入力される情報と移動装置5及びタッチセンサ6の情報とに基づいて、チップ4のコーナ半径が正しいか否かを判別し、その判別結果を表示装置12に出力する。 The detection unit 9 of the mobile device 5 and the touch sensor 6 is electrically connected to the discrimination device 10. The discrimination device 10 is electrically connected to the input device 11 and the display device 12. The discrimination device 10 determines whether or not the corner radius of the chip 4 is correct based on the information input from the input device 11 and the information of the moving device 5 and the touch sensor 6, and displays the discrimination result on the display device 12. Output.

図2は、図1に示す判別装置10のブロック図である。図2に示すように、判別装置10は、入力側においてタッチセンサ6及び入力装置11が接続され、出力側において移動装置5及び表示装置12が接続されている。判別装置10は、ハードウェア面において、プロセッサ、揮発性メモリ、不揮発性メモリ及びI/Oインターフェース等を有する。判別装置10は、機能面において、移動制御部21、記憶部22、座標算出部23及び判定部24を有する。移動制御部21、座標算出部23及び判定部24は、不揮発性メモリに保存されたプログラムに基づいてプロセッサが揮発性メモリを用いて演算処理することで実現される。記憶部22は、揮発性メモリ及び不揮発性メモリにより実現される。 FIG. 2 is a block diagram of the discriminating device 10 shown in FIG. As shown in FIG. 2, in the discrimination device 10, the touch sensor 6 and the input device 11 are connected on the input side, and the moving device 5 and the display device 12 are connected on the output side. In terms of hardware, the discrimination device 10 includes a processor, a volatile memory, a non-volatile memory, an I / O interface, and the like. In terms of functionality, the discrimination device 10 includes a movement control unit 21, a storage unit 22, a coordinate calculation unit 23, and a determination unit 24. The movement control unit 21, the coordinate calculation unit 23, and the determination unit 24 are realized by the processor performing arithmetic processing using the volatile memory based on the program stored in the non-volatile memory. The storage unit 22 is realized by a volatile memory and a non-volatile memory.

移動制御部21は、入力装置11から工具本体3の取り付けられたチップ4のコーナ半径の検査を開始する指令が入力されると、移動装置5を制御してタッチセンサ6の測定子7をチップ4の刃先4aに接触させる。移動制御部21は、その接触の時点の移動装置5の位置の情報を座標算出部23に出力する。 When a command to start inspection of the corner radius of the tip 4 to which the tool body 3 is attached is input from the input device 11, the movement control unit 21 controls the movement device 5 to chip the stylus 7 of the touch sensor 6. It is brought into contact with the cutting edge 4a of 4. The movement control unit 21 outputs information on the position of the movement device 5 at the time of the contact to the coordinate calculation unit 23.

記憶部22は、判定部24の判定のために入力装置11から予め入力される情報を記憶する。座標算出部23は、タッチセンサ6及び移動制御部21からの信号に基づいて、測定子7が接触した刃先4a上の接触点の座標を算出する。即ち、座標算出部23は、刃先4aに測定子7が接触した時点における移動装置5の位置に基づいて、刃先4a上の接触点の座標を算出する。判定部24は、工具本体3に取り付けられたチップ4の刃先4aのコーナ半径が正しいか否か(即ち、規定コーナ半径に合致するか否か)を判定する。即ち、判定部24は、座標算出部23で算出された各座標に基づいて、刃先4aのコーナ半径が正しいか否かを判別するための情報を演算する判別情報演算部の一例である。 The storage unit 22 stores information previously input from the input device 11 for the determination of the determination unit 24. The coordinate calculation unit 23 calculates the coordinates of the contact point on the cutting edge 4a with which the stylus 7 has contacted, based on the signals from the touch sensor 6 and the movement control unit 21. That is, the coordinate calculation unit 23 calculates the coordinates of the contact point on the cutting edge 4a based on the position of the moving device 5 at the time when the stylus 7 comes into contact with the cutting edge 4a. The determination unit 24 determines whether or not the corner radius of the cutting edge 4a of the tip 4 attached to the tool body 3 is correct (that is, whether or not it matches the specified corner radius). That is, the determination unit 24 is an example of a discrimination information calculation unit that calculates information for determining whether or not the corner radius of the cutting edge 4a is correct based on each coordinate calculated by the coordinate calculation unit 23.

図3は、図1に示すチップ4の拡大図である。図4(A)〜(C)は、コーナ半径の判別の動作説明図である。図5は、図2に示す判別装置10の処理を説明するフローチャートである。以下、図1乃至4を適宜参照しながら図5のフローチャートの流れに沿ってコーナ半径の判別処理について説明する。なお、以下では、チップ4の刃先4aにおける円周方向に互いに離れた3点P1〜P3(第1点P1、第2点P2及び第3点P3)に測定子7をそれぞれ接触させる例について説明する。 FIG. 3 is an enlarged view of the chip 4 shown in FIG. 4 (A) to 4 (C) are operation explanatory views for determining the corner radius. FIG. 5 is a flowchart illustrating the processing of the discriminating device 10 shown in FIG. Hereinafter, the corner radius discrimination process will be described along the flow of the flowchart of FIG. 5 with reference to FIGS. 1 to 4 as appropriate. In the following, an example will be described in which the stylus 7 is brought into contact with three points P1 to P3 (first point P1, second point P2, and third point P3) separated from each other in the circumferential direction of the cutting edge 4a of the tip 4. To do.

図3に示すように、刃先4aは仮想真円Vの一部をなす円弧面であり、本実施形態では、刃先4aは仮想真円Vの少なくとも1/4をなす円弧形状(コーナ半径)を有する。第1点P1における刃先4aの接線(第1接線TL1)と、第2点P2における刃先4aの接線(第2接線TL2とは、互いに直交する。即ち、移動制御部21は、第1接線TL1と第2接線TL2とが互いに直交するように第1点P1及び第2点P2を決定する。言い換えると、仮想真円Vにおける第1点P1を通る半径線(第1半径線RL1)と、仮想真円Vにおける第2点P2を通る半径線(第2半径線RL2)とは、互いに直交する。第3点P3は、刃先4a上における第1点P1と第2点P2との間の中間点である。 As shown in FIG. 3, the cutting edge 4a is an arc surface forming a part of the virtual perfect circle V, and in the present embodiment, the cutting edge 4a has an arc shape (corner radius) forming at least 1/4 of the virtual perfect circle V. Have. The tangent line of the cutting edge 4a at the first point P1 (first tangent line TL1) and the tangent line of the cutting edge 4a at the second point P2 (the second tangent line TL2 are orthogonal to each other. That is, the movement control unit 21 is the first tangent line TL1. The first point P1 and the second point P2 are determined so that the second tangent line TL2 is orthogonal to each other. In other words, the radius line (first radius line RL1) passing through the first point P1 in the virtual perfect circle V. The radius line passing through the second point P2 in the virtual perfect circle V (second radius line RL2) is orthogonal to each other. The third point P3 is between the first point P1 and the second point P2 on the cutting edge 4a. It is an intermediate point.

まず、刃先4aに要求される規定コーナ半径(正しいコーナ半径)を入力装置11から記憶部22に記憶させる(ステップS1)。そして、測定子7を接触させる刃先4aの第1点P1及び第2点P2における接線方向を第1接線方向及び第2接線方向として入力装置11から記憶部22に記憶させる(ステップS2)。ここでは、第1接線方向と第2接線方向とは互いに直交する方向である。なお、ステップS1とステップS2との順序は逆でもよい。第1接線方向及び第2接線方向を常に不変とする場合には、第1接線方向及び第2接線方向を初期に記憶させて以後は入力を省くようにしてもよい。 First, the specified corner radius (correct corner radius) required for the cutting edge 4a is stored in the storage unit 22 from the input device 11 (step S1). Then, the tangential directions at the first point P1 and the second point P2 of the cutting edge 4a to be brought into contact with the stylus 7 are stored in the storage unit 22 from the input device 11 as the first tangential direction and the second tangential direction (step S2). Here, the first tangent direction and the second tangent direction are directions orthogonal to each other. The order of steps S1 and S2 may be reversed. When the first tangent direction and the second tangent direction are always invariant, the first tangent direction and the second tangent direction may be initially stored and the input may be omitted thereafter.

次いで、移動制御部21は、タッチセンサ6の測定子7を第1点P1及び第2点P2にそれぞれ接触させるように移動装置5を制御する(ステップS3)。図4(A)に示すように、第1点P1に関しては、測定子7の縦面部7aをチップ4の刃先4aに接触させることで、測定子7を水平方向から第1点P1に接触させる。図4(B)に示すように、第2点P2に関しては、測定子7の横面部7bをチップ4の刃先4aに接触させることで、測定子7を鉛直方向から第2点P2に接触させる。そして、座標算出部23は、刃先4aの第1点P1及び第2点P2に対するタッチセンサ6の接触によって得られる信号から第1点P1及び第2点P2の各座標を算出する(ステップS4)。 Next, the movement control unit 21 controls the movement device 5 so that the stylus 7 of the touch sensor 6 comes into contact with the first point P1 and the second point P2, respectively (step S3). As shown in FIG. 4A, with respect to the first point P1, the stylus 7 is brought into contact with the first point P1 from the horizontal direction by bringing the vertical surface portion 7a of the stylus 7 into contact with the cutting edge 4a of the tip 4. .. As shown in FIG. 4B, with respect to the second point P2, the stylus 7 is brought into contact with the second point P2 from the vertical direction by bringing the lateral surface portion 7b of the stylus 7 into contact with the cutting edge 4a of the tip 4. .. Then, the coordinate calculation unit 23 calculates the coordinates of the first point P1 and the second point P2 from the signal obtained by the contact of the touch sensor 6 with the first point P1 and the second point P2 of the cutting edge 4a (step S4). ..

図3に示すように、判定部24は、座標算出部23で算出された第1点P1の座標と、記憶部22に記憶された第1接線方向とを用いて、第1点P1における接線である第1接線TL1を算出する(ステップS5)。同様に、判定部24は、座標算出部23で算出された第2点P2の座標と、記憶部22に記憶された第2接線方向とを用いて、第2点P2における接線である第2接線TL2を算出する(ステップS5)。 As shown in FIG. 3, the determination unit 24 uses the coordinates of the first point P1 calculated by the coordinate calculation unit 23 and the first tangent direction stored in the storage unit 22 to form a tangent line at the first point P1. The first tangent line TL1 is calculated (step S5). Similarly, the determination unit 24 uses the coordinates of the second point P2 calculated by the coordinate calculation unit 23 and the second tangent direction stored in the storage unit 22, and is a second tangent line at the second point P2. The tangent line TL2 is calculated (step S5).

次いで、判定部24は、第1接線TL1と第2接線TL2との交点の座標を始点座標Qとして算出する(ステップS6)。判定部24は、第1接線TL1に直交して第1点P1を通る第1半径線RL1と、第2接線TL2に直交して第2点P2を通る第2半径線RL2との交点の座標を中心座標Oとして算出する(ステップS7)。なお、ステップS6とステップS7との順序は互いに逆でもよい。 Next, the determination unit 24 calculates the coordinates of the intersection of the first tangent line TL1 and the second tangent line TL2 as the start point coordinate Q (step S6). The determination unit 24 determines the coordinates of the intersection of the first radius line RL1 orthogonal to the first tangent line TL1 and passing through the first point P1 and the second radius line RL2 orthogonal to the second tangent line TL2 and passing through the second point P2. Is calculated as the center coordinate O (step S7). The order of steps S6 and S7 may be reversed from each other.

次いで、移動制御部21は、移動装置5を制御し、測定子7が始点座標Qから中心座標Oに近づくようにタッチセンサ6をチップ4に対して相対移動させることで、測定子7を刃先4aの第3点P3に接触させる(ステップS8)。その際、図4(C)に示すように、測定子7の面取部7cをチップ4の刃先4aに接触させることで、鉛直方向及び水平方向に対して45度をなす斜め方向から測定子7を第3点P3に接触させる。そして、座標算出部23は、刃先4aの第3点P3に対するタッチセンサ6の接触によって得られる信号から第3点P3の座標を算出する(ステップS9)。 Next, the movement control unit 21 controls the movement device 5 and moves the touch sensor 6 relative to the chip 4 so that the stylus 7 approaches the center coordinate O from the start point coordinate Q, thereby moving the stylus 7 to the cutting edge. It is brought into contact with the third point P3 of 4a (step S8). At that time, as shown in FIG. 4C, by bringing the chamfered portion 7c of the stylus 7 into contact with the cutting edge 4a of the tip 4, the stylus is measured from an oblique direction forming 45 degrees with respect to the vertical direction and the horizontal direction. 7 is brought into contact with the third point P3. Then, the coordinate calculation unit 23 calculates the coordinates of the third point P3 from the signal obtained by the contact of the touch sensor 6 with the third point P3 of the cutting edge 4a (step S9).

次いで、判定部24は、座標算出部23で算出された第3点P3の座標と始点座標Qとの間の移動装置5の移動距離Lを算出する(ステップS10)。即ち、測定子7の面取部7cが始点座標Qに到達した位置から第3点P3に接触した位置までの測定子7の移動距離Lを算出する。 Next, the determination unit 24 calculates the movement distance L of the movement device 5 between the coordinates of the third point P3 and the start point coordinates Q calculated by the coordinate calculation unit 23 (step S10). That is, the moving distance L of the stylus 7 from the position where the chamfered portion 7c of the stylus 7 reaches the start point coordinate Q to the position where it comes into contact with the third point P3 is calculated.

次いで、判定部24は、その算出された移動距離Lが下記数式(1)を満たすか否か、即ち、刃先4aのコーナ半径が正しいか否かを判定する(ステップS11)。なお、規定コーナ半径(曲率半径)をR、許容誤差をαとする。許容誤差αは、微小値でもゼロでもよい。 Next, the determination unit 24 determines whether or not the calculated movement distance L satisfies the following mathematical formula (1), that is, whether or not the corner radius of the cutting edge 4a is correct (step S11). The defined corner radius (radius of curvature) is R, and the margin of error is α. The margin of error α may be a minute value or zero.

[数1]
R{(√2)−1}−α < L < R{(√2)−1}+α・・・(1)
[Number 1]
R {(√2) -1} -α <L <R {(√2) -1} + α ... (1)

具体的には、判定部24は、数式(1)を満たすときに(ステップS11:Y)、刃先4aのコーナ半径が規定コーナ半径に合致すると判定し、表示装置12にその旨を意味する表示をさせる(ステップS12)。他方、判定部24は、数式(1)を満さないときには(ステップS12:N)、刃先4aのコーナ半径が規定コーナ半径に合致しないと判定し、表示装置12にその旨を意味する表示させる(ステップS13)。 Specifically, when the mathematical formula (1) is satisfied (step S11: Y), the determination unit 24 determines that the corner radius of the cutting edge 4a matches the specified corner radius, and displays on the display device 12 to that effect. (Step S12). On the other hand, when the determination unit 24 does not satisfy the mathematical formula (1) (step S12: N), the determination unit 24 determines that the corner radius of the cutting edge 4a does not match the specified corner radius, and causes the display device 12 to display to that effect. (Step S13).

以上に説明した構成によれば、撮影及び画像処理のための装置が不要であり、既存のタッチセンサ6を利用することで、規定コーナ半径に対する実際の刃先4aのコーナ半径の合致性が判定され、刃先4aのコーナ半径の判別のためのコストが低廉に抑えられる。また、チップ4の刃先4aの3点にタッチセンサ6の測定子7を接触すればよいので、チップ4に油分や水滴が付着する計測環境であっても正しく座標を算出できる。よって、工具2のチップ4の刃先4aのコーナ半径が正しいか否かを精度良く把握できるようにしながらも、そのためのコストを大幅に抑制することができる。 According to the configuration described above, no device for photographing and image processing is required, and by using the existing touch sensor 6, it is determined that the actual corner radius of the cutting edge 4a matches the specified corner radius. The cost for determining the corner radius of the cutting edge 4a can be kept low. Further, since the stylus 7 of the touch sensor 6 may be brought into contact with the three points of the cutting edge 4a of the chip 4, the coordinates can be calculated correctly even in a measurement environment in which oil or water droplets adhere to the chip 4. Therefore, while it is possible to accurately grasp whether or not the corner radius of the cutting edge 4a of the tip 4 of the tool 2 is correct, the cost for that purpose can be significantly suppressed.

また、刃先4aにおけるタッチセンサ6の接触位置である第1点P1及び第2点P2での接線方向が予め記憶され、第1点P1及び第2点P2の各接線TL1,TL2の交点である始点座標Qが予め特定可能であるため、第3点P3の座標と始点座標Qとの間の移動装置5の移動距離Lに基づいて刃先4aのコーナ半径を判別できる。そのため、コーナ半径の判別のためのタッチセンサ6の接触個所は3点で足り、コーナ半径の判別作業を短時間で行うことができる。しかも、第1接線TL1と第2接線TL2とが互いに直交するように第1点P1及び第2点P2が設定されるため、規定コーナ半径に対する実際のコーナ半径の合致性を判定するための数式(1)が簡素になる。 Further, the tangential directions at the first point P1 and the second point P2, which are the contact positions of the touch sensor 6 at the cutting edge 4a, are stored in advance, and are the intersections of the tangent lines TL1 and TL2 of the first point P1 and the second point P2. Since the start point coordinate Q can be specified in advance, the corner radius of the cutting edge 4a can be determined based on the movement distance L of the moving device 5 between the coordinates of the third point P3 and the start point coordinate Q. Therefore, three contact points of the touch sensor 6 for determining the corner radius are sufficient, and the corner radius determination work can be performed in a short time. Moreover, since the first point P1 and the second point P2 are set so that the first tangent line TL1 and the second tangent line TL2 are orthogonal to each other, a mathematical formula for determining the matching of the actual corner radius with respect to the specified corner radius. (1) becomes simple.

また、タッチセンサ6は、測定子7の縦面部7aを刃先4aの第1点P1に接触させ、測定子7の横面部7bを刃先4aの第2点P2に接触させ、測定子7の面取部7cを刃先4aの第3点P3に接触させるので、第1点P1、第2点P2及び第3点P3の各点にそれぞれ測定子7を接触させる一連の工程(図4(A)〜(C))において、工具2の姿勢を変えずに済み、工具2の姿勢変化による誤差発生も防止される。 Further, in the touch sensor 6, the vertical surface portion 7a of the stylus 7 is brought into contact with the first point P1 of the cutting edge 4a, the lateral surface portion 7b of the stylus 7 is brought into contact with the second point P2 of the cutting edge 4a, and the surface of the stylus 7 is brought into contact. Since the chamfer 7c is brought into contact with the third point P3 of the cutting edge 4a, a series of steps of bringing the stylus 7 into contact with each of the first point P1, the second point P2 and the third point P3 (FIG. 4 (A)). In (C), it is not necessary to change the posture of the tool 2, and the occurrence of an error due to the change in the posture of the tool 2 is prevented.

なお、本発明は前述した実施形態に限定されるものではなく、その構成を変更、追加、又は削除することができる。例えば、タッチセンサ6の測定子7を刃先4aの第1点P1、第2点P2及び第3点P3にそれぞれ接触させる際には、工具2の姿勢を変化させることで測定子7の同じ面に第1点P1、第2点P2及び第3点P3のそれぞれを接触させてもよい。また、判定部24の代わりに、座標算出部23で算出された各座標に基づいて刃先4aのコーナ半径を算出する算出部を判別情報演算部として設けてもよい。その場合、当該算出されたコーナ半径を見て、実際の刃先4aのコーナ半径が規定コーナ半径に合致するか否かをユーザ自身が判別してもよい。また、タッチセンサ6の測定子7を刃先4aに接触させる点を4点以上としてもよい。また、第1接線方向と第2接線方向とが非直交となるように第1点P1及び第2点P2を決定してもよい。また、チップ4自体にコーナ半径の製造誤差などがあった場合に、システム1で算出されたコーナ半径(実測値)と規定コーナ半径との間の誤差に基づいて加工制御が補正されてもよい。また、チップ4は、刃先交換チップである代わりに工具本体3に交換不能に固定されたものでもよい。その場合、使用後の摩耗したチップを研磨して再生した際に、その研磨後のコーナ半径が適切であるかを本システム1により判別してもよいし、工具自体の付け間違いをシステム1により判別してもよい。 The present invention is not limited to the above-described embodiment, and its configuration can be changed, added, or deleted. For example, when the stylus 7 of the touch sensor 6 is brought into contact with the first point P1, the second point P2, and the third point P3 of the cutting edge 4a, the same surface of the stylus 7 is changed by changing the posture of the tool 2. The first point P1, the second point P2, and the third point P3 may be brought into contact with each other. Further, instead of the determination unit 24, a calculation unit that calculates the corner radius of the cutting edge 4a based on each coordinate calculated by the coordinate calculation unit 23 may be provided as the determination information calculation unit. In that case, the user may determine whether or not the actual corner radius of the cutting edge 4a matches the specified corner radius by looking at the calculated corner radius. Further, the points where the stylus 7 of the touch sensor 6 is brought into contact with the cutting edge 4a may be four or more points. Further, the first point P1 and the second point P2 may be determined so that the first tangent direction and the second tangent direction are non-orthogonal. Further, when the chip 4 itself has a manufacturing error of the corner radius, the machining control may be corrected based on the error between the corner radius (measured value) calculated by the system 1 and the specified corner radius. .. Further, the tip 4 may be irreplaceably fixed to the tool body 3 instead of being a cutting edge replacement tip. In that case, when the worn tip after use is polished and regenerated, the system 1 may determine whether the corner radius after the polishing is appropriate, or the system 1 may make a mistake in attaching the tool itself. You may discriminate.

1 判別システム
2 工具
4 チップ
4a 刃先
5 移動装置
6 タッチセンサ
7 測定子
7a 縦面部
7b 横面部
7c 面取部
10 判別装置
21 移動制御部
22 記憶部
23 座標算出部
24 判定部
P1 第1点
P2 第2点
P3 第3点
1 Discrimination system 2 Tool 4 Chip 4a Cutting edge 5 Moving device 6 Touch sensor 7 Stylus 7a Vertical surface 7b Horizontal surface 7c Chamfering 10 Discriminating device 21 Movement control 22 Storage 23 Coordinate calculation 24 Judgment P1 1st point P2 2nd point P3 3rd point

Claims (6)

測定子を有するタッチセンサと、刃先となるコーナが形成されたチップを有する工具と前記タッチセンサとの間の相対位置を変化させる移動装置と、に接続される判別装置であって、
前記チップのコーナにおける円周方向に互いに離れた少なくとも3点に前記測定子をそれぞれ接触させるように前記移動装置を制御する移動制御部と、
前記少なくとも3点に前記測定子がそれぞれ接触して得られる各信号から前記少なくとも3点の各座標を算出する座標算出部と、
前記算出された各座標に基づいて、前記チップのコーナ半径が正しいか否かを判別するための情報を演算する判別情報演算部と、を備える、工具のコーナ半径の判別装置。
A discriminating device connected to a touch sensor having a stylus, a moving device that changes the relative position between a tool having a tip having a corner formed as a cutting edge, and the touch sensor.
A movement control unit that controls the moving device so that the stylus comes into contact with at least three points separated from each other in the circumferential direction at the corner of the chip.
A coordinate calculation unit that calculates each coordinate of the at least three points from each signal obtained by contacting the stylus with the at least three points.
A device for determining the corner radius of a tool, comprising a discrimination information calculation unit that calculates information for determining whether or not the corner radius of the tip is correct based on the calculated coordinates.
前記刃先に要求される規定コーナ半径を記憶する記憶部と、
前記算出された各座標に基づいて、前記チップのコーナ半径が前記規定コーナ半径に合致するか否かを判定する判定部と、を更に備える、請求項1に記載の工具のコーナ半径の判別装置。
A storage unit that stores the specified corner radius required for the cutting edge,
The device for determining the corner radius of the tool according to claim 1, further comprising a determination unit for determining whether or not the corner radius of the chip matches the specified corner radius based on the calculated coordinates. ..
前記記憶部は、第1点、第2点及び第3点を含む前記少なくとも3点のうち前記第1点及び前記第2点における前記コーナ半径の接線方向を第1接線方向及び第2接線方向として記憶し、
前記移動制御部は、前記測定子を前記第1点及び前記第2点にそれぞれ接触させるように前記移動装置を制御し、
前記判定部は、
前記座標算出部で算出された前記第1点の座標と、前記記憶部に記憶された前記第1接線方向とを用いて、前記第1点における接線である第1接線を算出し、
前記座標算出部で算出された前記第2点の座標と、前記記憶部に記憶された前記第2接線方向とを用いて、前記第2点における接線である第2接線を算出し、
前記第1接線と前記第2接線との交点の座標を始点座標として算出すると共に、前記第1接線に直交して前記第1点を通る第1半径線と前記第2接線に直交して前記第2点を通る第2半径線との交点の座標を中心座標として算出し、
前記移動制御部は、前記測定子を前記始点座標から前記中心座標に近づく向きに相対移動させることで前記測定子を前記第3点に接触させるように前記移動装置を制御し、
前記判定部は、前記座標算出部で算出された前記第3点の座標と前記始点座標との間の前記移動装置の移動距離に基づいて、前記チップのコーナ半径が前記規定コーナ半径に合致するか否かを判定する、請求項2に記載の工具のコーナ半径の判別装置。
The storage unit sets the tangential direction of the corner radius at the first point and the second point among the at least three points including the first point, the second point, and the third point as the first tangential direction and the second tangential direction. Remember as
The movement control unit controls the movement device so that the stylus comes into contact with the first point and the second point, respectively.
The determination unit
Using the coordinates of the first point calculated by the coordinate calculation unit and the first tangent direction stored in the storage unit, the first tangent line which is the tangent line at the first point is calculated.
Using the coordinates of the second point calculated by the coordinate calculation unit and the second tangent direction stored in the storage unit, a second tangent line which is a tangent line at the second point is calculated.
The coordinates of the intersection of the first tangent line and the second tangent line are calculated as start point coordinates, and the first radius line orthogonal to the first tangent line and passing through the first point and orthogonal to the second tangent line are said to be orthogonal to the first tangent line. Calculate the coordinates of the intersection with the second radius line passing through the second point as the center coordinates.
The movement control unit controls the moving device so that the stylus comes into contact with the third point by relatively moving the stylus in a direction approaching the center coordinates from the starting point coordinates.
In the determination unit, the corner radius of the chip matches the specified corner radius based on the moving distance of the moving device between the coordinates of the third point and the starting point coordinates calculated by the coordinate calculation unit. The device for determining the corner radius of the tool according to claim 2, which determines whether or not.
前記移動制御部は、前記第1接線方向と前記第2接線方向とが互いに直交するように前記第1点及び前記第2点を決定し、前記測定子を前記第1点及び前記第2点にそれぞれ接触させるように前記移動装置を制御し、
前記移動距離をL、前記規定コーナ半径の曲率半径をR、所定の許容誤差をαとすると、
前記判定部は、下記数式(1)を満たすときに前記チップのコーナ半径が前記規定コーナ半径に合致すると判定し、下記数式(1)を満さないときに前記チップのコーナ半径が前記規定コーナ半径に合致しないと判定する、請求項3に記載の工具のコーナ半径の判別装置。
R{(√2)−1}−α < L < R{(√2)−1}+α・・・(1)
The movement control unit determines the first point and the second point so that the first tangential direction and the second tangential direction are orthogonal to each other, and sets the stylus to the first point and the second point. The moving device is controlled so as to be in contact with each other.
Assuming that the moving distance is L, the radius of curvature of the specified corner radius is R, and the predetermined tolerance is α.
The determination unit determines that the corner radius of the chip matches the specified corner radius when the following formula (1) is satisfied, and when the following formula (1) is not satisfied, the corner radius of the chip is the specified corner radius. The device for determining the corner radius of the tool according to claim 3, which determines that the radius does not match.
R {(√2) -1} -α <L <R {(√2) -1} + α ... (1)
請求項3又は4に記載の判別装置と、
前記判別装置に接続され、前記測定子を有する前記タッチセンサと、を備え、
前記測定子は、前記工具の刃先に接触可能で互いに直交する縦面部及び横面部と、前記縦面部と前記横面部との間の角部を面取りした面取部と、を有し、
前記判別装置の前記移動制御部は、前記縦面部を前記第1点に接触させ、前記横面部を前記第2点に接触させ、前記面取部を前記第3点に接触させるように前記移動装置を制御する、工具のコーナ半径の判別システム。
The discriminating device according to claim 3 or 4,
The touch sensor connected to the discriminating device and having the stylus is provided.
The stylus has a vertical surface portion and a horizontal surface portion that are in contact with the cutting edge of the tool and are orthogonal to each other, and a chamfered portion that chamfers a corner portion between the vertical surface portion and the horizontal surface portion.
The movement control unit of the discrimination device causes the vertical surface portion to come into contact with the first point, the horizontal surface portion to come into contact with the second point, and the chamfered portion to come into contact with the third point. A tool corner radius determination system that controls the equipment.
工具のチップの刃先における円周方向に互いに離れた少なくとも3点にタッチセンサの測定子をそれぞれ接触させるように、前記工具と前記タッチセンサとの間の相対位置を変化させ、
前記少なくとも3点に前記測定子がそれぞれ接触して得られる各信号から前記少なくとも3点の各座標を算出し、
前記算出された各座標に基づいて、前記チップのコーナ半径が正しいか否かを判別するための情報を演算する、工具のコーナ半径の判別方法。
The relative position between the tool and the touch sensor is changed so that the stylus of the touch sensor comes into contact with at least three points on the cutting edge of the tip of the tool that are separated from each other in the circumferential direction.
Each coordinate of the at least three points is calculated from each signal obtained by contacting the stylus with the at least three points.
A method for determining the corner radius of a tool, which calculates information for determining whether or not the corner radius of the tip is correct based on each of the calculated coordinates.
JP2019113872A 2019-06-19 2019-06-19 Tool corner radius discriminating device, discriminating system and discriminating method Active JP7249214B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2019113872A JP7249214B2 (en) 2019-06-19 2019-06-19 Tool corner radius discriminating device, discriminating system and discriminating method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2019113872A JP7249214B2 (en) 2019-06-19 2019-06-19 Tool corner radius discriminating device, discriminating system and discriminating method

Publications (2)

Publication Number Publication Date
JP2021000665A true JP2021000665A (en) 2021-01-07
JP7249214B2 JP7249214B2 (en) 2023-03-30

Family

ID=73994639

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019113872A Active JP7249214B2 (en) 2019-06-19 2019-06-19 Tool corner radius discriminating device, discriminating system and discriminating method

Country Status (1)

Country Link
JP (1) JP7249214B2 (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10202476A (en) * 1997-01-23 1998-08-04 Mitsubishi Materials Corp Inspection method and inspection device for throw away tip
JP2014178150A (en) * 2013-03-13 2014-09-25 Aron Denki Co Ltd Cutting tool inspection device
US20150292854A1 (en) * 2014-04-15 2015-10-15 Pratt & Whitney Canada Corp. Method of determining a radius of a cutting end of a tool for a turning machine

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10202476A (en) * 1997-01-23 1998-08-04 Mitsubishi Materials Corp Inspection method and inspection device for throw away tip
JP2014178150A (en) * 2013-03-13 2014-09-25 Aron Denki Co Ltd Cutting tool inspection device
US20150292854A1 (en) * 2014-04-15 2015-10-15 Pratt & Whitney Canada Corp. Method of determining a radius of a cutting end of a tool for a turning machine

Also Published As

Publication number Publication date
JP7249214B2 (en) 2023-03-30

Similar Documents

Publication Publication Date Title
US20190160662A1 (en) Teaching device for performing robot teaching operations and teaching method
WO2017068930A1 (en) Teaching point correcting method, program, recording medium, robot apparatus, imaging point creating method, and imaging point creating apparatus
JP2006329903A (en) Three-dimensional measuring method and three-dimensional measuring system
JP2017033429A (en) Three-dimensional object inspection device
EP1422491A2 (en) Method, apparatus and program for setting a workpiece coordinate system origin in a surface property measuring machine
ES2916324T3 (en) Procedure for determining an X-Y-Z reference coordinate of a workpiece and machining machine
CN112836558A (en) Mechanical arm tail end adjusting method, device, system, equipment and medium
US10591289B2 (en) Method for measuring an artefact
JP2019045372A (en) Control method of surface texture measurement device
JP7221792B2 (en) Measurement program selection aid and measurement controller
JP2013130508A (en) Three-dimension measurement method, three-dimension measurement program, and robot device
JP5026756B2 (en) Work measuring method and apparatus
TW201932235A (en) Machine tool and method for preparing a machining of a material-removing rotary tool
JP2021000665A (en) Discrimination device, discrimination system and discrimination method for tool corner radius
JPH0914921A (en) Non-contact three-dimensional measuring instrument
CN113165187B (en) Image information processing device, gripping system, and image information processing method
WO2017007492A1 (en) Machine display and machine control systems
CN112247671B (en) Method and device for centering cylinder workpiece
JPH09133512A (en) Optical three dimensional measuring method
JPS6014101A (en) Measuring method of working shape of object to be worked
US20230328372A1 (en) Image processing system and image processing method
KR20180078094A (en) Method for automatically setting robot T.C.P
WO2024048647A1 (en) Evaluation method and evaluation system for electronic pen
WO2022254725A1 (en) Workpiece detection system
RU2674912C1 (en) Method of evaluating the form of the measured surface

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20220314

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20221220

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20221221

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230210

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20230221

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20230317

R150 Certificate of patent or registration of utility model

Ref document number: 7249214

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150