JP2021122874A - Measurement device - Google Patents

Abstract

To provide a measurement device that can measure an object to be measured in a processing chamber with higher degrees of freedom in comparison with a conventional technique.SOLUTION: A measurement device comprises: a cutter holder 21 that can be moved in a processing chamber 12 of a machine tool 10; a robot 28 in the device arranged in the processing chamber 12; a contact sensor 30 that is held by the robot 28 in the device; a joint part 46 whose position with respect to the contact sensor 30 does not change; a plurality of receiving parts 48 whose positions with respect to the cutter holder 21 do not change, and against which the joint part 46 is three-dimensionally pressed; and a controller 32. The controller 32 moves the cutter holder 21 so that the contact sensor 30 approaches the object to be measured while maintaining a state in which the joint part 46 is pressed against the receiving part 48, and calculates a position of a contact point of the contact sensor 30 on the basis of a detected position that is a position of the cutter holder 21 at a timing at which the contac thereof with the object to be measured is detected.SELECTED DRAWING: Figure 2

Description

This specification discloses a measuring device for measuring an object to be measured in a processing chamber of a machine tool.

Conventionally, there has been a demand for highly accurate measurement of the shape of an object to be measured such as a work in a processing chamber of a machine tool. Therefore, conventionally, a contact sensor is attached to a tool holding device (for example, a spindle head, a tool post, etc.) provided in a machining chamber instead of a tool, and the shape of the object to be measured is measured using the contact sensor. The technology is known. For example, Patent Document 1 discloses a technique in which a touch sensor is provided on a turret and the shape of a workpiece is grasped based on the position of the turret at the timing when the touch sensor comes into contact with the workpiece. Here, the tool holding device usually has high positioning accuracy. By attaching a contact sensor to such a tool holding device, it is possible to measure an object to be measured with the same accuracy as the tool holding device.

Japanese Unexamined Patent Publication No. 61-173844

However, when the shape of the object to be measured is complicated, it may not be possible to bring the contact sensor into contact with the measurement site without interfering with the contact sensor and the object to be measured. Such a problem was particularly likely to occur in a three-axis machine having only three control axes. Of course, increasing the number of control axes can alleviate these problems, but in that case, it causes another problem of increasing the size and price of the machine tool.

Therefore, the present specification discloses a measuring device capable of measuring an object to be measured in a processing chamber with a higher degree of freedom as compared with the prior art.

The measuring device disclosed in the present specification is movable in a machining chamber of a machine tool, and includes one or more moving bodies that hold or support a tool or a workpiece, an in-flight robot arranged in the machining chamber, and the in-flight robot. A contact sensor that is held by the device and detects contact with the object to be measured, a joint that is provided at a position where the position with respect to the contact sensor does not change during the measurement period, and a position that does not change with respect to the moving body during the measurement period. A plurality of receiving portions provided at the positions where the joints are to be pressed three-dimensionally, and a controller for controlling the drive of the moving body and the in-flight robot, the controller comprises the joints. While maintaining the state of being pressed against one of the plurality of receiving portions, the moving body is moved so that the contact sensor approaches the object to be measured, and at the timing when contact with the object to be measured is detected. It is characterized in that the position of the contact point of the contact sensor is calculated based on the detection position which is the position of the moving body.

In this case, at least one of the plurality of receiving portions may be a concave portion or a convex portion formed on the moving body.

Further, at least one of the plurality of receiving portions may be a concave portion or a convex portion formed in a receiving component that can be attached to the moving body.

Further, the moving body may be any of a tool post, a spindle head, an opposed spindle base, and a tailstock.

Further, the receiving portion has a pyramid shape including two planes and one apex which are located in different planes and have three planes which can be contacted with the joint at the same time, or which are in contact with the joint at the same time. There may be.

Further, when the controller moves the moving body while maintaining the state in which the joint portion is pressed against the receiving portion, the force output by the moving body is larger than the force output by the in-flight robot. The drive of the moving body and the in-flight robot may be controlled so as to be large.

Further, the controller determines the position of the moving body at the timing when the contact sensor contacts the reference surface or the reference point while maintaining the state in which the joint portion is pressed against one of the plurality of receiving portions. It may be acquired as a reference position, and the position of the contact point may be calculated based on the difference value between the reference position and the detection position and the position of the reference plane or the reference point.

According to the measuring device disclosed in the present specification, the shape of the part to be measured can be measured with the same accuracy as the positioning accuracy of the moving body and with a higher degree of freedom than the moving body.

It is a schematic side view of the machine tool in which the measuring device is incorporated. It is a front view which extracted only the main part of a machine tool. It is an enlarged view of the part A of FIG. It is a figure which shows an example of the shape of the joint part and the receiving part. It is a figure which shows an example of the shape of the joint part and the receiving part. It is a flowchart which shows the electrical structure of a measuring device. It is a figure which shows the state which pressed the joint part against the first receiving part. It is a figure which shows the state that the joint part was pressed against the 2nd receiving part. It is a flowchart which shows the flow of measurement using a measuring device. It is a flowchart which shows the flow of measurement using a measuring device. It is a figure which shows the other structure of the measuring device. It is a figure which shows an example of another machine tool in which a measuring device is incorporated.

Hereinafter, the configuration of the measuring device will be described with reference to the drawings. First, the mechanical configuration of the measuring device will be described with reference to FIGS. 1 to 5. FIG. 1 is a schematic side view of a machine tool 10 in which a measuring device is incorporated. FIG. 2 is a front view showing only a main part of the machine tool 10. Further, FIG. 3 is an enlarged view of part A of FIG. Further, FIGS. 4 and 5 are views showing an example of the shapes of the joint portion 46 and the receiving portion 48, which will be described later. In the following description, the direction parallel to the rotation axis of the spindle is referred to as the Z axis, the direction parallel to the moving direction orthogonal to the Z axis of the tool post 21, is referred to as the X axis, and the directions orthogonal to the X axis and the Z axis are referred to as the Y axis. ..

The machine tool 10 is a lathe that processes a work 50 by applying a tool 26 held by a tool post 21 to a rotating work 50 (not shown in FIG. 1, see FIG. 2). More specifically, the machine tool 10 is a turning center provided with a turret 22 that is NC-controlled and holds a plurality of tools 26.

The periphery of the processing chamber 12 of the machine tool 10 is covered with a cover 14. A large opening is formed on the front surface of the processing chamber 12, and this opening is opened and closed by the door 16. The operator accesses each part in the processing chamber 12 through this opening. During processing, the door 16 provided in the opening is closed. This is to ensure safety and environmental friendliness.

The machine tool 10 includes a spindle device that holds one end of the work 50 so that it can rotate, a tool post 21 that holds the tool 26, and a tailstock 24 that supports the other end of the work 50 (not shown in FIG. 1, FIG. 2). See) and. The spindle device includes a spindle base having a built-in rotary motor and the like, and a spindle 19 attached to the spindle base. The spindle 19 includes a chuck 33 and a collet that detachably hold the work 50, and the work 50 to be held can be replaced as appropriate. Further, the main shaft 19 and the chuck 33 rotate around a rotation axis extending in the horizontal direction (Z-axis direction).

The tailstock 24 is arranged in the Z-axis direction so as to face the main shaft 19, and supports the other end of the work 50 held by the main shaft 19. The tailstock 24 is movable in the Z-axis direction so that it can be brought into contact with and separated from the work 50.

The tool post 21 holds the tool 26. The tool post 21 is movable in a direction parallel to the Z axis, that is, the axis of the work 50. Further, the tool post 21 can move forward and backward in the direction parallel to the X axis, that is, in the radial direction of the work 50. That is, the tool post 21 is movable in the processing chamber 12 and functions as a moving body 20 that holds the tool 26. As is clear from the figure, the X-axis is tilted in the horizontal direction so as to move upward as it goes to the back side when viewed from the opening of the processing chamber 12.

The tool post 21 has a turret 22 on its end face in the Z direction. The turret 22 has a polygonal shape in the Z-axis direction, and can rotate about an axis parallel to the Z-axis. A plurality of tools 26 can be detachably attached to the peripheral surface of the turret 22. Then, by rotating the turret 22, the tool 26 used for machining can be changed. The tool 26 held by the turret 22 may be a turning tool (also referred to as a "tool") used for turning or a rotary tool (also referred to as an "end mill") used for turning. Such a tool 26 is attached to the turret 22 either directly or via a tool holder.

The tool 26 held by the turret 22 moves the tool post 21 in a direction parallel to the Z axis by moving the tool post 21 in a direction parallel to the Z axis. Further, by moving the tool post 21 in the direction parallel to the X axis, the tool 26 held by the turret 22 moves in the direction parallel to the X axis. Then, by moving the tool post 21 in the direction parallel to the X-axis, the cutting amount of the work 50 by the tool 26 and the like can be changed.

In the processing chamber 12, an in-flight robot 28 that functions as a part of the measuring device is further provided. The in-flight robot 28 is a multi-degree-of-freedom robot provided in the processing chamber 12, and is an articulated robot in which a plurality of links 29 are connected via joints. In this example, the in-flight robot 28 is installed on the wall surface of the processing chamber 12, but if the joint portion 46 described later can be pressed against the receiving portion 48, the in-flight robot 28 has its installation location and configuration. May be changed as appropriate. For example, the in-flight robot 28 may be installed on the top surface of the processing chamber 12, the spindle 19, or the like.

A contact sensor 30 is attached to the in-flight robot 28. The contact sensor 30 is a sensor that detects contact with another member. The contact sensor 30 includes, for example, a stylus 30a that comes into contact with an object to be measured, and a sensor (for example, an optical sensor, a pressure sensor, or the like) that detects a mutation in the stylus 30a. The detection result of the contact sensor 30 is output to the controller 32, which will be described later.

Further, in this example, in order to measure the shape of the object to be measured with high accuracy and high degree of freedom, the joint portion 46 and the first and second receiving portions 48a and 48b (hereinafter, when the two are not distinguished, "acceptance" is used. It is called a part 48 ”). The joint portion 46 is a member provided at a position where the position with respect to the contact sensor 30 does not change. Therefore, the joint 46 may be fixed to the contact sensor 30 or the link 29 closest to the contact sensor 30. In the illustrated example, the joint 46 is fixed to the link 29 closest to the contact sensor 30.

The receiving portion 48 is a portion where the joint portion 46 is three-dimensionally pressed, and is a portion provided at a position where the position with respect to the tool post 21 which is the moving body 20 does not change. In this example, the receiving portion 48 is a recess formed in the moving body 20, more specifically, the turret 22 of the tool post 21. Here, "three-dimensionally pressing" means that the positions of the X-axis, the Y-axis, and the Z-axis with respect to the receiving portion 48 in the three-axis directions are fixed by pressing. The shape of the receiving portion 48 is not particularly limited as long as the relative position between the joint portion 46 and the tool post 21 can be kept constant by pressing the joint portion 46 against the joint portion 46. Therefore, as shown in FIG. 4, the receiving portion 48 may have a shape that is located in different planes from each other and has three surfaces that the joint portion 46 can contact at the same time. Further, as another form, as shown in FIG. 5, the receiving portion 48 may have a pyramid shape in which the joining portion 46 has two surfaces and one apex that can be contacted at the same time. Regardless of the shape, by pressing the joint portion 46 against the receiving portion 48, the relative positional relationship between the contact sensor 30 and the tool post 21 is kept constant.

Next, the electrical configuration of the measuring device will be described with reference to FIG. The measuring device includes a moving body 20 which is a tool post 21, an in-flight robot 28, a contact sensor 30 held by the in-flight robot 28, and a controller 32 for controlling the drive thereof. The moving body 20 includes a moving motor 38 that outputs power for moving the moving body 20 and a position sensor 40 that detects the position of the moving body 20. The moving motor 38 is provided for each control axis of the moving body 20. Therefore, when the moving body 20 can move in the three axial directions, three moving motors 38 are provided. The drive of the mobile motor 38 is controlled by the controller 32.

Further, the position sensor 40 may also be provided for each control axis of the moving body 20. The position sensor 40 may detect the absolute position of the moving body 20 or the moving motor 38, or may detect the amount of movement. As the position sensor 40, for example, a rotary encoder or a linear encoder can be used. The detection result of the position sensor 40 is output to the controller 32.

Further, the in-flight robot 28 is provided with a robot actuator 42 for driving a plurality of links 29. The drive of the robot actuator 42 is also controlled by the controller 32. Further, the in-flight robot 28 is provided with a position sensor 44 that detects the position and posture of each link 29. The detection result of the position sensor 44 is also output to the controller 32. Further, the detection result of the contact sensor 30 held by the in-flight robot 28 is also output to the controller 32.

The controller 32 controls the drive of each part of the machine tool 10. The controller 32 has, for example, a processor 34 that performs various operations and a memory 36 that stores various control programs and control parameters. Further, the controller 32 has a communication function, and can exchange various data, for example, NC program data, and the like with other devices. The controller 32 may include, for example, a numerical control device that calculates the positions of the tool 26 and the work 50 at any time. Further, the controller 32 may be a single device or may be configured by combining a plurality of arithmetic units.

The controller 32 controls the drive of the mobile motor 38 or the robot actuator 42 based on the detection results of the position sensors 40 and 44. When the contact sensor 30 detects contact with another member, the controller 32 reads the position of the moving body 20 at that time, and based on the obtained position of the moving body 20, the coordinates of the contact point. Is calculated.

The principle of measuring the shape of the object to be measured, for example, the work 50 with the above-mentioned measuring device will be described. When measuring the shape of the work 50, first, the in-flight robot 28 and the tool post 21 are moved to press the joint portion 46 against the receiving portion 48. FIG. 7 is a diagram showing a state in which the joint portion 46 is pressed against the first receiving portion 48a.

In this state, the controller 32 moves the moving body 20 so that the contact sensor 30 comes into contact with the measurement site while maintaining the state in which the joint portion 46 is pressed against the receiving portion 48. That is, in the controller 32, the force for moving the tool post 21 is larger than the force for the in-flight robot 28 to press the joint portion 46 against the receiving portion 48, and the moving speed of the tip of the in-flight robot 28 is set to the tool post. The drive of the tool post 21 and the in-flight robot 28 is controlled so as to be slightly slower than the moving speed of 21. If the state in which the joint portion 46 is pressed against the receiving portion 48 is maintained in this way, the relative position of the contact sensor 30 with respect to the tool post 21 is kept constant, and the amount of movement of the contact sensor 30 is reduced to the tool post 21. Is equal to the amount of movement of.

In this state, when the contact sensor 30 detects contact with the measurement site, the controller 32 acquires the position of the tool post 21 detected by the position sensor 40 as the detection position at the detection timing, and this detection The position of the measurement site (more accurately, the contact point where the contact sensor 30 contacts the measurement site) is calculated based on the position.

In the initial state, the absolute position of the contact sensor 30 is unknown. Therefore, prior to the contact with the measurement site, a reference point or a reference plane is set in advance with the machine tool 10 or the work 50 as a reference. Specifically, the contact sensor 30 is brought into contact with a reference point or a reference surface provided on the machine tool 10 or the work 50 while maintaining the state in which the joint portion 46 is pressed against the receiving portion 48. The controller 32 reads the position of the tool post 21 when the contact sensor 30 comes into contact with the reference point or the reference surface, and stores the position in the memory 36 as the reference position. The amount of movement of the tool post 21 from this reference position (that is, the difference value between the reference position and the detection position) becomes the amount of movement of the contact sensor 30 from the reference point or the reference surface, and at the position of the reference point or the reference surface, The value obtained by adding this movement amount is the absolute position of the contact sensor 30.

Here, the reference point or reference plane is a point or plane that serves as a reference for measurement. This reference point or reference plane is appropriately set according to the part to be measured, the dimensions, and the like. For example, when it is desired to measure the axial dimension of the work 50, the end face of the chuck 33 or a surface of the machined work 50 that serves as a reference for the axial dimension is set as a reference plane. When it is difficult to bring the contact sensor 30 into direct contact with the reference point or the reference surface, the contact sensor 30 may be brought into contact with a point or surface whose position with respect to the reference point or the reference surface is known. For example, when it is desired to measure the radial dimension of the work 50, the rotation center point of the spindle 19 becomes a reference point, but it is difficult to bring the contact sensor 30 into contact with the rotation center. In such a case, the contact sensor 30 may be brought into contact with three points on the outer peripheral surface of the chuck 33, and the center of the circle passing through these three points may be acquired as the rotation center of the spindle 19, and thus as the reference point.

Here, when the shape of the work 50 is complicated, a portion that cannot be measured is generated unless the posture of the contact sensor 30 is changed. For example, in a state where the joint portion 46 is pressed against the first receiving portion 48a, the contact sensor 30 interferes with the work 50 even if the contact sensor 30 is brought into contact with the vicinity of the portion B in FIG. Therefore, the controller 32 switches the receiving portion 48 against which the joining portion 46 is pressed, if necessary. For example, when it is desired to measure the vicinity of the portion B in FIG. 7, the controller 32 presses the junction 46 against the second receiving portion 48b instead of the first receiving portion 48a.

FIG. 8 is a diagram showing a state in which the joint portion 46 is pressed against the second receiving portion 48b. As shown in FIG. 8, by pressing the joint portion 46 against the second receiving portion 48b, the posture of the contact sensor 30 changes, and contact with the vicinity of the portion B becomes possible. Then, when the contact sensor 30 comes into contact with the work 50, the controller 32 calculates the position of the measurement portion based on the detection position which is the position of the tool post 21 at that time.

When the receiving unit 48 to be pressed is switched, the above-mentioned reference point may be set again. Further, as another form, instead of resetting the reference point, the amount of change in the position of the contact sensor 30 due to the switching of the receiving portion 48 to be pressed is stored in advance, and the amount of change is taken into consideration for measurement. The position of the site may be calculated.

As is clear from the above description, in this example, a plurality of receiving portions 48 are formed on the tool post 21 (that is, the moving body 20), and the receiving portions 48 that press the joint portion 46 are switched as necessary. The reason for adopting such a configuration will be described. Conventionally, when measuring the shape of an object to be measured such as a work 50 in a machining chamber 12, a technique of attaching a contact sensor 30 to a tool holding device such as a tool post 21 instead of a tool 26 has been known. There is. In the case of such a technique, the shape of the object to be measured can be measured with high accuracy as high as the positioning accuracy of the tool holding device.

However, since the tool holding device such as the tool post 21 often has a low degree of freedom of movement, when the shape of the object to be measured is complicated, the tool holding device or the contact sensor 30 interferes with the object to be measured, which is necessary. In some cases, it was not possible to measure various points. Of course, a tool holding device having five control axes, such as a five-axis machine, can handle complicated shapes. However, such a 5-axis machine is very expensive.

Therefore, it is conceivable to attach the contact sensor 30 to the in-flight robot 28 instead of the tool holding device, and change the position and posture of the contact sensor 30 only by the in-flight robot 28. The in-flight robot 28 can greatly improve the degree of freedom of measurement as compared with the tool holding device. However, in general, the in-flight robot 28 has lower positioning accuracy than the tool holding device such as the tool post 21. Therefore, if the position and orientation of the contact sensor 30 are changed only by the in-flight robot 28, the shape measurement accuracy may decrease.

On the other hand, in this example, as described above, the contact sensor 30 is moved by moving the tool post 21 while maintaining the state in which the joint portion 46 is pressed against the receiving portion 48 of the tool post 21 (that is, the moving body 20). I'm moving. In this case, the position detection accuracy of the contact sensor 30 is about the same as the positioning accuracy of the tool post 21, and the shape can be measured with high accuracy. Further, in this example, a plurality of receiving portions 48 are formed on the tool post 21, and the receiving portions 48 that press the joint portion 46 are switched as needed. As a result, the posture of the contact sensor 30 can be changed as appropriate, and the degree of freedom of measurement can be improved as compared with the technique of attaching the contact sensor 30 to the tool post 21 or the like.

Next, the flow of measurement using this measuring device will be described with reference to FIGS. 9 and 10. When measuring a specific measurement site, first, the receiving unit 48 to be used is selected based on the position and shape of the measurement site (S10). The selection of the receiving unit 48 may be determined by the operator based on experience or the like, or may be automatically determined by the controller 32. Once the acceptor 48 to be used is determined, the controller 32 drives the robot to press the acceptor 48 against the selected junction 46 (S12).

In this state, the controller 32 sets the reference point or the reference plane (hereinafter referred to as “reference point or the like”) (S14 to S18). Specifically, the controller 32 moves the moving body 20 so that the contact sensor 30 faces the reference point or the like while maintaining the state in which the joint portion 46 is pressed against the receiving portion 48 (S14). Then, if the contact sensor 30 detects contact with the reference point or the like (Yes in S16), the controller 32 acquires the position of the moving body 20 at that time as the reference position and stores it in the memory 36 (S18). ). As a result, the reference point and the like are set.

Next, the controller 32 moves the moving body 20 so that the contact sensor 30 faces the measurement site while maintaining the state in which the joint portion 46 is pressed against the receiving portion 48 (S20). Then, if the contact sensor 30 detects contact with the contact portion (Yes in S22), the controller 32 temporarily stores the position of the moving body 20 at that time in the memory 36 as the detection position (S24). After that, the controller 32 calculates the position of the contact point of the contact sensor 30 based on the difference between the detection position and the reference position and the position of the reference point or the like (S26).

Then, if there is a next measurement site (Yes in S28), the receiving unit 48 is selected based on the position and shape of the measurement site (S30). As a result of the selection, if it is necessary to change the receiving unit 48 (Yes in S32), the process returns to step S12 and restarts from the setting of the reference point and the like. On the other hand, when it is not necessary to change the receiving unit 48 (No in S32), the process returns to step S20 and the contact sensor 30 is brought closer to the measurement site. Then, when the measurement of all the measurement parts is completed, the process is completed.

The configuration described so far is an example, and may be changed as appropriate. For example, in the above description, the receiving portion 48 is directly formed on the tool post 21 which is the moving body 20, but if the position with respect to the moving body 20 does not change during the measurement period, the receiving portion 48 may be used. It may be formed at other sites. For example, as shown in FIG. 11, a plurality of receiving parts 52 held by the turret 22 may be prepared instead of the tool 26, and the receiving part 48 may be formed on the receiving parts 52. Further, both the receiving portion 48 directly formed on the moving body 20 and the receiving portion 48 formed on the receiving component 52 mounted on the moving body may be present at the same time.

Further, if two or more receiving portions 48 are provided, their positions, numbers, and shapes may be appropriately changed. Therefore, the receiving portion 48 may be a convex portion instead of a concave portion. In this case, the joint portion 46 may be a concave portion into which the convex portion fits. Further, in the description so far, the tool post 21 is a moving body 20, but if the moving body 20 is movable in the processing chamber 12 and holds or supports the tool 26 or the work 50, Other members may be used. For example, as shown in FIG. 2, the tailstock 24 may be used as the moving body 20 and the receiving portion 48 may be formed on the tailstock 24.

Further, although the turning center has been described as an example of the machine tool 10 so far, the technique disclosed in the present specification may be applied to another type of machine tool 10. For example, as shown in FIG. 12, some machine tools 10 have an opposed spindle 56 that faces the spindle 19 and is movable in the Z-axis direction with respect to the spindle 19. In such a case, the opposed spindle 56 may be set as the moving body 20, and a plurality of receiving portions 48 (only one is shown in FIG. 12) may be formed on the opposed spindle 56. Further, some machine tools 10 have a spindle head 54 including a tool spindle that holds the tool 26 so that it can rotate on its axis. In this case, the spindle head 54 may be set as the moving body 20, and a plurality of receiving portions 48 (only one is shown in FIG. 12) may be formed on the spindle head 54.

10 Machine tools, 12 machining chambers, 14 covers, 16 doors, 19 spindles, 20 moving bodies, 21 tool post, 22 turrets, 24 tailstocks, 26 tools, 28 in-flight robots, 29 links, 30 contact sensors, 30a stylus, 32 Controller, 33 Chuck, 34 Processor, 36 Memory, 38 Mobile Motor, 40 Position Sensor, 42 Robot Actuator, 44 Position Sensor, 46 Joint, 48 Receptor, 50 Work, 52 Receptor, 54 Spindle Head, 56 Opposed Spindle The stand.

Claims (7)

One or more moving objects that are movable in the machining chamber of a machine tool and hold or support a tool or workpiece.
The in-flight robot placed in the processing room and
A contact sensor that is held by the in-flight robot and detects contact with the object to be measured, and
A joint provided at a position where the position with respect to the contact sensor does not change during the measurement period,
A plurality of receiving portions provided at positions where the positions with respect to the moving body do not change during the measurement period, and the joint portions are three-dimensionally pressed against each other.
A controller that controls the drive of the moving body and the in-flight robot,
The controller moves the moving body so that the contact sensor approaches the object to be measured while maintaining the state in which the joint is pressed against one of the plurality of receiving portions. The position of the contact point of the contact sensor is calculated based on the detection position which is the position of the moving body at the timing when the contact with an object is detected.
A measuring device characterized by this. The measuring device according to claim 1.
A measuring device, characterized in that at least one of the plurality of receiving portions is a concave portion or a convex portion formed on the moving body. The measuring device according to claim 1 or 2.
A measuring device characterized in that at least one of the plurality of receiving portions is a concave portion or a convex portion formed in a receiving component that can be attached to the moving body. The measuring device according to any one of claims 1 to 3.
A measuring device characterized in that the moving body is any one of a tool post, a spindle head, an opposed spindle base, and a tailstock. The measuring device according to any one of claims 1 to 4.
The receptor is a pyramid that is located in different planes and has three planes that can contact the joint at the same time, or that includes two planes and one apex that are in contact with the joint at the same time. A measuring device characterized by this. The measuring device according to any one of claims 1 to 5.
When the controller moves the moving body while maintaining the state in which the joint portion is pressed against the receiving portion, the force output by the moving body becomes larger than the force output by the in-flight robot. As described above, a measuring device for controlling the driving of the moving body and the in-flight robot. The measuring device according to any one of claims 1 to 6.
The controller uses the position of the moving body as a reference position at the timing when the contact sensor comes into contact with the reference surface or the reference point while maintaining the state in which the joint portion is pressed against one of the plurality of receiving portions. The measuring device is characterized in that the position of the contact point is calculated based on the difference value between the reference position and the detection position and the position of the reference surface or the reference point.

Images