JP6862133B2 - Cutting machine - Google Patents

Description

The present invention relates to a cutting machine.

Conventionally, a cutting machine that cuts a work piece with a rotating processing tool has been known. In this type of cutting machine, for example, Patent Document 1 discloses a cutting machine including a cutting portion for cutting a work piece and a holding part for holding the work piece.

Further, this type of cutting machine is provided with a moving mechanism for moving the cutting portion in a three-dimensional direction relative to the holding portion. By this moving mechanism, the relative positional relationship between the workpiece held by the holding portion and the cutting portion is changed in three dimensions, and the part of the workpiece to be cut by the cutting portion is appropriately changed. Therefore, the workpiece can be cut into a desired shape.

Japanese Unexamined Patent Publication No. 2013-121466

By the way, some cutting machines of this type are provided with a rotation mechanism in which a work piece is sandwiched between two members and the work piece is rotated about a predetermined rotation axis. Such a rotation mechanism is attached to the main body of a cutting machine or the like. The cutting machine cuts the work piece by rotating the work piece by a rotation mechanism and appropriately changing the part of the work piece to be cut by the cutting portion.

However, if at least a part of the members constituting the rotating mechanism is attached to the main body of the cutting machine at a position slightly deviated from an appropriate position, an error in assembling the rotating mechanism to the cutting machine occurs. It is possible that there is. When such an assembly error of the rotation mechanism occurs, the rotation axis of the rotation mechanism is displaced, so that there is a possibility that the workpiece cannot be cut into a desired shape.

The present invention has been made in view of this point, and an object of the present invention is to prevent the workpiece from being cut into a desired shape due to an assembly error of the rotation mechanism. To provide a cutting machine.

The cutting machine according to the present invention includes a main body, a cutting head, a rotating mechanism, a moving mechanism, and a control device. The cutting head has a grip portion capable of gripping one of a machining tool and a detection tool. The rotation mechanism includes a first clamp and a second clamp that sandwich one of the workpiece and the detection jig, and a motor that rotates the first clamp. The moving mechanism moves the grip portion in a three-dimensional direction relative to the rotating mechanism. The control device controls the moving mechanism. The rotation mechanism is set with a rotation shaft that rotates a member sandwiched between the first clamp and the second clamp. A first reference point and a second reference point are set on the rotation axis. The control device includes a storage unit, a first reference point detection unit, a second reference point detection unit, a rotation axis offset calculation unit, and a movement control unit. The storage unit stores the rotation axis design position, which is the design position of the rotation axis. The first reference point detection unit controls the movement mechanism so that the detection tool gripped by the grip portion is brought into contact with the detection jig sandwiched between the first clamp and the second clamp. Then, the actual position of the first reference point is detected. The second reference point detection unit controls the movement mechanism so that the detection tool gripped by the grip portion is brought into contact with the detection jig sandwiched between the first clamp and the second clamp. Then, the actual position of the second reference point is detected. The rotation axis offset calculation unit calculates the actual position of the rotation axis, which is the actual position of the rotation axis, based on the first reference point and the second reference point, and the actual position of the rotation axis and the rotation axis The rotation axis offset, which is the correction value of the rotation axis, is calculated by comparing with the design position. The movement control unit controls the movement mechanism based on the rotation axis offset.

According to the cutting machine, the actual position of the first reference point on the rotation axis of the rotation mechanism and the actual position of the second reference point on the rotation axis are detected. From the two points, the first reference point and the second reference point, the position such as the actual inclination of the rotation axis of the rotation mechanism can be obtained. Therefore, the assembly error of the rotation mechanism can be calculated from the first reference point and the second reference point, and the rotation axis offset, which is the correction value of the rotation axis, can be calculated. Therefore, when cutting, by controlling the movement mechanism in consideration of the rotation axis offset, even if the rotation axis of the rotation mechanism is deviated, the grip portion of the cutting head is adjusted in consideration of the deviation. It can be moved in a three-dimensional direction with respect to the rotation mechanism. As a result, the workpiece can be cut into a desired shape even when an assembly error of the rotation mechanism occurs.

According to the present invention, it is possible to provide a cutting machine capable of suppressing the inability to cut a workpiece into a desired shape due to an assembly error of the rotation mechanism.

It is a perspective view of the cutting machine which concerns on embodiment. It is a perspective view which shows the cutting machine which shows the state which the front cover is omitted. It is a top view of the rotation mechanism. It is a front view of the rotation mechanism. It is a plan view of a magazine. It is a front view of a magazine. It is a block diagram of a cutting machine. It is a block diagram of a control device. It is a block diagram of a control device. It is a flowchart which showed the procedure of calculating the rotation axis offset. It is a flowchart which showed the procedure of calculating an eccentricity offset. It is a flowchart which showed the procedure of adjusting the inclination of the 1st clamp when the rotation angle of the 1st clamp is 0 °. It is sectional drawing of the detection jig in the cross section of XIII-XIII of FIG. It is sectional drawing of the detection jig in the cross section of XIV-XIV of FIG. It is a flowchart which showed the procedure for detecting the 1st reference point and the 2nd reference point. It is a flowchart which showed the procedure of correcting the rotation amount of the 1st clamp. It is sectional drawing of the 1st clamp in the cross section of XVII-XVII of FIG.

Hereinafter, the cutting machine according to the embodiment of the present invention will be described with reference to the drawings. It should be noted that the embodiments described here are, of course, not intended to particularly limit the present invention. In addition, members and parts that perform the same action are designated by the same reference numerals, and duplicate explanations will be omitted or simplified as appropriate.

FIG. 1 is a perspective view of the cutting machine 100 according to the present embodiment. FIG. 2 is a perspective view of the cutting machine 100 showing a state in which the front cover 20 is omitted. In the following description, when the cutting machine 100 is viewed from the front, the side away from the cutting machine 100 is referred to as the front, and the side approaching the cutting machine 100 is referred to as the rear. The terms left, right, top, and bottom mean left, right, top, and bottom when the cutting machine 100 is viewed from the front. Further, the symbols F, Rr, L, R, U, and D in the drawing mean front, back, left, right, top, and bottom, respectively. However, the above-mentioned direction is merely a direction determined for convenience of explanation, and does not limit the installation mode of the cutting machine 100 at all, nor does it limit the present invention at all. Further, the reference numeral X in the drawing indicates the left-right direction. Reference numeral Y indicates a front-back direction. Reference numeral Z indicates a vertical direction. In the present embodiment, the positions of the parts and the like constituting the cutting machine 100 are represented by the coordinates of the XYZ Cartesian coordinate system. Here, the left-right direction X is the X-axis direction, the left side is the minus side of the X-axis, and the right side is the plus side of the X-axis. The front-rear direction Y is the Y-axis direction, the front side is the minus side of the Y-axis, and the rear side is the plus side of the Y-axis. The vertical direction Z is the Z-axis direction, the lower side is the negative side of the Z-axis, and the upper side is the positive side of the Z-axis. The X-axis direction, the Y-axis direction, and the Z-axis direction are not particularly limited, and can be appropriately set according to the form of the cutting machine 100.

As shown in FIG. 2, the cutting machine 100 rotates the machining tool 6 to cut the workpiece 5 to be cut. In this embodiment, the cutting machine 100 is formed in a box shape. As shown in FIG. 1, the cutting machine 100 includes a main body 10, a front cover 20, and an operation panel 25. As shown in FIG. 2, the main body 10 has a space inside, and the front portion of the main body 10 is open. In the present embodiment, the main body 10 includes a base portion 11, a front wall portion 12, a rear wall portion 13, a left wall portion 14, and a right wall portion 15. The base portion 11 is a plate-shaped member. The front wall portion 12 extends upward from the front end of the base portion 11. The rear wall portion 13 extends upward from the rear end of the base portion 11. The left wall portion 14 extends upward from the left end of the base portion 11. The lower part of the front end of the left wall portion 14 is connected to the left end of the front wall portion 12, and the rear end of the left wall portion 14 is connected to the left end of the rear wall portion 13. The right wall portion 15 extends upward from the right end of the base portion 11. The lower part of the front end of the right wall portion 15 is connected to the right end of the front wall portion 12, and the rear end of the right wall portion 15 is connected to the right end of the rear wall portion 13.

As shown in FIG. 1, the front cover 20 is provided with an opening at the front portion of the main body 10 so as to be openable and closable. For example, the front cover 20 is supported by the main body 10 so as to be rotatable around the rear end. The front cover 20 may be provided with a window portion 21 for visually observing the space inside the main body 10. The window portion 21 is formed of, for example, a transparent acrylic plate.

The operation panel 25 is provided at the central portion of the front wall portion 12 for the user to perform operations related to cutting. The operation panel 25 is provided with, for example, a display unit 25a for displaying information related to cutting such as the time required for cutting and a cutting status, and an input unit 25b for inputting information related to cutting by the user.

Next, the internal configuration of the cutting machine 100 will be described. As shown in FIG. 2, the cutting machine 100 includes a pair of first guide rails 30, a carriage 32, a cutting head 40, a table 50, a rotation mechanism 60, a magazine 70, and a control device 80 (FIG. 7). See) and.

The pair of first guide rails 30 guide the cutting head 40 in the left-right direction X. In this embodiment, two first guide rails 30 are arranged in the main body 10. The pair of first guide rails 30 are arranged side by side in the vertical direction Z, and are members extending in the horizontal direction X, respectively. The right ends of the pair of first guide rails 30 are connected to the left wall portion 14, respectively. The left ends of the pair of first guide rails 30 are connected to the right wall portion 15, respectively. The number of the first guide rails 30 is not particularly limited. For example, the number of the first guide rails 30 may be one.

The carriage 32 is slidably provided with respect to the pair of first guide rails 30. The carriage 32 is engaged with a pair of first guide rails 30. The carriage 32 can move in the left-right direction X along the two first guide rails 30. In the present embodiment, the first motor 32A (see FIG. 7) is connected to the carriage 32. The carriage 32 moves in the left-right direction X by receiving the driving force of the first motor 32A.

In the present embodiment, the carriage 32 includes a carriage case 34, a pair of second guide rails 35, and a sliding member 36 (see FIG. 7). The carriage case 34 is engaged with a pair of first guide rails 30. The carriage case 34 has a space inside. The pair of second guide rails 35 are members extending in the vertical direction Z, and are provided in the space inside the carriage case 34. Although not shown, the sliding member 36 of FIG. 7 is engaged with a pair of second guide rails 35. The sliding member 36 can move in the vertical direction Z along the pair of second guide rails 35. In the present embodiment, as shown in FIG. 7, the second motor 36A is connected to the sliding member 36. The sliding member 36 moves in the vertical direction Z in response to the driving force of the second motor 36A. Although not shown, the sliding member 36 is provided with a cutting head 40.

As shown in FIG. 2, the cutting head 40 cuts the workpiece 5 by using the machining tool 6. The cutting head 40 also uses the detection tool 7 to detect the actual position of the magazine 70. In the present embodiment, the machining tool 6 is used when cutting the workpiece 5, and has a cutting tool portion at the lower portion. The detection tool 7 detects the position of a portion constituting the cutting machine 100 such as the magazine 70, and has a smooth surface without a cutting tool portion at the lower portion.

The cutting head 40 moves in the left-right direction X along the pair of first guide rails 30 as the carriage 32 moves in the left-right direction X. Further, the cutting head 40 moves in the vertical direction Z along the pair of second guide rails 35 as the sliding member 36 (see FIG. 7) moves in the vertical direction Z. In the present embodiment, the cutting head 40 includes a grip portion 42 and a spindle 44.

The grip portion 42 can grip one of the machining tool 6 and the detection tool 7. Although not shown here, the grip portion 42 is composed of a plurality of members arranged in the horizontal direction, and by sandwiching the upper end portion of the machining tool 6 between these plurality of members, the grip portion 42 can be formed by the machining tool. It becomes possible to grasp any of 6 and the detection tool 7. In this embodiment, a spindle 44 is provided at the upper end of the grip portion 42.

The spindle 44 rotates the machining tool 6 or the detection tool 7 gripped by the grip portion 42. Specifically, the spindle 44 rotates the grip portion 42 to rotate either the processing tool 6 or the detection tool 7 gripped by the grip portion 42 about the rotation axis. Here, the rotation axis is the vertical direction Z, that is, the Z-axis direction. In the present embodiment, the spindle 44 is connected to a third motor 44A (see FIG. 7) that rotates the spindle 44. The spindle 44 rotates under the driving force of the third motor 44A. Then, as the spindle 44 rotates, either the processing tool 6 or the detection tool 7 gripped by the grip portion 42 rotates. Although not shown, the spindle 44 is provided on a sliding member 36 (see FIG. 7) slidably provided on the pair of second guide rails 35. The spindle 44 is rotatably provided with respect to the sliding member 36. Here, as the sliding member 36 moves in the vertical direction Z, the grip portion 42 of the cutting head 40, the processing tool 6 or the detection tool 7 gripped by the grip portion 42, and the spindle 44 move in the height direction. Move to Z.

The table 50 is to which the rotation mechanism 60 is attached. Further, the table 50 is provided with a magazine 70. The table 50 is arranged in the main body 10. The table 50 is arranged below the cutting head 40.

In the present embodiment, the table 50 is configured to be movable in the front-rear direction Y. Although not shown here, the base portion 11 is provided with a pair of rails extending in the front-rear direction Y. The table 50 is slidably provided with respect to the pair of rails. In this embodiment, as shown in FIG. 4, a fourth motor 50A is connected to the table 50. It moves in the front-rear direction Y by receiving the driving force of the fourth motor 50A.

Next, the rotation mechanism 60 will be described. At the time of cutting, the rotation mechanism 60 is a mechanism for rotating the workpiece 5 while supporting it. The rotation mechanism 60 is detachably provided on the table 50. FIG. 3 is a plan view of the rotation mechanism 60. FIG. 4 is a front view of the rotation mechanism 60. In the present embodiment, as shown in FIG. 3, the rotation mechanism 60 includes a rotation mechanism main body 61, a pair of third guide rails 63, a first clamp 65, and a second clamp 67.

As shown in FIG. 4, the rotation mechanism main body 61 has a bottom plate 61a, a left support member 61b, and a right support member 61c. The bottom plate 61a is a rectangular plate. The bottom plate 61a is arranged on the table 50. The left support member 61b extends upward from the bottom plate 61a. The right support member 61c is fixed to the right end of the bottom plate 61a and extends upward from the right end of the bottom plate 61a.

As shown in FIG. 3, the pair of third guide rails 63 are members extending in the left-right direction X, and are arranged side by side in the front-rear direction Y. The left ends of the pair of third guide rails 63 are connected to the left support member 61b, respectively. The right ends of the pair of third guide rails 63 are connected to the right support member 61c, respectively. In the present embodiment, the pair of third guide rails 63 are slidably provided with sliders 68.

The first clamp 65 and the second clamp 67 hold the workpiece 5. The workpiece 5 is held by sandwiching the workpiece 5 between the first clamp 65 and the second clamp 67. In addition, in FIGS. 3 and 4, the first clamp 65 and the second clamp 67 hold the detection jig 4. The detection jig 4 is used when detecting the actual position of the rotation mechanism 60. Here, the detection jig 4 has a cylindrical shape. The cross-sectional shape of the detection jig 4 is circular.

In the present embodiment, the first clamp 65 is rotatably provided on the left support member 61b of the rotation mechanism main body 61. The second clamp 67 is rotatably provided on a slider 68 slidably provided on the pair of third guide rails 63. Here, the distance between the first clamp 65 and the second clamp 67 can be changed by moving the second clamp 67 along the pair of third guide rails 63. Therefore, by changing the distance between the first clamp 65 and the second clamp 67 according to the length of the workpiece 5 in the left-right direction X, the workpieces 5 of various sizes can be transferred to the first clamp 65 and the first clamp 65. It can be held by the second clamp 67.

In the present embodiment, the first clamp 65 rotates about the left-right direction X, that is, the rotation axis extending in the X-axis direction. Here, a fifth motor 65A that rotates the first clamp 65 is connected to the first clamp 65. However, the fifth motor 65A may be connected to the second clamp 67 to rotate the second clamp 67. Here, the first clamp 65 is rotated by driving the fifth motor 65A. Then, as the first clamp 65 rotates, the workpiece 5 held by the first clamp 65 and the second clamp 67 rotates about a rotation axis extending in the X-axis direction. The second clamp 67 rotates together with the workpiece 5 as the first clamp 65 rotates.

Next, the magazine 70 will be described. FIG. 5 is a plan view of the magazine 70. FIG. 6 is a front view of the magazine 70. As shown in FIG. 6, the magazine 70 can accommodate the detection tool 7 and a plurality of processing tools 6. As shown in FIG. 2, the magazine 70 is arranged in the main body 10 and is provided on the table 50. As shown in FIG. 5, the magazine 70 has a magazine main body 72, a plurality of stockers 74, a tool sensor 76, a first protrusion 78a, and a second protrusion 78b. The magazine body 72 is formed in a box shape.

One of the machining tool 6 and the detection tool 7 is housed in the plurality of stockers 74. In the present embodiment, a hole is formed on the upper surface of the magazine body 72, and the hole is the stocker 74. The plurality of stockers 74 are arranged side by side in the left-right direction X, but the positions of the plurality of stockers 74 are not particularly limited. In the present embodiment, the number of stockers 74 is six, and the magazine 70 according to the present embodiment can accommodate a total of six processing tools 6 and detection tools 7. However, the number of stockers 74 is not particularly limited, and may be, for example, seven or more.

The tool sensor 76 detects whether or not the machining tool 6 or the detection tool 7 is gripped by the grip portion 42 of the cutting head 40. By detecting that the machining tool 6 or the detection tool 7 is in contact with the tool sensor 76, it is confirmed whether or not the machining tool 6 or the detection tool 7 is gripped by the grip portion 42. The method by which the tool sensor 76 detects the contact of the processing tool 6 or the detection tool 7 is not particularly limited. For example, in this embodiment, the tool sensor 76 has a cylindrical shape. A convex portion is provided on the upper surface of the tool sensor 76. The convex portion is formed so as to project upward from the upper surface of the magazine body 72. A contact sensor (not shown) having a switch 76a that can be mechanically switched on and off is provided on the convex portion of the tool sensor 76. In this contact sensor, for example, the upper surface of the switch 76a is slightly displaced by a minute load to mechanically switch on and off in the switch 76a. The contact of the machining tool 6 or the detection tool 7 is detected by switching the switch 76a on or off. In the present embodiment, the tool sensor 76 is provided at a portion of the magazine body 72 on the left side of the portion where the stocker 74 is formed. However, the position of the tool sensor 76 is not particularly limited. For example, the tool sensor 76 may be provided at a portion of the magazine body 72 to the right of the portion of the magazine body 72 on which the stocker 74 is formed.

The first protrusion 78a and the second protrusion 78b are protrusions used when detecting the actual position of the magazine 70. In the present embodiment, as shown in FIG. 6, the first protrusion 78a and the second protrusion 78b are provided on the upper surface of the magazine main body 72, and project upward from the upper surface of the magazine main body 72. The positions of the first protrusion 78a and the second protrusion 78b are not particularly limited. In the present embodiment, as shown in FIG. 5, the first protrusion 78a is located to the left of the second protrusion 78b. Specifically, the first protrusion 78a is located to the left of the plurality of stockers 74 in a plan view. Further, the first protrusion 78a is located to the right of the tool sensor 76 in a plan view. That is, the first protrusion 78a is arranged between the tool sensor 76 and the leftmost stocker 74 among the plurality of stockers 74 in a plan view. The second protrusion 78b is located to the right of the plurality of stockers 74 in a plan view. A plurality of stockers 74 are arranged between the first protrusion 78a and the second protrusion 78b. In the present embodiment, the plurality of stockers 74, the tool sensor 76, the first protrusion 78a, and the second protrusion 78b are arranged side by side in the left-right direction X in a plan view. As shown in FIG. 6, the height of the upper surface of the first protrusion 78a and the height of the upper surface of the second protrusion 78b are the same. The first protrusion 78a and the second protrusion 78b each have a cylindrical shape. In the present embodiment, the first protrusion 78a is an example of the "protrusion" of the present invention.

FIG. 7 is a block diagram of the cutting machine 100. As shown in FIGS. 2 and 7, in the present embodiment, the first motor 32A connected to the carriage 32 is driven, and the carriage 32 and the cutting head 40 provided on the carriage 32 move in the left-right direction X. As a result, the machining tool 6 or the detection tool 7 gripped by the grip portion 42 of the cutting head 40 moves in the left-right direction X relative to the rotation mechanism 60. The second motor 36A connected to the sliding member 36 is driven, and the sliding member 36 and the cutting head 40 provided on the sliding member 36 move in the vertical direction Z to be gripped by the grip portion 42. The machined tool 6 or the detection tool 7 moves in the vertical direction Z relative to the rotation mechanism 60. Further, the fourth motor 50A connected to the table 50 is driven to move the table 50 and the rotation mechanism 60 attached to the table 50 in the front-rear direction Y, so that the processing tool gripped by the grip portion 42 The 6 or the detection tool 7 moves in the front-rear direction X relative to the rotation mechanism 60. In the present embodiment, the first motor 32A, the second motor 36A, and the fourth motor 50A are collectively referred to as a moving mechanism 90. In other words, the moving mechanism 90 has a first motor 32A, a second motor 36A, and a fourth motor 50A, and the grip portion 42 of the cutting head 40 is three-dimensionally relative to the rotating mechanism 60. It is a mechanism that moves in a direction.

Next, the control device 80 according to the present embodiment will be described. The control device 80 is a device that controls the cutting process and detects the actual position of the rotation mechanism 60. The control device 80 is provided on the main body 10 of the cutting machine 100. However, the position of the control device 80 is not particularly limited. Further, the configuration of the control device 80 is not particularly limited. For example, the control device 80 is composed of a microcomputer, and includes a central processing unit (hereinafter, referred to as a CPU), a ROM that stores a program executed by the CPU, a RAM, and the like. Here, the program stored in the microcomputer is used to control the cutting process and adjust the position of each member.

In this embodiment, as shown in FIG. 7, the control device 80 is connected to the operation panel 25. When the user operates the operation panel 25, a signal is transmitted from the operation panel 25 to the control device 80. The control device 80 controls the cutting process based on the signal received from the operation panel 25. The control device 80 is connected to the first motor 32A connected to the carriage 32. The control device 80 controls the movement of the carriage 32 and the cutting head 40 in the left-right direction Y by controlling the drive of the first motor 32A. The control device 80 is connected to a second motor 36A connected to a sliding member 36 provided with a cutting head 40. The control device 80 controls the movement of the cutting head 40 in the vertical direction Z by controlling the drive of the second motor 36A. The control device 80 is connected to a third motor 44A connected to the spindle 44. The control device 80 controls the rotation of the machining tool 6 or the detection tool 7 gripped by the spindle 44 and the grip portion 42 by controlling the drive of the third motor 44A.

The control device 80 is connected to the fourth motor 50A connected to the table 50. The control device 80 controls the drive of the fourth motor 50A to control the movement of the table 50 and the rotation mechanism 60 attached to the table 50 in the front-rear direction Y. The control device 80 is connected to a fifth motor 65A connected to the first clamp 65 of the rotation mechanism 60. The control device 80 controls the drive of the fifth motor 65A to control the rotation of the first clamp 65 and the workpiece 5 gripped by the first clamp 65 and the second clamp 67. The control device 80 is connected to the tool sensor 76. Here, the control device 80 detects that the switch 76a (see FIG. 5) of the tool sensor 76 is switched on or off, so that the machining tool 6 or the detection tool 7 gripped by the grip portion 42 is the tool sensor 76. (Specifically, it detects whether or not the contact is made with the switch 76a). Further, the control device 80 stores the position of the processing tool 6 or the detection tool 7 gripped by the grip portion 42, and for example, when the detection tool 7 gripped by the grip portion 42 comes into contact with another portion. It is possible to detect the position.

8 and 9 are block diagrams of the control device 80, respectively. In the present embodiment, the control device 80 includes a storage unit 81, an eccentric offset calculation unit 82, an inclination adjustment unit 83, a clamp rotation unit 84, a first reference point detection unit 85, and a second reference point detection unit 86. A rotation amount correction unit 87, a rotation axis offset calculation unit 88, and a movement control unit 89 are provided. It should be noted that each of the above-mentioned parts may be configured by software or hardware. For example, each of the above-mentioned parts may be performed by a processor.

The configuration of the cutting machine 100 according to the present embodiment has been described above. By the way, the design position of the rotation mechanism 60 is stored in advance in the storage unit 81 of the control device 80. That is, the storage unit 81 stores in advance the design positions of the first clamp 65 and the second clamp 67 of the rotation mechanism 60. It is assumed that the positions of the first clamp 65 and the second clamp 67 include the rotation angles of the first clamp 65 and the second clamp 67. These positions are specified, for example, by the XYZ coordinates of the XYZ Cartesian coordinate system. The origin position of the XYZ coordinates at this time is not particularly limited. In the present embodiment, by design, the direction of the shaft (hereinafter, also referred to as a rotation shaft) when the member such as the workpiece 5 sandwiched between the first clamp 65 and the second clamp 67 is rotated by the rotation mechanism 60. Is a direction orthogonal to the rotation axis of the spindle 44 in front view. Here, the direction of the rotation axis of the rotation mechanism 60 is the X-axis direction, and the direction of the rotation axis of the spindle 44 is the Z-axis direction. The cutting machine 100 is gripped by the grip portion 42 of the cutting head 40 while rotating the workpiece 5 sandwiched between the first clamp 65 and the second clamp 67 based on the design position of the rotation mechanism 60. By bringing the machining tool 6 into contact with the work piece 5, cutting work related to the work piece 5 is performed. In the present embodiment, the "design position" means a theoretical position of the cutting machine 100, for example, a position specified at a design stage on a personal computer.

However, when the rotating mechanism 60 is mounted in the main body 10 of the cutting machine 100, an error in assembling the rotating mechanism 60 with respect to the main body 10 may occur. When the assembly error of the rotation mechanism 60 occurs, the actual position of the rotation mechanism 60 may be different from the design position of the rotation mechanism 60. For example, the actual positions of the first clamp 65 or the second clamp 67 may differ from the design positions of the first clamp 65 or the second clamp 67. As described above, when the actual position of the rotation mechanism 60 is different from the design position of the rotation mechanism 60, the axis of the member such as the workpiece 5 rotated by the rotation mechanism 60 (here, the rotation of the rotation mechanism 60). The direction of the axis) may deviate from the design direction. As a result, it may not be possible to cut the workpiece 5 into a desired shape.

Therefore, when the rotation mechanism 60 is mounted in the main body 10 of the cutting machine 100, the rotation axis offset, which is a correction value of the rotation axis of the rotation mechanism 60, is calculated. Then, the moving mechanism 90 is controlled based on the rotation axis offset. This rotation axis offset will be taken into consideration when cutting. FIG. 10 is a flowchart showing a procedure for calculating the rotation axis offset. Hereinafter, the procedure for calculating the rotation axis offset will be described with reference to the flowchart of FIG.

In the present embodiment, the first clamp 65 is preset with a first rotation reference position, which is a reference position when rotating a member such as a workpiece 5 sandwiched between the first clamp 65 and the second clamp 67. Has been done. Further, the spindle 44 is preset with a second rotation reference position, which is a reference position when rotating the grip portion 42. The first rotation reference position and the second rotation reference position are stored in advance in the storage unit 81 of the control device 80. In the following description, the rotation angle of the first clamp 65 when the first clamp 65 is located at the first rotation reference position is 0 °. Similarly, the rotation angle of the spindle 44 when the spindle 44 is located at the second rotation reference position is set to 0 °. In the present embodiment, when calculating the offset of the rotation axis of the rotation mechanism 60, the detection tool 7 is gripped by the grip portion 42 of the cutting head 40. Further, when calculating the offset of the rotation axis of the rotation mechanism 60, a cylindrical detection jig 4 (see FIG. 3) is sandwiched between the first clamp 65 and the second clamp 67. Here, the detection tool 7 and the detection jig 4 are used to calculate the rotation axis offset, which is the offset of the rotation axis of the rotation mechanism 60.

First, in step S101 of FIG. 10, the eccentric offset calculation unit 82 calculates the eccentric offset. For example, as shown in FIG. 2, when the grip portion 42 of the cutting head 40 grips the detection tool 7 (or the machining tool 6), the direction of the axis of the detection tool 7 is the same as the direction of the axis of the spindle 44. It is preferable to grip it so as to be. However, the grip portion 42 may grip the detection tool 7 in a direction in which the axis direction of the detection tool 7 is slightly deviated from the direction of the axis of the spindle 44. In this case, the position where the detection tool 7 comes into contact with another member (specifically, the coordinates) may differ depending on the rotation angle of the spindle 44. In the present embodiment, a value that corrects an error in the position of the detection tool 7 when the spindle 44 rotates is referred to as an eccentric offset. In the present embodiment, the eccentric offset is defined by the detection tool 7 gripped by the grip portion 42 when the rotation angle of the spindle 44 is 0 ° and the grip portion 42 gripped by the grip portion 42 when the rotation angle of the spindle 44 is 180 °. It refers to the swing width with the detection tool 7. Here, the eccentric offset has an eccentric X offset which is an eccentric offset in the X-axis direction and an eccentric Y offset which is an eccentric offset in the Y-axis direction.

FIG. 11 is a flowchart showing a procedure for calculating the eccentric offset. In the present embodiment, the eccentric offset is calculated by the eccentric offset calculation unit 82 according to the flowchart of FIG. Here, as shown in FIG. 8, the eccentric offset calculation unit 82 includes the first spindle rotation unit 101, the first angle X detection unit 102, the first angle Y detection unit 103, and the second spindle rotation unit 104. The second angle X detection unit 105, the second angle Y detection unit 106, the eccentric X offset calculation unit 107, and the eccentric Y offset calculation unit 108 are provided.

First, as shown in FIG. 11, in step S201, the first spindle rotating portion 101 rotates the spindle 44 with reference to the second rotation reference position so that the rotation angle of the spindle 44 becomes 0 °.

Next, in step S202, when the rotation angle of the spindle 44 is 0 °, the first angle X detection unit 102 detects the X coordinate of the first protrusion measurement point M1_X1 as shown in FIG. Here, the first protrusion measurement point M1_X1 is a point on the outer peripheral surface of the first protrusion 78a, which is located at the end in the left-right direction X, that is, the end in the X-axis direction (here, the left end). In the present embodiment, the first angle X detection unit 102 controls the moving mechanism 90 so that the detection tool 7 gripped by the grip unit 42 comes into contact with the first protrusion 78a, so that the first protrusion measurement point M1_X1 Detect the X coordinate. Here, the X coordinate of the first protrusion measurement point M1_X1 detected in step S202 is referred to as the first eccentric X coordinate.

Next, in step S203 of FIG. 11, when the rotation angle of the spindle 44 is 0 °, the first angle Y detection unit 103 detects the Y coordinate of the second protrusion measurement point M1_Y1 as shown in FIG. Here, the second protrusion measurement point M1_Y1 is a point on the outer peripheral surface of the first protrusion 78a, which is located at the end in the front-rear direction Y, that is, the end in the Y-axis direction (here, the front end). In the present embodiment, the first angle Y detection unit 103 controls the moving mechanism 90 so that the detection tool 7 gripped by the grip unit 42 comes into contact with the first protrusion 78a, so that the second protrusion measurement point M1_Y1 Detect the Y coordinate. Here, the Y coordinate of the second protrusion measurement point M1_Y1 detected in step S203 is referred to as the first eccentric Y coordinate.

Next, in step S204 of FIG. 11, the second spindle rotation unit 104 rotates the spindle 44 by 180 ° with reference to the second rotation reference position. At this time, the surface located on the left side of the detection tool 7 is located on the right side. Further, the surface located on the front side of the detection tool 7 is located on the rear side.

Next, in step S205, the second angle X detection unit 105 detects the X coordinate of the first protrusion measurement point M1_X1 when the rotation angle of the spindle 44 is 180 °. The detection procedure at this time is the same as in step S202. Here, the X coordinate of the first protrusion measurement point M1_X1 detected in step S205 is referred to as the second eccentric X coordinate.

Next, in step S206, the second angle Y detection unit 106 detects the Y coordinate of the second protrusion measurement point M1_Y1 when the rotation angle of the spindle 44 is 180 °. The detection procedure at this time is the same as in step S203. Here, the Y coordinate of the second protrusion measurement point M1_Y1 detected in step S206 is referred to as the second eccentric Y coordinate.

Next, in step S207, the eccentric X offset calculation unit 107 includes the first eccentric X coordinate detected by the first angle X detection unit 102 and the second eccentric X coordinate detected by the second angle X detection unit 105. From, the eccentric X offset, which is the eccentric offset in the X-axis direction, is calculated. In the present embodiment, the eccentric X offset calculation unit 107 uses the difference between the first eccentric X coordinate and the second eccentric X coordinate as the eccentric X offset.

After that, in step S208, the eccentricity Y offset calculation unit 108 uses the first eccentricity Y coordinate detected by the first angle Y detection unit 103 and the second eccentricity Y coordinate detected by the second angle Y detection unit 106. , The eccentric Y offset, which is the eccentric offset in the Y-axis direction, is calculated. In the present embodiment, the eccentric Y offset calculation unit 108 uses the difference between the first eccentric Y coordinate and the second eccentric Y coordinate as the eccentric Y offset. As described above, the eccentric offset calculation unit 82 can calculate the eccentric offset by calculating the eccentric X offset and the eccentric Y offset.

After calculating the eccentric offset in step S101 of FIG. 10, in step S102, the tilt adjusting unit 83 adjusts the tilt of the first clamp 65 when the rotation angle of the first clamp 65 is 0 °. For example, due to an assembly error of the rotation mechanism 60, the actual rotation angle of the first clamp 65 may not be 0 ° even though the rotation angle of the first clamp 65 is set to 0 ° in the design. In such a case, the inclination of the first clamp 65 is adjusted in order to make the actual rotation angle of the first clamp 65 0 °.

The specific procedure for adjusting the inclination of the first clamp 65 is not particularly limited, but in the present embodiment, by executing the procedure according to the flowchart of FIG. 12, the inclination adjusting unit 83 of the first clamp 65 The inclination of the first clamp 65 when the rotation angle is 0 ° is adjusted. In the present embodiment, as shown in FIG. 3, a first clamp reference point A_Z1 and a second clamp reference point A_Z2 are set on the upper surface of the first clamp 65 when the rotation angle of the first clamp 65 is 0 °. Has been done. The position of the first clamp reference point A_Z1 and the position of the second clamp reference point A_Z2 are not particularly limited. Here, the first clamp reference point A_Z1 and the second clamp reference point A_Z2 are aligned in the front-rear direction Y and have the same X coordinate. The first clamp reference point A_Z1 is located in front of the second clamp reference point A_Z2. The tilt adjusting unit 83 detects the actual positions of the first clamp reference point A_Z1 and the second clamp reference point A_Z2, and thereby tilts the first clamp 65 when the rotation angle of the first clamp 65 is 0 °. To adjust. In the present embodiment, as shown in FIG. 8, the tilt adjusting unit 83 includes a first clamp reference point detecting unit 111, a second clamp reference point detecting unit 112, a clamp tilt calculating unit 113, and a clamp adjusting unit 114. It has.

The storage unit 81 stores in advance the clamp design inclination, which is the design inclination of the upper surface of the first clamp 65 when the rotation angle with respect to the first rotation reference position is 0 °. Here, when the rotation angle of the first clamp 65 is 0 °, the design inclination of the upper surface of the first clamp 65 is such that it is orthogonal to the Z-axis direction.

First, in step S301 of FIG. 12, the tilt adjusting unit 83 rotates the first clamp 65 by the clamp rotating unit 84 so that the rotation angle becomes 0 °.

Next, in step S302, as shown in FIG. 3, the first clamp reference point detection unit 111 determines the Y coordinate and the Z coordinate of the first clamp reference point A_Z1 when the rotation angle of the first clamp 65 is 0 °. To detect. Specifically, the first clamp reference point detection unit 111 brings the detection tool 7 gripped by the grip portion 42 into contact with the first clamp reference point A_Z1 on the upper surface of the first clamp 65 from above the first clamp 65. In this way, the moving mechanism 90 is controlled. At this time, the first clamp reference point detection unit 111 sets the Y coordinate and Z coordinate of the tip of the detection tool 7 when the first clamp reference point A_Z1 of the first clamp 65 comes into contact with the detection tool 7 as the first clamp reference. It is detected as the Y coordinate and the Z coordinate of the point A_Z1, respectively. Here, the Y coordinate of the first clamp reference point A_Z1 when the rotation angle of the first clamp 65 is 0 ° is referred to as the Y coordinate of the first clamp. Further, the Z coordinate of the first clamp reference point A_Z1 when the rotation angle of the first clamp 65 is 0 ° is referred to as the Z coordinate of the first clamp.

Next, in step S303 of FIG. 12, as shown in FIG. 3, the second clamp reference point detection unit 112 has the Y coordinate of the second clamp reference point A_Z2 and the Y coordinate of the second clamp reference point A_Z2 when the rotation angle of the first clamp 65 is 0 °. Detect the Z coordinate. Here, the second clamp reference point detection unit 112 brings the detection tool 7 gripped by the grip portion 42 into contact with the second clamp reference point A_Z2 on the upper surface of the first clamp 65 from above the first clamp 65. To control the moving mechanism 90. At this time, the second clamp reference point detection unit 112 sets the Y coordinate and Z coordinate of the tip of the detection tool 7 when the second clamp reference point A_Z2 comes into contact with the detection tool 7 to the Y coordinate of the second clamp reference point A_Z2. And Z coordinates are detected respectively. Here, the Y coordinate of the second clamp reference point A_Z2 when the rotation angle of the first clamp 65 is 0 ° is referred to as the second clamp Y coordinate. Further, the Z coordinate of the second clamp reference point A_Z2 when the rotation angle of the first clamp 65 is 0 ° is referred to as the second clamp Z coordinate.

Next, in step S304 of FIG. 12, the clamp inclination calculation unit 113 calculates the actual clamp inclination, which is the actual inclination of the upper surface of the first clamp 65. The clamp inclination calculation unit 113 uses the first clamp Y coordinate, the first clamp Z coordinate, the second clamp Y coordinate, and the second clamp Y coordinate detected in steps S302 and S303, respectively, to actually clamp. Calculate the slope. In the present embodiment, the actual clamp inclination is the inclination of the line connecting the first clamp reference point A_Z1 and the second clamp reference point A_Z2 on the YZ plane.

Here, when the actual clamp inclination is SL1, the first clamp Y coordinate is A_Z1y, the first clamp Z coordinate is A_Z1z, the second clamp Y coordinate is A_Z2y, and the second clamp Z coordinate is A_Z2z, the clamp inclination calculation unit 113 , The actual clamp inclination SL1 is calculated by the following equation (1). The unit of the actual clamp inclination SL1 is rad. However, the unit of the actual clamp inclination SL1 is not particularly limited.

Next, in step S305 of FIG. 12, the clamp adjusting unit 114 adjusts the position of the first clamp 65 when the rotation angle of the first clamp 65 is 0 °. Here, the clamp adjusting unit 114 compares the actual clamp inclination calculated by the above equation (1) with the clamp design inclination stored in the storage unit 81 so that the actual clamp inclination becomes the clamp design inclination. The first clamp 65 is rotated to adjust. The clamp adjusting unit 114 adjusts the rotation angle of the first clamp 65 so that the upper surface of the first clamp 65 is perpendicular to the axial direction of the spindle 44 by using the actual clamp inclination. Here, the rotation position of the first clamp 65 after being adjusted by the clamp adjusting unit 114 is the design first rotation reference position of the first clamp 65.

After adjusting the inclination of the first clamp 65 when the rotation angle of the first clamp 65 is 0 ° as described above, in step S103 of FIG. 10, the first reference point A_P1 and the second reference point A_P2 are detected. .. FIG. 13 is a cross-sectional view of the detection jig 4 in the cross section of XIII-XIII of FIG. FIG. 14 is a cross-sectional view of the detection jig 4 in the XIV-XIV cross section of FIG. As shown in FIGS. 13 and 14, the first reference point A_P1 and the second reference point A_P2 are points on the rotation axis R1 of the rotation mechanism 60 and are separated by a predetermined distance. Here, the first reference point A_P1 is arranged at a position closer to the first clamp 65 than the second reference point A_P2. However, the positions of the first reference point A_P1 and the second reference point A_P2 are not particularly limited.

In step S103 of FIG. 10, the first reference point detection unit 85 detects the actual position of the first reference point A_P1 on the rotation axis R1. Here, the first reference point detection unit 85 brings the moving mechanism 90 into contact with the detection jig 4 sandwiched between the first clamp 65 and the second clamp 67 so that the detection tool 7 gripped by the grip portion 42 is brought into contact with the detection jig 4. By controlling, the actual position of the first reference point A_P1 is detected. Further, the second reference point detection unit 86 detects the actual position of the second reference point A_P2 on the rotation axis R1. Here, the second reference point detection unit 86 brings the moving mechanism 90 into contact with the detection jig 4 sandwiched between the first clamp 65 and the second clamp 67 so that the detection tool 7 gripped by the grip portion 42 is brought into contact with the detection jig 4. By controlling, the actual position of the second reference point A_P2 is detected. The procedure for detecting the first reference point A_P1 and the second reference point A_P2 is not particularly limited, but in the present embodiment, by executing the procedure according to the flowchart of FIG. 15, the first reference point A_P1 and the second reference point A_P1 and the second reference point are executed. A_P2 can be calculated respectively.

Here, as shown in FIG. 9, the first reference point detection unit 85 includes the first measurement point detection unit 121, the second measurement point detection unit 122, the third measurement point detection unit 123, and the first reference point. It includes an X calculation unit 124, a first reference point Y calculation unit 125, and a first reference point Z calculation unit 126. The second reference point detection unit 86 includes a fourth measurement point detection unit 131, a fifth measurement point detection unit 132, a sixth measurement point detection unit 133, a second reference point X calculation unit 134, and a second reference point. It includes a Y calculation unit 135 and a second reference point Z calculation unit 136.

In the present embodiment, the storage unit 81 stores in advance the rotation axis design position, which is the design position of the rotation axis R1. For example, the design position of the rotation axis R1 is the direction extending in the X-axis direction.

In step S401 of FIG. 15, the first clamp 65 is rotated so that the rotation angle becomes 0 °. In step S401, the first measurement point detection unit 121 detects the first measurement point A_P1_Y1 (see FIG. 3) when the rotation angle of the first clamp 65 is 0 °. The fourth measurement point detection unit 131 detects the fourth measurement point A_P2_Y1 (see FIG. 3) when the rotation angle of the first clamp 65 is 0 °. Here, the first measurement point A_P1_Y1 is a point on the outer peripheral surface of the detection jig 4, and the X coordinate is the same as the X coordinate of the first reference point A_P1 as shown in FIG. As shown in FIG. 14, the fourth measurement point A_P2_Y1 is a point on the outer peripheral surface of the detection jig 4, and the X coordinate is the same as the X coordinate of the second reference point A_P2. As shown in FIG. 3, the first measurement point A_P1_Y1 and the fourth measurement point A_P2_Y1 are points at the negative end points of the Y axis, respectively, and are the front points of the detection jig 4.

The first measurement point detection unit 121 controls the moving mechanism 90 so that the detection tool 7 gripped by the grip unit 42 comes into contact with the detection jig 4 from the front. At this time, the first measurement point detection unit 121 sets the X coordinate of the detection tool 7 when the detection tool 7 and the outer peripheral surface of the detection jig 4 come into contact with each other as the X coordinate of the first measurement point A_P1_Y1 and sets the detection tool 7 as the X coordinate. The Y coordinate of the detection tool 7 when the outer peripheral surface of the detection jig 4 comes into contact with the detection jig 4 is set as the Y coordinate of the first measurement point A_P1_Y1. Similarly, the fourth measurement point detection unit 131 controls the moving mechanism 90 so that the detection tool 7 gripped by the grip unit 42 comes into contact with the detection jig 4 from the front. At this time, the fourth measurement point detection unit 131 sets the X coordinate of the detection tool 7 when the detection tool 7 and the outer peripheral surface of the detection jig 4 come into contact with each other as the X coordinate of the fourth measurement point A_P2_Y1 and sets the detection tool 7 as the X coordinate. The Y coordinate of the detection tool 7 when the outer peripheral surface of the detection jig 4 comes into contact with the detection jig 4 is set as the Y coordinate of the fourth measurement point A_P2_Y1.

Next, in step S402 of FIG. 15, the clamp rotating portion 84 rotates the first clamp 65 so that the rotation angle of the first clamp 65 is 180 °. In step S403, the second measurement point detection unit 122 detects the second measurement point A_P1_Y2 (see FIG. 3) when the rotation angle of the first clamp 65 is 180 °. The fifth measurement point detection unit 132 detects the fifth measurement point A_P2_Y2 (see FIG. 3) when the rotation angle of the first clamp 65 is 180 °. Here, the second measurement point A_P1_Y2 is a point on the outer peripheral surface of the detection jig 4, and the X coordinate is the X coordinate of the first reference point A_P1 and the first measurement point, as shown in FIG. It is the same point as the X coordinate of A_P1_Y1. As shown in FIG. 14, the fifth measurement point A_P2_Y2 is a point on the outer peripheral surface of the detection jig 4, and the X coordinate is the X coordinate of the second reference point A_P2 and the X of the fourth measurement point A_P2_Y1. It is the same as the coordinates. As shown in FIG. 3, the second measurement point A_P1_Y2 and the fifth measurement point A_P2_Y2 are points at the positive end points of the Y axis, respectively, and are the last points of the detection jig 4.

In the present embodiment, the second measurement point detection unit 122 moves the detection tool 7 gripped by the grip unit 42 behind the detection jig 4 sandwiched between the first clamp 65 and the second clamp 67. The second measurement point detection unit 122 controls the moving mechanism 90 so that the detection tool 7 and the outer peripheral surface of the detection jig 4 are brought into contact with each other at the second measurement point A_P1_Y2. At this time, the second measurement point detection unit 122 sets the X coordinate of the detection tool 7 when the detection tool 7 and the outer peripheral surface of the detection jig 4 come into contact with each other as the X coordinate of the second measurement point A_P1_Y2, and sets the detection tool 7 as the X coordinate. The Y coordinate of the detection tool 7 when the outer peripheral surface of the detection jig 4 comes into contact with the detection jig 4 is set as the Y coordinate of the second measurement point A_P1_Y2. The part of the detection jig 4 that came into contact with the detection tool 7 at the second measurement point A_P1_Y2 and the detection jig that came into contact with the detection tool 7 at the first measurement point A_P1_Y1 when the rotation angle of the first clamp 65 was 0 °. It is the same as the part of 4.

Similarly, the fifth measurement point detection unit 132 moves the detection tool 7 gripped by the grip unit 42 behind the detection jig 4 sandwiched between the first clamp 65 and the second clamp 67. Then, the fifth measurement point detection unit 132 controls the moving mechanism 90 so that the detection tool 7 and the outer peripheral surface of the detection jig 4 come into contact with each other at the fifth measurement point A_P2_Y2. At this time, the fifth measurement point detection unit 132 sets the X coordinate of the detection tool 7 when the detection tool 7 and the outer peripheral surface of the detection jig 4 come into contact with each other as the X coordinate of the fifth measurement point A_P2_Y2, and sets the detection tool 7 as the X coordinate. The Y coordinate of the detection tool 7 when the outer peripheral surface of the detection jig 4 comes into contact with the detection jig 4 is set as the Y coordinate of the fifth measurement point A_P2_Y2. The part of the detection jig 4 that came into contact with the detection tool 7 at the fifth measurement point A_P2_Y2 and the detection jig that came into contact with the detection tool 7 at the fourth measurement point A_P2_Y1 when the rotation angle of the first clamp 65 was 0 °. It is the same as the part of 4.

Next, in step S404 of FIG. 15, the clamp rotating portion 84 rotates the first clamp 65 so that the rotation angle of the first clamp 65 is 270 °. Here, the rotation angle of the first clamp 65 is 270 °, which means 270 ° from the first rotation reference position counterclockwise when viewed from the positive direction (here, to the right) of the X axis. Further, the rotation angle of the first clamp 65 is 270 °, which means that the rotation angle of the first clamp 65 is 90 ° counterclockwise relative to the rotation angle of the first clamp 65 in step S402 when the first clamp 65 is viewed from the positive direction of the X axis. To rotate.

Next, in step S405, the third measurement point detection unit 123 detects the third measurement point A_P1_Z (see FIG. 3) when the rotation angle of the first clamp 65 is 270 °. The sixth measurement point detection unit 133 detects the sixth measurement point A_P2_Z (see FIG. 3) when the rotation angle of the first clamp 65 is 270 °. Here, as shown in FIG. 13, the third measurement point A_P1_Z is a point on the outer peripheral surface of the detection jig 4, and the X coordinate is the X coordinate of the first reference point A_P1 and the first measurement point A_P1_Y1. It is the same point as the X coordinate and the X coordinate of the second measurement point A_P1_Y2. As shown in FIG. 14, the sixth measurement point A_P2_Z is a point on the outer peripheral surface of the detection jig 4, and the X coordinate is the X coordinate of the second reference point A_P2 and the X coordinate of the fourth measurement point A_P2_Y1. And, it is the same point as the X coordinate of the fifth measurement point A_P2_Y2. As shown in FIG. 4, the third measurement point A_P1_Z and the sixth measurement point A_P2_Z are points at the positive end points of the Z axis, respectively, and are the uppermost points of the detection jig 4.

In the present embodiment, the third measurement point detection unit 123 moves the detection tool 7 gripped by the grip unit 42 above the detection jig 4 sandwiched between the first clamp 65 and the second clamp 67. Then, the third measurement point detection unit 123 controls the moving mechanism 90 so that the detection tool 7 and the outer peripheral surface of the detection jig 4 come into contact with each other from above at the third measurement point A_P1_Z. At this time, the third measurement point detection unit 123 sets the Z coordinate of the detection tool 7 when the detection tool 7 and the outer peripheral surface of the detection jig 4 come into contact with each other as the Z coordinate of the third measurement point A_P1_Z. The part of the detection jig 4 that came into contact with the detection tool 7 at the third measurement point A_P1_Z and the detection jig that came into contact with the detection tool 7 at the first measurement point A_P1_Y1 when the rotation angle of the first clamp 65 was 0 °. It is the same as the part of 4.

Similarly, the sixth measurement point detection unit 133 moves the detection tool 7 gripped by the grip unit 42 above the detection jig 4 sandwiched between the first clamp 65 and the second clamp 67. Then, the sixth measurement point detection unit 133 controls the moving mechanism 90 so that the detection tool 7 and the outer peripheral surface of the detection jig 4 come into contact with each other from above at the sixth measurement point A_P2_Z. At this time, the sixth measurement point detection unit 133 sets the Z coordinate of the detection tool 7 when the detection tool 7 and the outer peripheral surface of the detection jig 4 come into contact with each other as the Z coordinate of the sixth measurement point A_P2_Z. The part of the detection jig 4 that came into contact with the detection tool 7 at the sixth measurement point A_P2_Z and the detection jig that came into contact with the detection tool 7 at the fourth measurement point A_P2_Y1 when the rotation angle of the first clamp 65 was 0 °. It is the same as the part of 4.

As described above, after detecting each measurement point, in step S406 of FIG. 15, the X coordinate, Y coordinate, and Z coordinate of the first reference point A_P1 and the second reference point A_P2 are calculated. Here, first, the calculation of the first reference point A_P1 will be described. The first reference point X calculation unit 124 sets the X coordinate of the first measurement point A_P1_Y1 to the actual X coordinate of the first reference point A_P1. However, the first reference point X calculation unit 124 may set the X coordinate of the second measurement point A_P1_Y2 to the actual X coordinate of the first reference point A_P1.

When the Y coordinate of the first reference point A_P1 is A_P1y, the Y coordinate of the first measurement point A_P1_Y1 is A_P1_Y1y, and the Y coordinate of the second measurement point A_P1_Y2 is A_P1_Y2y, the first reference point Y calculation unit 125 has the following equation (2). ), The Y coordinate of the first reference point A_P1 is calculated.
A_P1y = (A_P1_Y1y + A_P1_Y2y) / 2 ... (2)

The first reference point Z calculation unit 126 uses the following equation (3) when the Z coordinate of the first reference point A_P1 is A_P1z, the Z coordinate of the third measurement point A_P1_Z is A_P1_Zz, and the diameter of the detection jig 4 is W. , The Z coordinate of the first reference point A_P1 is calculated.
A_P1z = A_P1_ZZ-W / 2 ... (3)

The diameter W of the detection jig 4 is calculated by the difference between the Y coordinate of the first measurement point A_P1_Y1 and the Y coordinate of the second measurement point A_P1_Y2. In other words, the diameter W of the detection jig 4 is the distance between the first measurement point A_P1_Y1 and the second measurement point A_P1_Y2. However, the diameter W of the detection jig 4 may be calculated by the difference between the Y coordinate of the fourth measurement point A_P2_Y1 and the Y coordinate of the fifth measurement point A_P2_Y2. The diameter W of the detection jig 4 is also the distance between the fourth measurement point A_P2_Y1 and the fifth measurement point A_P2_Y2.

Next, the calculation of the second reference point A_P2 will be described. The second reference point X calculation unit 134 sets the X coordinate of the fourth measurement point A_P2_Y1 to the actual X coordinate of the second reference point A_P2. However, the second reference point X calculation unit 134 may set the X coordinate of the fifth measurement point A_P2_Y2 to the actual X coordinate of the second reference point A_P2. The second reference point Y calculation unit 135 uses the following equation (4) when the Y coordinate of the second reference point A_P2 is A_P2y, the Y coordinate of the fourth measurement point A_P2_Y1 is A_P2_Y1y, and the Y coordinate of the fifth measurement point A_P2_Y2 is A_P2_Y2y. ), The Y coordinate of the second reference point A_P2 is calculated.
A_P2y = (A_P2_Y1y + A_P2_Y2y) / 2 ... (4)

When the Z coordinate of the second reference point A_P2 is A_P2z, the Z coordinate of the sixth measurement point A_P2_Z is A_P2_Zz, and the diameter of the detection jig 4 is W, the second reference point Z calculation unit 136 is based on the following equation (5). , The Z coordinate of the second reference point A_P2 is calculated.
A_P2z = A_P2_ZZ-W / 2 ... (5)

In this way, when calculating the XYZ coordinates of the first reference point A_P1 and the second reference point A_P2, the eccentric offset (eccentric X offset and eccentric Y offset) calculated by the eccentric offset calculation unit 82 is used. The XYZ coordinates of the first reference point A_P1 and the second reference point A_P2 may be calculated by making corrections.

As described above, in step S103 of FIG. 10, the X-coordinate, Y-coordinate, and Z-coordinate of the first reference point A_P1 and the second reference point A_P2 are calculated to obtain the first reference point A_P1. The actual position and the actual position of the second reference point A_P2 can be calculated respectively. After that, in step S104 of FIG. 10, the rotation axis offset calculation unit 88 uses the rotation axis of the rotation mechanism 60 based on the actual positions of the first reference point A_P1 and the second reference point A_P2 calculated in step S103. The actual position of the rotation axis, which is the actual position of R1, is calculated. The actual position of the rotation axis is the inclination of the rotation axis R1. Then, the rotation axis offset calculation unit 88 calculates the rotation axis offset, which is a correction value of the rotation axis R1, by comparing the actual position of the rotation axis with the rotation axis design position stored in the storage unit 81.

After calculating the rotation axis offset as described above, the movement control unit 89 (see FIG. 7) controls the movement mechanism 90 based on the rotation axis offset during cutting to control the grip portion 42. Move it. As a result, since the moving mechanism 90 is controlled in consideration of the deviation of the rotating shaft R1 of the rotating mechanism 60, the workpiece can be cut into a desired shape.

In this embodiment, as in step S105 of FIG. 10, the rotation amount correction unit 87 may correct the rotation amount of the first clamp 65. For example, even if the first clamp 65 is rotated by 180 ° by design, the rotation angle of the first clamp 65 may actually be less than 180 ° or larger than 180 °. .. At this time, when the first clamp 65 is rotated by 180 ° in design, the rotation amount of the first clamp 65 is corrected so that the rotation angle of the first clamp 65 is actually 180 °. Here, by executing the procedure according to the flowchart of FIG. 16, the rotation amount correction unit 87 corrects the rotation amount of the first clamp 65. In the present embodiment, as shown in FIG. 8, the rotation amount correction unit 87 includes the third clamp reference point detection unit 141, the fourth clamp reference point detection unit 142, the second clamp inclination calculation unit 143, and the clamp rotation. It is provided with an amount correction unit 144.

The storage unit 81 stores in advance the second clamp design inclination, which is the design inclination of the upper surface of the first clamp 65 when the rotation angle with respect to the first rotation reference position is 180 °. There is. FIG. 17 is a cross-sectional view of the first clamp 65 in the XVII-XVII cross section of FIG. FIG. 17 shows a cross-sectional view of the first clamp 65 when the rotation angle of the first clamp 65 is 0 °. The upper surface of the first clamp 65 when the rotation angle of the first clamp 65 is 180 ° is the lower surface of the first clamp 65 when the rotation angle of the first clamp 65 is 0 °. In the present embodiment, the second clamp design inclination is an inclination that is orthogonal to the Z-axis direction.

In step S501 of FIG. 16, the clamp rotating portion 84 rotates the first clamp 65 so that the rotation angle of the first clamp 65 is 180 °. Here, the clamp rotating portion 84 makes the first clamp 65 in the positive direction of the X axis (here, to the right) rather than the rotation angle (specifically, 270 °) of the first clamp 65 in step S404 of FIG. Rotate 270 ° counterclockwise when viewed from.

Next, in step S502 of FIG. 16, the third clamp reference point A_Z3 (see FIG. 17) is detected, and in step S503, the fourth clamp reference point A_Z4 (see FIG. 17) is detected. As shown in FIG. 17, the upper surface when the rotation angle of the first clamp 65 is 180 ° (in other words, the lower surface when the rotation angle of the first clamp 65 is 0 °) has a third clamp reference point A_Z3. , The fourth clamp reference point A_Z4 is set. The third clamp reference point A_Z3 and the fourth clamp reference point A_Z4 are points arranged in the front-rear direction Y and have the same X coordinate. In the present embodiment, the third clamp reference point A_Z3 coincides with the second clamp reference point A_Z2 in a plan view. In a plan view, the fourth clamp reference point A_Z4 coincides with the first clamp reference point A_Z1.

In step S502 of FIG. 16, the third clamp reference point detection unit 141 detects the Y coordinate and the Z coordinate of the third clamp reference point A_Z3. Here, the third clamp reference point detection unit 141 uses the detection tool 7 gripped by the grip portion 42 from above the first clamp 65 when the rotation angle of the first clamp 65 is 180 ° to the first clamp 65. The moving mechanism 90 is controlled so as to be in contact with the third clamp reference point A_Z3. At this time, the third clamp reference point detection unit 141 sets the Y coordinate and Z coordinate of the tip of the detection tool 7 when the third clamp reference point A_Z3 comes into contact with the detection tool 7, and the Y coordinate of the third clamp reference point A_Z3. And Z coordinates are detected respectively. Here, the Y coordinate of the third clamp reference point A_Z3 when the rotation angle of the first clamp 65 is 180 ° is referred to as the third clamp Y coordinate. Further, the Z coordinate of the third clamp reference point A_Z3 when the rotation angle of the first clamp 65 is 180 ° is referred to as the third clamp Z coordinate.

Next, in step S503 of FIG. 16, as shown in FIG. 3, the fourth clamp reference point detection unit 142 has the Y coordinate of the fourth clamp reference point A_Z4 and the Y coordinate of the fourth clamp reference point A_Z4 when the rotation angle of the first clamp 65 is 180 °. Detect the Z coordinate. Here, the fourth clamp reference point detection unit 142 uses the detection tool 7 gripped by the grip portion 42 from above the first clamp 65 when the rotation angle of the first clamp 65 is 180 ° to the first clamp 65. The moving mechanism 90 is controlled so as to be in contact with the fourth clamp reference point A_Z4. At this time, the fourth clamp reference point detection unit 142 sets the Y coordinate and Z coordinate of the tip of the detection tool 7 when the fourth clamp reference point A_Z4 comes into contact with the detection tool 7, and the Y coordinate of the fourth clamp reference point A_Z4. And Z coordinates are detected respectively. Here, the Y coordinate of the fourth clamp reference point A_Z4 when the rotation angle of the first clamp 65 is 180 ° is referred to as the Y coordinate of the fourth clamp. Further, the Z coordinate of the fourth clamp reference point A_Z4 when the rotation angle of the first clamp 65 is 180 ° is referred to as the Z coordinate of the fourth clamp.

Next, in step S504 of FIG. 16, the second clamp inclination calculation unit 143 calculates the actual inclination of the second clamp, which is the actual inclination of the upper surface of the first clamp 65 when the rotation angle of the first clamp 65 is 180 °. calculate. The second clamp inclination calculation unit 143 uses the third clamp Y coordinate, the third clamp Z coordinate, the fourth clamp Y coordinate, and the fourth clamp Y coordinate detected in steps S502 and S503, respectively. Calculate the actual tilt of the second clamp. In the present embodiment, the actual inclination of the second clamp is the inclination of the line connecting the third clamp reference point A_Z3 and the fourth clamp reference point A_Z4 on the YZ plane.

In the present embodiment, when the actual inclination of the second clamp is SL2, the Y coordinate of the third clamp is A_Z3y, the Z coordinate of the third clamp is A_Z3z, the Y coordinate of the fourth clamp is A_Z4y, and the Z coordinate of the fourth clamp is A_Z4z, the second clamp is used. The clamp inclination calculation unit 143 calculates the second clamp actual inclination SL2 by the following equation (6). The unit of the second clamp actual inclination SL2 is rad. However, the unit of the second clamp actual inclination SL2 is not particularly limited.

Next, in step S505 of FIG. 16, the clamp rotation amount correction unit 144 corrects the rotation amount of the first clamp 65. Here, the clamp rotation amount correction unit 144 corrects the rotation amount of the first clamp 65 so that the actual inclination of the second clamp calculated in step S504 becomes the second clamp design inclination stored in the storage unit 81. To do. As a result, when the first clamp 65 is rotated by 180 ° in design, the rotation angle of the first clamp 65 can actually be 180 °.

In the present embodiment, the first upper surface of the first clamp 65 when the rotation angle of the first clamp 65 is 180 ° (in other words, the lower surface of the first clamp 65 when the rotation angle of the first clamp 65 is 0 °). The positions of the 3 clamp reference point A_Z3 and the 4th clamp reference point A_Z4 are detected. Then, the second clamp inclination calculation unit 143 calculates the inclination of the straight line connecting the two points of the third clamp reference point A_Z3 and the fourth clamp reference point A_Z4, so that the first clamp 65 when the rotation angle is 180 °. The actual slope of is calculated. In this way, by detecting two points, the third clamp reference point A_Z3 and the fourth clamp reference point A_Z4, the actual inclination of the first clamp 65 at a rotation angle of 180 ° can be easily calculated.

In the present embodiment, as shown in FIGS. 13 and 14, the actual position of the first reference point A_P1 on the rotation axis R1 of the rotation mechanism 60 and the actual position of the second reference point A_P2 on the rotation axis R1 Is being detected. From the two points of the first reference point A_P1 and the second reference point A_P2, the position such as the actual inclination of the rotation axis R1 of the rotation mechanism 60 can be obtained. Therefore, the assembly error of the rotation mechanism 60 can be calculated from the first reference point A_P1 and the second reference point A_P2, and the rotation axis offset which is the correction value of the rotation axis R1 can be calculated. Therefore, by controlling the moving mechanism 90 in consideration of the rotation axis offset during cutting, even if the rotation axis R1 of the rotation mechanism 60 is displaced, the deviation is taken into consideration in the cutting head 40. The grip portion 42 of the above can be moved in the three-dimensional direction with respect to the rotation mechanism 60. As a result, the workpiece 5 can be cut into a desired shape even when an assembly error of the rotation mechanism 60 occurs.

In the present embodiment, the tilt adjusting unit 83 adjusts the tilt of the first clamp 65 when the rotation angle of the first clamp 65 is 0 °. For example, due to an assembly error of the rotation mechanism 60, the actual rotation angle of the first clamp 65 may not be 0 ° even though the rotation angle of the first clamp 65 is set to 0 ° in the design. In this case, when the rotation angle of the first clamp 65 is 0 ° by adjusting the inclination of the first clamp 65 by the inclination adjusting unit 83 in order to make the actual rotation angle of the first clamp 65 0 °. The inclination of the first clamp 65 of the above can be made the same as the inclination of the design.

In the present embodiment, as shown in FIG. 3, the positions of the first clamp reference point A_Z1 and the second clamp reference point A_Z2 on the upper surface of the first clamp 65 when the rotation angle of the first clamp 65 is 0 ° are set. It is being detected. Then, the clamp inclination calculation unit 113 calculates the inclination of a straight line connecting the two points of the first clamp reference point A_Z1 and the second clamp reference point A_Z2, so that the first clamp at a rotation angle of 0 ° of the first clamp 65 is the first clamp. The actual slope of 65 is calculated. In this way, by detecting the two points of the first clamp reference point A_Z1 and the second clamp reference point A_Z2, the actual inclination of the first clamp 65 can be easily calculated.

As shown in FIG. 13, since the first reference point A_P1 which is a point on the rotation axis R1 is located inside the detection jig 4, the first reference point A_P1 can be directly detected by the detection tool 7. Can not. Therefore, in the present embodiment, the first measurement point A_P1_Y1, the second measurement point A_P1_Y2, and the third measurement point, which are points on the outer peripheral surface of the detection jig 4 and have the same X coordinate as the first reference point A_P1. A_P1_Z is detected. Therefore, the first reference point A_P1, which is an internal point of the detection jig 4, can be detected from the first measurement point A_P1_Y1, the second measurement point A_P1_Y2, and the third measurement point A_P1_Z.

As shown in FIG. 14, since the second reference point A_P2, which is a point on the rotation axis R1, is located inside the detection jig 4, the second reference point A_P2 can be directly detected by the detection tool 7. Can not. However, in the present embodiment, the fourth measurement point A_P2_Y1, the fifth measurement point A_P2_Y2, and the sixth measurement point, which are points on the outer peripheral surface of the detection jig 4 and have the same X coordinate as the second reference point A_P2. A_P2_Z is detected. Therefore, the second reference point A_P2, which is an internal point of the detection jig 4, can be detected from the fourth measurement point A_P2_Y1, the fifth measurement point A_P2_Y2, and the sixth measurement point A_P2_Z.

In the present embodiment, the eccentric offset calculation unit 82 calculates the eccentric offset. The rotation axis offset calculation unit 88 calculates the rotation axis offset from the first reference point A_P1 and the second reference point A_P2 detected based on the eccentric offset. As a result, even if the grip portion 42 does not properly grip the detection tool 7, the eccentric offset is calculated and the orientation of the detection tool 7 gripped by the grip portion 42 is corrected. , The first reference point A_P1 and the second reference point A_P2 can be appropriately calculated. Therefore, a more appropriate rotation axis offset can be obtained.

7 Detection tool 10 Main body 40 Cutting head 42 Grip part 60 Rotation mechanism 65 1st clamp 65A 5th motor (motor)
67 Second clamp 80 Control device 81 Storage unit 82 Eccentric offset calculation unit 84 Clamp rotation unit 85 First reference point detection unit 86 Second reference point detection unit 88 Rotation axis offset calculation unit 89 Movement control unit 90 Movement mechanism 100 Cutting machine

Claims (9)

With the main body
A cutting head having a grip portion capable of gripping either a machining tool or a detection tool, and a cutting head.
A rotation mechanism having a first clamp and a second clamp for sandwiching one of the workpiece and the detection jig, and a motor for rotating the first clamp.
A moving mechanism that moves the grip portion in a three-dimensional direction relative to the rotating mechanism,
A control device that controls the movement mechanism and
With
The rotation mechanism is set with a rotation axis for rotating the member sandwiched between the first clamp and the second clamp.
A first reference point and a second reference point are set on the rotation axis.
The control device is
A storage unit that stores the rotation axis design position, which is the design position of the rotation axis,
By controlling the moving mechanism so that the detection tool gripped by the grip portion is brought into contact with the detection jig sandwiched between the first clamp and the second clamp, the actual first reference point is actually performed. The first reference point detector that detects the position of
By controlling the moving mechanism so that the detection tool gripped by the grip portion is brought into contact with the detection jig sandwiched between the first clamp and the second clamp, the actual second reference point is actually performed. The second reference point detector that detects the position of
By calculating the actual position of the rotation axis, which is the actual position of the rotation axis, based on the first reference point and the second reference point, and comparing the actual position of the rotation axis with the design position of the rotation axis. The rotation axis offset calculation unit that calculates the rotation axis offset, which is the correction value of the rotation axis,
A movement control unit that controls the movement mechanism based on the rotation axis offset,
Equipped with a,
The rotation mechanism is set with a first rotation reference position, which is a reference position when rotating the first clamp.
The storage unit stores the clamp design inclination, which is the design inclination of the upper surface of the first clamp when the rotation angle with respect to the first rotation reference position is 0 °.
The control device is
A clamp inclination calculation unit that calculates the actual clamp inclination, which is the actual inclination of the upper surface of the first clamp when the first clamp is rotated so that the rotation angle becomes 0 °.
A clamp adjusting unit that rotates and adjusts the first clamp so that the actual clamp inclination becomes the clamp design inclination.
With
The first reference point detecting unit detects the actual position of the first reference point after the first clamp is adjusted by the clamp adjusting unit.
The second reference point detecting unit is a cutting machine that detects the actual position of the second reference point after the first clamp is rotated by the clamp adjusting unit. The position of the rotation mechanism with respect to the main body is represented by the coordinates of the XYZ Cartesian coordinate system.
A predetermined first clamp reference point and a second clamp reference point are arranged on the upper surface of the first clamp when the rotation angle of the first clamp is 0 °.
The control device is
By controlling the moving mechanism so that the detection tool gripped by the grip portion comes into contact with the upper surface of the first clamp when the rotation angle of the first clamp is 0 °, the first clamp reference point. The first clamp Y coordinate, which is the Y coordinate of, and the first clamp reference point detection unit, which detects the first clamp Z coordinate, which is the Z coordinate of the first clamp reference point.
By controlling the moving mechanism so that the detection tool gripped by the grip portion comes into contact with the upper surface of the first clamp when the rotation angle of the first clamp is 0 °, the second clamp reference point. The second clamp Y coordinate which is the Y coordinate of the second clamp, the second clamp reference point detecting unit which detects the second clamp Z coordinate which is the Z coordinate of the second clamp reference point, and the second clamp reference point detecting unit.
With
The clamp tilt calculation unit sets the actual clamp tilt as SL1, the first clamp Y coordinate as A_Z1y, the first clamp Z coordinate as A_Z1z, the second clamp Y coordinate as A_Z2y, and the second clamp Z coordinate as A_Z2z. when, according to the following formula to calculate the clamp actual slope, cutting machine according to claim 1.

With the main body
A cutting head having a grip portion capable of gripping either a machining tool or a detection tool, and a cutting head.
A rotation mechanism having a first clamp and a second clamp for sandwiching one of the workpiece and the detection jig, and a motor for rotating the first clamp.
A moving mechanism that moves the grip portion in a three-dimensional direction relative to the rotating mechanism,
A control device that controls the movement mechanism and
With
The rotation mechanism is set with a rotation axis for rotating the member sandwiched between the first clamp and the second clamp.
A first reference point and a second reference point are set on the rotation axis.
The control device is
A storage unit that stores the rotation axis design position, which is the design position of the rotation axis,
By controlling the moving mechanism so that the detection tool gripped by the grip portion is brought into contact with the detection jig sandwiched between the first clamp and the second clamp, the actual first reference point is actually performed. The first reference point detector that detects the position of
By controlling the moving mechanism so that the detection tool gripped by the grip portion is brought into contact with the detection jig sandwiched between the first clamp and the second clamp, the actual second reference point is actually performed. The second reference point detector that detects the position of
By calculating the actual position of the rotation axis, which is the actual position of the rotation axis, based on the first reference point and the second reference point, and comparing the actual position of the rotation axis with the design position of the rotation axis. The rotation axis offset calculation unit that calculates the rotation axis offset, which is the correction value of the rotation axis,
A movement control unit that controls the movement mechanism based on the rotation axis offset,
With
The rotation mechanism is set with a first rotation reference position, which is a reference position when rotating the first clamp.
The storage unit stores the second clamp design inclination, which is the design inclination of the upper surface of the first clamp when the rotation angle with respect to the first rotation reference position is 180 °.
The control device is
A second clamp tilt calculation unit that calculates the actual tilt of the second clamp, which is the actual tilt of the upper surface of the first clamp when the first clamp is rotated so that the rotation angle is 180 °.
A clamp rotation amount correction unit that corrects the rotation amount of the first clamp so that the actual inclination of the second clamp becomes the design inclination of the second clamp.
A cutting machine equipped with. The position of the rotation mechanism with respect to the main body is represented by the XYZ Cartesian coordinate system.
A predetermined third clamp reference point and a fourth clamp reference point are arranged on the upper surface of the first clamp when the rotation angle is 180 °.
The control device is
By bringing the detection tool gripped by the grip portion into contact with the upper surface of the first clamp when the rotation angle of the first clamp is 180 °, the third clamp which is the Y coordinate of the third clamp reference point The Y coordinate, the third clamp reference point detection unit that detects the third clamp Z coordinate, which is the Z coordinate of the third clamp reference point, and the third clamp reference point detection unit.
By bringing the detection tool gripped by the grip portion into contact with the upper surface of the first clamp when the rotation angle of the first clamp is 180 °, the fourth clamp is the Y coordinate of the fourth clamp reference point. The Y coordinate, the fourth clamp reference point detection unit that detects the fourth clamp Z coordinate, which is the Z coordinate of the fourth clamp reference point, and the
With
The second clamp inclination calculation unit has SL2 for the actual inclination of the second clamp, A_Z3y for the Y coordinate of the third clamp, A_Z3z for the Z coordinate of the third clamp, A_Z4y for the Y coordinate of the fourth clamp, and Z for the fourth clamp. The cutting machine according to claim 3, wherein the actual inclination of the second clamp is calculated by the following formula when the coordinates are A_Z4z.

With the main body
A cutting head having a grip portion capable of gripping either a machining tool or a detection tool, and a cutting head.
A rotation mechanism having a first clamp and a second clamp for sandwiching one of the workpiece and the detection jig, and a motor for rotating the first clamp.
A moving mechanism that moves the grip portion in a three-dimensional direction relative to the rotating mechanism,
A control device that controls the movement mechanism and
With
The rotation mechanism is set with a rotation axis for rotating the member sandwiched between the first clamp and the second clamp.
A first reference point and a second reference point are set on the rotation axis.
The control device is
A storage unit that stores the rotation axis design position, which is the design position of the rotation axis,
By controlling the moving mechanism so that the detection tool gripped by the grip portion is brought into contact with the detection jig sandwiched between the first clamp and the second clamp, the actual first reference point is actually performed. The first reference point detector that detects the position of
By controlling the moving mechanism so that the detection tool gripped by the grip portion is brought into contact with the detection jig sandwiched between the first clamp and the second clamp, the actual second reference point is actually performed. The second reference point detector that detects the position of
By calculating the actual position of the rotation axis, which is the actual position of the rotation axis, based on the first reference point and the second reference point, and comparing the actual position of the rotation axis with the design position of the rotation axis. The rotation axis offset calculation unit that calculates the rotation axis offset, which is the correction value of the rotation axis,
A movement control unit that controls the movement mechanism based on the rotation axis offset,
With
The cutting head has a spindle that rotates the grip portion about a rotation axis.
A second rotation reference position, which is a reference position when rotating the grip portion, is set on the spindle.
The control device includes the detection tool gripped by the grip portion when the spindle is rotated so that the rotation angle becomes 0 ° with reference to the second rotation reference position, and the second rotation reference position. The detection tool gripped by the grip portion when the spindle is rotated so that the rotation angle becomes 180 ° with reference to the above, and an eccentric offset calculation unit for calculating the eccentric offset which is the swing width of the spindle are provided.
The rotation axis offset calculation unit is a cutting machine that calculates the rotation axis offset based on the eccentric offset. It has a protrusion arranged in the main body and has a protrusion.
The eccentric offset is represented by the coordinates of the XYZ Cartesian coordinate system.
The eccentric offset has an eccentric X offset which is the eccentric offset in the X-axis direction and an eccentric Y offset which is the eccentric offset in the Y-axis direction.
The eccentric offset calculation unit
A first spindle rotating portion that rotates the spindle so that the rotation angle of the spindle becomes 0 ° with reference to the second rotation reference position.
When the rotation angle of the spindle is 0 °, the first eccentric X coordinate, which is a point on the outer peripheral surface of the protrusion and is the X coordinate of the first protrusion measurement point located at the end in the X-axis direction, is detected. 1 angle X detector and
When the rotation angle of the spindle is 0 °, the first eccentric Y coordinate, which is a point on the outer peripheral surface of the protrusion and is the Y coordinate of the second protrusion measurement point located at the end in the Y-axis direction, is detected. 1 angle Y detector and
A second spindle rotating portion that rotates the spindle so that the rotation angle of the spindle is 180 ° with reference to the second rotation reference position.
When the rotation angle of the spindle is 180 °, the second angle X detection unit that detects the second eccentricity X coordinate, which is the X coordinate of the first protrusion measurement point,
When the rotation angle of the spindle is 180 °, the second angle Y detection unit that detects the second eccentricity Y coordinate, which is the Y coordinate of the second protrusion measurement point,
An eccentric X offset calculation unit that uses the difference between the first eccentric X coordinate and the second eccentric X coordinate as the eccentric X offset.
An eccentric Y offset calculation unit that uses the difference between the first eccentric Y coordinate and the second eccentric Y coordinate as the eccentric Y offset.
5. The cutting machine according to claim 5. The position of the rotation mechanism with respect to the main body and the first reference point are represented by the coordinates of the XYZ Cartesian coordinate system.
The rotation mechanism is set with a first rotation reference position, which is a reference position when rotating the first clamp.
The direction of the rotation axis of the rotation mechanism is the X-axis direction.
The control device includes a clamp rotating portion that rotates the first clamp with reference to the first rotation reference position.
The first reference point detection unit is
The first clamp is rotated by the clamp rotating portion so that the rotation angle is 0 °, and when the rotation angle of the first clamp is 0 °, it is the outer peripheral surface of the detection jig and the X coordinate is A first measurement point detection unit that detects a first measurement point that is the same as the X coordinate of the first reference point and is a point at the end in the minus direction of the Y axis.
The first clamp is rotated by the clamp rotating portion so that the rotation angle is 180 °, and when the rotation angle of the first clamp is 180 °, it is the outer peripheral surface of the detection jig and the X coordinate is the said. A second measurement point detection unit that detects a second measurement point that is the same as the X coordinate of the first measurement point and is a point at the positive end of the Y axis.
The clamp rotating portion rotates the first clamp so that the rotation angle is 270 ° from the first rotation reference position counterclockwise when viewed from the positive direction of the X axis, and the rotation angle of the first clamp is changed. When it is 270 ° from the first rotation reference position counterclockwise when viewed from the positive direction of the X axis, it is the outer peripheral surface of the detection jig, and the X coordinate is the same as the X coordinate of the first measurement point. , A third measurement point detector that detects the third measurement point, which is the point at the positive end of the Z axis.
A first reference point X calculation unit having the X coordinate of the first measurement point as the X coordinate of the first reference point,
When the Y coordinate of the first reference point is A_P1y, the Y coordinate of the first measurement point is A_P1_Y1y, and the Y coordinate of the second measurement point is A_P1_Y2y.
A_P1y = (A_P1_Y1y + A_P1_Y2y) / 2
The first reference point Y calculation unit that calculates the Y coordinate of the first reference point by the formula represented by
When the Z coordinate of the first reference point is A_P1z, the Z coordinate of the third measurement point is A_P1_Zz, and the diameter of the detection jig is W,
A_P1z = A_P1_ZZ-W / 2
The first reference point Z calculation unit that calculates the Z coordinate of the first reference point by the formula represented by
The cutting machine according to any one of claims 1 to 6, further comprising. The cutting machine according to claim 7 , wherein the diameter of the detection jig is calculated by the difference between the Y coordinate of the first measurement point and the Y coordinate of the second measurement point. The second reference point is represented by the coordinates of the XYZ Cartesian coordinate system.
The second reference point detection unit is
The first clamp is rotated by the clamp rotating portion so that the rotation angle is 0 °, and when the rotation angle of the first clamp is 0 °, it is the outer peripheral surface of the detection jig and the X coordinate is A fourth measurement point detection unit that detects a fourth measurement point that is the same as the X coordinate of the second reference point and is a point at the end in the minus direction of the Y axis.
The first clamp is rotated by the clamp rotating portion so that the rotation angle is 180 °, and when the rotation angle of the first clamp is 180 °, it is the outer peripheral surface of the detection jig and the X coordinate is the said. A fifth measurement point detector that detects the fifth measurement point, which is the same as the X coordinate of the fourth measurement point and is the point at the positive end of the Y axis.
The clamp rotating portion rotates the first clamp so that the rotation angle is 270 ° from the first rotation reference position counterclockwise when viewed from the positive direction of the X axis, and the rotation angle of the first clamp is changed. When it is 270 ° from the first rotation reference position counterclockwise when viewed from the positive direction of the X axis, it is the outer peripheral surface of the detection jig, and the X coordinate is the same as the X coordinate of the fourth measurement point. , The 6th measurement point detection unit that detects the 6th measurement point, which is the point at the positive end of the Z axis,
A second reference point X calculation unit having the X coordinate of the fourth measurement point as the X coordinate of the second reference point,
When the Y coordinate of the second reference point is A_P2y, the Y coordinate of the fourth measurement point is A_P2_Y1y, and the Y coordinate of the fifth measurement point is A_P2_Y2y.
A_P2y = (A_P2_Y1y + A_P2_Y2y) / 2
The second reference point Y calculation unit that calculates the Y coordinate of the second reference point by the formula represented by
When the Z coordinate of the second reference point is A_P2z, the Z coordinate of the sixth measurement point is A_P2_Zz, and the diameter of the detection jig is W,
A_P2z = A_P2_ZZ-W / 2
The second reference point Z calculation unit that calculates the Z coordinate of the second reference point by the formula represented by
The cutting machine according to claim 7 or 8.

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