JP7008930B2 - 3D measuring machine, measuring method, and measuring program - Google Patents

Description

The present invention relates to a coordinate measuring machine, a measuring method, and a measuring program.

A three-dimensional measuring machine that manually measures an object to be measured by using an operating member such as a joystick is known.

Patent Document 1 describes a three-dimensional measuring machine that measures a workpiece by moving a probe by operating a joystick. When the rough accuracy measurement is selected, the coordinate measuring machine described in Patent Document 1 determines the threshold value of the operation angle of the joystick, and switches between the measurement mode and the movement mode.

Specifically, the threshold value of the operation angle of the joystick is set to θ ₃ , and when the operation angle of the joystick is from θ ₁ to θ ₂ , the probe is moved at the measurement speed _VM . When the operating angle of the joystick is from θ ₄ to θ _MAX , the probe is moved at the moving speed V _f . θ ₁ , θ ₂ , θ ₃ , θ ₄ , and θ _MAX have a relationship of 0 <θ ₁ <θ ₂ <θ ₃ <θ ₄ <θ _MAX .

Japanese Unexamined Patent Publication No. 7-113628

When the probe is moved by the operation of the joystick to measure the workpiece, the moving speed of the probe fluctuates according to the operating state of the joystick, and there is a problem that it is difficult to move the probe at a constant speed.

For example, when different operators perform the same operation, the operation state of the joystick may be different due to the difference in the operators. When one operator performs the same operation multiple times, the operation state of the joystick may differ depending on the situation of the operator.

Differences in the operating state of the joystick cause variations in the moving speed of the probe. Variations in the moving speed of the probe can cause variations in the measurement results of the workpiece.

The moving speed of the probe during probing is an important factor for measuring the workpiece with low variation and high accuracy. When measuring the workpiece, it is preferable to move the probe at a constant speed.

In the three-dimensional measuring machine described in Patent Document 1, when rough accuracy measurement is selected, the moving speed of the probe at the time of measurement is fixed, but it is necessary to operate the operation button when selecting rough accuracy measurement. It becomes.

The present invention has been made in view of such circumstances, and provides a three-dimensional measuring machine, a measuring method, and a measuring program capable of moving a probe at a constant speed according to the operation of a joystick. The purpose.

In order to achieve the above object, the following aspects of the invention are provided.

The three-dimensional measuring machine according to the first aspect is a three-dimensional measuring machine that operates a joystick to move a probe and measures an object to be measured using the probe, and is a three-dimensional measuring machine that measures an object to be measured by using the joystick per unit period. Based on the judgment result of comparing the change value of the output signal value of the joystick and the predetermined threshold value, the judgment unit that determines whether or not the joystick trigger operation has been performed, and the joystick trigger operation by the determination unit. A switching unit that switches to the auto-probing mode that moves the probe at a constant speed when it is determined that the It is a three-dimensional measuring machine equipped with a drive unit that starts the movement of the probe according to the mode.

According to the first aspect, when the trigger operation of the joystick is performed, the mode is switched to the auto-probing mode in which the joystick is moved at a constant speed, and the joystick is moved at a constant speed. As a result, variations in measurement results due to variations in joystick operation are suppressed, and high-precision measurement is possible.

The coordinate measuring machine according to the first aspect can switch to the auto-probing mode without operating an operating member other than the joystick such as a button operation. In addition, it is possible to switch to the auto-probing mode and start moving the probe in the auto-probing mode by operating the joystick once.

As an example of the trigger operation, there is an embodiment in which the joystick is operated by a certain amount or more during the sampling period of the output signal of the joystick.

Examples of the output signal of the joystick include a voltage proportional to the operation amount of the joystick, a pulse signal of a number proportional to the operation amount of the joystick, and the like.

The second aspect is the three-dimensional measuring machine of the first aspect, in which the joystick includes a voltage output unit that outputs a voltage proportional to the operation amount of the joystick, and the determination unit is a change value of the output voltage of the joystick per unit period. May be configured to determine that the joystick trigger operation has been performed when the value exceeds the threshold value.

According to the second aspect, it is possible to switch to the auto probe mode based on the comparison result between the change value of the output voltage of the joystick proportional to the operation amount of the joystick per unit period and the threshold value.

The third aspect includes a parameter setting unit for setting the movement parameters of the probe in the three-dimensional measuring machine of the first aspect or the second aspect, and the parameter setting unit is a probe by a single trigger operation of the joystick in the autoprobing mode. It may be configured to set the search distance which is the moving distance of.

The search distance in the third aspect may be a fixed value or may be changeable.

In the fourth aspect, in the three-dimensional measuring machine of the third aspect, the parameter setting unit may be configured to set the moving direction of the probe according to the operation direction of the joystick when the joystick is triggered.

According to the fourth aspect, it is possible to move the probe in the autoprobing mode according to the operation direction of the joystick when the joystick is triggered.

The moving direction of the probe in the auto-probing mode is preferably the same as the moving direction of the joystick in the trigger operation. Strictly speaking, the same direction may include substantially the same direction capable of exerting the same action and effect as the same direction, although they are different directions.

The fifth aspect is the three-dimensional measuring machine of the third aspect or the fourth aspect, and the parameter setting unit may be configured to set the moving speed of the probe in the autoprobing mode.

According to the fifth aspect, the probe can be moved in the autoprobing mode based on the set speed.

The moving speed of the probe in the autoprobing mode is preferably low. An example of low speed is the minimum speed that can be set as the moving speed of the probe.

The moving speed of the probe in the auto-probing mode can be determined from the viewpoint of the impact resistance of the work in the contact between the work and the probe, the impact resistance of the probe in the contact between the work and the probe, and the like.

The sixth aspect is the three-dimensional measuring machine of the fourth aspect, in which the parameter setting unit sets the coordinates (x _t , y _t , z _t ) of the target position of the probe and sets the coordinates of the current position of the probe (x _c) . , Y _c , z _c ), the search distance is D _sh , the probe radius is R _pb , and the unit vector of the probe movement direction is (i, j, k), the coordinates of the probe target position (x _t , y _t , z _t ) uses the following equation (x _t , y _t , z _t ) = (x _c , y _c , z _c ) × (D _sh + R _pb ) × (i, j, k). It may be a calculated configuration.

According to the sixth aspect, the coordinates of the current position of the probe (x _c , y _c , z _c ), the search distance D _sh , the radius R _pb of the probe, and the unit vector (i, j, k) of the moving direction of the probe. It is possible to set the coordinates (x _t , y _t , z _t ) of the target position of the probe by using.

A seventh aspect may be configured in the three-dimensional measuring machine of the sixth aspect, which includes a notification unit for notifying an error when the target position of the probe is outside the movable range of the probe.

According to the seventh aspect, in the auto-probing mode, the probe is prevented from moving out of the movable range. This makes it possible to avoid collision of the probe with obstacles and the like.

When the target position of the probe is outside the movable range of the probe, the setting unit may rewrite the coordinates of the target position of the probe to the coordinates of the current position of the probe.

The eighth aspect is the work coordinate system setting unit for setting the work coordinate system for the object to be measured, the machine coordinate system, and the work coordinate system in the coordinate measuring machine according to any one of the fifth to seventh aspects. It may be configured to include a conversion unit that converts the movement parameter of the probe set by the setting unit into the movement parameter of the probe in the work coordinate system by using the transformation matrix that defines the conversion relationship with.

According to the eighth aspect, the movement parameter of the probe in the machine coordinate system is converted into the movement parameter of the probe in the work coordinate system. As a result, the probe can be moved based on the work coordinate system by operating the joystick based on the machine coordinate system.

The measurement method according to the ninth aspect is a measurement method in which the joystick is operated to move the probe and the object to be measured is measured using the probe, and the output of the joystick per unit period when the joystick is operated. Based on the judgment result of comparing the change value of the signal value with the predetermined threshold value, the judgment step of determining whether or not the joystick trigger operation has been performed, and the joystick trigger operation being performed in the determination step. When it is determined, the switching process of switching to the auto-probing mode that moves the probe at a constant speed, and the auto-probing mode of the probe according to the trigger operation of the joystick when the probe is switched to the auto-probing mode in the switching process. It is a measurement method including a driving step for initiating movement.

According to the ninth aspect, it is possible to obtain the same action and effect as the first aspect.

In the ninth aspect, the same items as those specified in the second to eighth aspects can be appropriately combined. In that case, the component responsible for the process or function specified in the coordinate measuring machine can be grasped as the component of the measurement method responsible for the corresponding process or function.

The measurement program according to the tenth aspect is a measurement program for measuring an object to be measured by operating the joystick to move the probe and using the probe, and is a measurement program per unit period when the computer is operated with the joystick. Based on the judgment result of comparing the change value of the output signal value of the joystick with the predetermined threshold value, the joystick trigger operation is performed by the judgment unit and the judgment unit that determine whether or not the joystick trigger operation has been performed. A switching unit that switches to the auto-probing mode that moves the probe at a constant speed when it is determined that the probe has been damaged, and an auto-probing mode that responds to the joystick trigger operation when the switching unit switches to the auto-probing mode. This is a measurement program that functions as a drive unit to start the movement of the probe.

According to the tenth aspect, it is possible to obtain the same action and effect as the first aspect.

In the tenth aspect, the same items as those specified in the second to eighth aspects can be appropriately combined. In that case, the component responsible for the process or function specified in the coordinate measuring machine can be grasped as the component of the measurement program responsible for the corresponding process or function.

According to the present invention, when the trigger operation of the joystick is performed, the mode is switched to the auto-probing mode in which the joystick is moved at a constant speed, and the joystick is moved at a constant speed. As a result, variations in measurement results due to variations in joystick operation are suppressed, and high-precision measurement is possible.

FIG. 1 is an overall configuration diagram of a three-dimensional measuring machine. FIG. 2 is an enlarged view of the probe head showing the rotational movement of the probe head around the first rotation axis. FIG. 3 is an enlarged view of the probe head showing the rotational movement of the probe head around the second rotation axis. FIG. 4 is a block diagram showing a configuration example of the controller. FIG. 5 is a perspective view of the joystick operation panel. FIG. 6 is a block diagram showing a schematic configuration of the joystick. FIG. 7 is a schematic diagram of the setting of the work coordinate system. FIG. 8 is an explanatory diagram of the origin setting in the setting of the work coordinate system. FIG. 9 is an explanatory diagram of the reference axis setting in the setting of the work coordinate system. FIG. 10 is a schematic diagram schematically showing the movement of the probe. FIG. 11 is a flowchart showing the procedure of the measurement method according to the first embodiment. FIG. 12 is a schematic diagram schematically showing the measurement method according to the second embodiment. FIG. 13 is a schematic diagram showing the output voltage of the joystick on which the trigger operation is performed. FIG. 14 is a flowchart showing the procedure of the measurement method according to the second embodiment.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In the present specification, the same configurations as those described above are designated by the same reference numerals, and the description thereof will be omitted as appropriate.

[Explanation of 3D measuring machine]
<Overall configuration>
FIG. 1 is an overall configuration diagram of a three-dimensional measuring machine. In this embodiment, a three-dimensional measuring machine for portal movement will be described as an example. Coordinate measuring machines are sometimes called Coordinate Measuring Machines. Coordinate Measuring Machine may be abbreviated as CMM.

The arrow line with an X in FIG. 1 represents the positive direction in the X-axis direction in the machine coordinate system. The arrow line with Y represents the positive direction in the Y-axis direction in the machine coordinate system. The arrow line with Z represents the positive direction in the Z-axis direction in the machine coordinate system.

The machine coordinate system is a coordinate system determined based on the origin of the machine coordinate system peculiar to the coordinate measuring machine 10. The work coordinate system described later is a coordinate system determined based on the origin of the work coordinate system set in the work.

The coordinate measuring machine 10 shown in FIG. 1 operates the joystick operation panel 29 to move the probe head 24 to measure the work to be measured. In FIG. 1, the work is not shown. The work is illustrated with reference numeral 450 in FIG. The joystick operation panel 29 is an aspect of the operation unit.

The coordinate measuring machine 10 includes a gantry 12, a table 14, a right Y carriage 16R, a left Y carriage 16L, an X guide 18, an X carriage 20, a Z spindle 22, and a probe head 24.

The gantry 12 supports the lower surface 14C of the table 14. A surface plate can be applied to the table 14. The right Y carriage 16R and the left Y carriage 16L are erected on the upper surface 14A of the table 14. The right Y carriage 16R is arranged at one end 14D of the table 14 in the X-axis direction. The left Y carriage 16L is located at the other end 14E of the table 14 in the X-axis direction.

A sliding surface with the right Y carriage 16R is formed on the side surface 14B of the table 14 on the side of one end 14D in the X-axis direction. Bearings are provided on the surface of the right Y carriage 16R facing the side surface 14B of the table 14.

A sliding surface with the left Y carriage 16L is formed on the side surface 14F of the table 14 on the side of the other end 14E in the X-axis direction. Bearings are provided on the surface of the left Y carriage 16L facing the side surface 14F of the table 14.

One end 14D of the upper surface 14A of the table 14 in the X direction in the X axis direction is formed with a sliding surface with the right Y carriage 16R. Bearings are provided on the surface of the upper surface 14A of the table 14 in the right Y carriage 16R facing one end 14D in the X-axis direction.

The other end 14E of the upper surface 14A of the table 14 in the X direction in the X axis direction is formed with a sliding surface with the left Y carriage 16L. Bearings are provided on the surface of the upper surface 14A of the table 14 in the left Y carriage 16L facing the other end 14E in the X-axis direction. The bearing of the right Y carriage 16R and the bearing of the left Y carriage 16L are not shown.

The upper part of the right Y carriage 16R and the upper part of the left Y carriage 16L are connected by using the X guide 18. The right Y carriage 16R, the left Y carriage 16L, and the X guide 18 are components of the portal frame 26. The gantry frame 26 is movably supported along the Y-axis direction using the table 14.

A linear scale for detecting the position in the Y-axis direction is attached to the side surface 14B of the table 14. The linear scale for detecting the position in the Y-axis direction detects the position of the right Y carriage 16R in the Y-axis direction. The linear scale for position detection in the Y-axis direction outputs a detection signal indicating the position of the right Y carriage 16R in the Y-axis direction. The linear scale for position detection in the Y-axis direction outputs coordinate values in the Y-axis direction in the machine coordinate system.

An X carriage 20 is attached to the X guide 18. The X guide 18 has a sliding surface 18A with the X carriage 20. The X carriage 20 is provided with a bearing on the surface of the X guide 18 facing the sliding surface 18A. The X carriage 20 is movably supported along the X-axis direction by using the X guide 18. The bearing of the X carriage 20 is not shown.

The X guide 18 is attached with a linear scale for detecting the position in the X-axis direction. The linear scale for detecting the position in the X-axis direction detects the position of the X carriage 20 in the X-axis direction. The linear scale for position detection in the X-axis direction outputs a detection signal indicating the position of the X carriage 20 in the X-axis direction. The linear scale for position detection in the X-axis direction outputs coordinate values in the X-axis direction in the machine coordinate system.

The X carriage 20 has a built-in bearing for guiding the Z-axis direction. A Z spindle 22 is attached along the bearing for Z-axis direction guidance. The Z spindle 22 is movably supported in the Z axis direction. The bearing for Z-axis direction guidance is not shown.

The X carriage 20 is equipped with a linear scale for detecting the position in the Z-axis direction. The Z-axis direction position detection linear scale detects the position of the Z spindle 22 in the Z-axis direction. The linear scale for position detection in the Z-axis direction outputs a detection signal indicating the position of the Z spindle 22 in the Z-axis direction. The linear scale for Z-axis direction position detection outputs the coordinate values in the Z-axis direction in the machine coordinate system.

The illustration of the linear scale for X-axis direction position detection, the Y-axis direction position detection linear scale, and the Z-axis direction position detection linear scale is omitted. The X-axis direction position detection linear scale, the Y-axis direction position detection linear scale, and the Z-axis direction position detection linear scale are components of the measuring unit 142 shown in FIG.

A probe head 24 is attached to the lower end of the Z spindle 22. The probe head 24 includes a probe 24A, a slitus 24B, and a contact 24C. A slitus 24B is attached to the tip of the probe 24A. A contactor 24C is attached to the tip of the slitus 24B.

The probe head 24 is a probe head provided with a stepless positioning mechanism. The probe head 24 is a five-axis simultaneous control probe head. The probe head 24 includes a rotation drive unit that rotates the probe 24A around the first rotation shaft 24D or the second rotation shaft 24E. The illustration of the rotation drive unit is omitted. The rotation drive unit is a component of the drive unit 140 shown in FIG.

The probe head 24 can rotate the probe 24A using only the rotational movement around the first rotary shaft 24D or the second rotary shaft 24E. This allows for faster measurements. The measurement referred to here may be read as probing or determination of coordinate values.

The coordinate measuring machine 10 includes an X-carriage drive unit that drives the X-carriage 20, a Y-carriage drive unit that drives the portal frame 26, and a Z-spindle drive unit that drives the Z-spindle 22.

The X carriage drive unit, the Y carriage drive unit, and the Z spindle drive unit are not shown. The X-carriage drive unit, the Y-carriage drive unit, and the Z-spindle drive unit are components of the drive unit 140 shown in FIG. The drive unit 140 is an aspect of the drive unit that drives the probe based on the movement command signal output from the operation unit.

The coordinate measuring machine 10 includes a controller 28, a joystick operation panel 29, and a computer 32. The controller 28 is electrically connected to the measuring unit of the main body 10A of the coordinate measuring machine 10. In FIG. 1, the measurement unit is not shown. The measuring unit is illustrated with reference numeral 142 in FIG.

The controller 28 is electrically connected to the joystick operation panel 29. The controller 28 receives the movement command signal transmitted from the joystick operation panel 29. As an example of the movement command signal, there is a movement command signal including the movement direction of the probe head 24 when moving the probe head 24 and the movement speed of the probe head 24.

The controller 28 generates a drive command for driving the X carriage 20, a drive command for driving the Y carriage drive unit, and a drive command for driving the Z spindle drive unit based on the movement command signal transmitted from the joystick operation panel 29. do.

The controller 28 is electrically connected to the X-carriage drive unit that drives the X-carriage 20. The controller 28 transmits a drive command to the X carriage drive unit.

The controller 28 is electrically connected to the Y carriage drive unit that drives the portal frame 26. The controller 28 transmits a drive signal to the Y carriage drive unit.

The controller 28 is electrically connected to the Z spindle that drives the Z spindle 22. The controller 28 transmits a drive signal to the Z spindle.

The controller 28 receives an electric signal representing the measurement result transmitted from the measurement unit. The controller 28 acquires the information of the coordinate value at the measurement position of the work measured by using the measurement unit. The coordinate value information includes a coordinate value in the X-axis direction, a coordinate value in the Y-axis direction, and a coordinate value in the Z-axis direction.

The joystick operation panel 29 includes a joystick and a plurality of operation buttons. The joystick operation panel 29 is an operation unit operated by the operator. In FIG. 1, the joystick and a plurality of operation buttons are not shown. Details of the joystick operation panel 29 will be described later.

Software 32A is installed on the computer 32. The software 32A includes a measurement program that describes the procedure of the measurement method using the joystick operation panel 29. Further, the software 32A includes a program for confirming the measurement result obtained from the measurement unit 142.

The computer 32 is electrically connected to the controller 28. The computer 32 can execute various programs included in the software 32A based on the program execution instructions transmitted from the controller 28. The computer 32 can transmit various programs included in the software 32A to the controller 28 based on the transmission instruction of the program transmitted from the controller 28.

The computer 32 may include an operation unit and a display unit (not shown). Examples of the operation unit include a keyboard, a mouse, and the like. An example of the display unit is a monitor device. A touch panel type display may be applied as a monitor device, and the operation unit and the display unit may also be used.

The transmission of the electric signal between the controller 28 and the joystick operation panel 29 and the transmission of the electric signal between the controller 28 and the computer 32 may be a wired system or a wireless system. Known communication protocols can be applied to the transmission of electrical signals.

<Explanation of the rotation operation of the probe head>
FIG. 2 is an enlarged view of the probe head showing the rotational movement of the probe head around the first rotation axis. The probe 24A can be moved steplessly with respect to the first rotation axis 24D in the range of minus θ from the vertical angle and in the range of plus θ from the vertical angle.

For example, when the position of the contact 24C is the lowest point position and the position of the probe 24A is 0 degree, the probe head 24 has a range of minus 115 degrees or more and plus 115 degrees or less with respect to the first rotation shaft 24D. It is possible to rotate and move with.

FIG. 3 is an enlarged view of the probe head showing the rotational movement of the probe head around the second rotation axis.

The probe 24A can be moved steplessly with respect to the second rotation shaft 24E in the range of minus φ from the horizontal angle and in the range of plus φ from the horizontal angle. For example, the probe head 24 can rotate and move around the second rotation shaft 24E in a range of minus 180 degrees or more and plus 180 degrees or less.

<Detailed explanation of the controller>
FIG. 4 is a block diagram showing a configuration example of the controller. The controller 28 shown in FIG. 4 includes a system control unit 102. The system control unit 102 functions as an overall control unit of the controller 28. The system control unit 102 functions as a memory controller that controls the writing of data to the storage element such as the measurement data storage unit 120 and the reading of data from the storage element.

The system control unit 102 may include a CPU and a memory. CPU is an abbreviation for Central Processing Unit, which is an English notation for a central processing unit. The system control unit 102 may include one or more processors. The system control unit 102 may include an electric circuit.

The memory may include at least one of a ROM, which is a read-only storage element, and a RAM, which is a storage element capable of writing and reading. ROM is an abbreviation for Read Only Memory. RAM is an abbreviation for Random Access Memory.

The controller 28 includes a program execution unit 104. The program execution unit 104 reads an arbitrary program from the computer 32 shown in FIG. 1 and executes the program read from the computer 32.

The controller 28 includes a signal input unit 106. The signal input unit 106 receives the movement command signal and the operation command signal transmitted from the joystick operation panel 29. The signal input unit 106 transmits the received movement command signal and operation command signal to each unit via the system control unit 102.

The controller 28 includes a coordinate system tracking mode setting unit 108 and a coordinate conversion unit 110. The coordinate system follow-up mode setting unit 108 sets whether or not the operation of the joystick operation panel 29 is made to follow the work coordinate system.

When the work coordinate system tracking mode is set in which the operation of the joystick operation panel 29 is made to follow the work coordinate system by using the coordinate system tracking mode setting unit 108, the controller 28 is a probe represented by using the machine coordinate system. The moving direction of the 24A and the moving speed of the probe 24A are transmitted to the coordinate conversion unit 110. The coordinate system tracking mode setting unit 108 is one aspect of a switching unit that switches the measurement based on the machine coordinate system to the measurement based on the work coordinate system.

The coordinate conversion unit 110 sets the moving direction of the probe 24A and the moving speed of the probe 24A represented by using the machine coordinate system as the moving direction of the probe 24A and the moving speed of the probe 24A represented by using the work coordinate system. Convert to. The coordinate conversion unit 110 is one aspect of the conversion unit.

The controller 28 includes a transformation matrix storage unit 112. The transformation matrix storage unit 112 stores a transformation matrix that defines the transformation relationship from the machine coordinate system to the work coordinate system. An example of a transformation matrix that represents a transformation of a three-dimensional coordinate system is a three-row, three-column determinant. The coordinate conversion unit 110 reads the transformation matrix from the transformation matrix storage unit 112 and executes conversion from the machine coordinate system to the work coordinate system.

The controller 28 includes a drive command generation unit 114 and a drive command output unit 116. The drive command generation unit 114 is a drive command for driving the X carriage 20 shown in FIG. 1, a drive command for driving the right Y carriage 16R and the left Y carriage 16L, a drive command for driving the Z spindle 22, and a rotation drive unit. Generates a drive command to drive the carriage.

The drive command generated by the drive command generation unit 114 is transmitted to the drive unit 140 provided in the main body unit 10A of the coordinate measuring machine 10 via the drive command output unit 116. The drive unit 140 includes an X carriage drive unit, a Y carriage drive unit, a Z carriage drive unit, and a rotation drive unit.

The controller 28 includes a measurement data input unit 118 and a measurement data storage unit 120. The measurement data input unit 118 acquires measurement data transmitted from the measurement unit 142 provided in the main body unit 10A of the coordinate measuring machine 10.

The measuring unit 142 includes a linear scale for X-axis direction position detection, a Y-axis direction position detection linear scale, and a Z-axis direction position detection linear scale. That is, the measurement data input unit 118 acquires the coordinate values in the X-axis direction, the coordinate values in the Y-axis direction, and the coordinate values in the Z-axis direction at each measurement position.

The measurement data acquired by using the measurement data input unit 118 is stored in the measurement data storage unit 120. The measurement data stored in the measurement data storage unit 120 is sent to the computer 32 shown in FIG. 1 via a data communication unit (not shown).

The controller 28 includes a work coordinate system setting unit 121. The work coordinate system setting unit 121 sets the work coordinate system for the object to be measured in response to the work coordinate system setting instruction. Details of the work coordinate system setting using the work coordinate system setting unit 121 will be described later.

The controller 28 includes a voltage detection unit 122, a voltage determination unit 124, a probing mode switching unit 126, a parameter setting unit 128, a search distance determination unit 130, an error message display unit 132, and a moving distance determination unit 134.

The voltage detection unit 122, the voltage determination unit 124, the probing mode switching unit 126, the parameter setting unit 128, the search distance determination unit 130, the error message display unit 132, and the moving distance determination unit 134 will be described in detail in the second embodiment. ..

In FIG. 4, each part constituting the controller 28 is listed by function. Each part shown in FIG. 4 can be integrated, separated, combined, or omitted as appropriate. The controller 28 may include one or more processors. The controller 28 may include an electric circuit configured by using an electric component.

<Example of joystick operation panel configuration>
FIG. 5 is a perspective view of the joystick operation panel. The joystick operation panel 29 shown in FIG. 5 includes one joystick 160. The joystick 160 generates a movement command voltage indicating the movement direction and the movement speed of the probe 24A shown in FIG.

When the joystick 160 shown in FIG. 5 is tilted, the direction in which the joystick 160 is tilted is the moving direction of the probe 24A shown in FIG. 1 in the XY plane. For example, when the joystick 160 is tilted in the direction of the arrow line marked with + X in FIG. 5, the joystick 160 generates a movement command voltage for moving the probe 24A shown in FIG. 1 in the positive direction in the X-axis direction. ..

The arrow line with −X shown in FIG. 5 represents the negative direction in the X-axis direction. The arrow line with + Y represents the plus direction in the Y-axis direction. The arrow line with −Y indicates the negative direction in the Y-axis direction.

The magnitude of the angle at which the joystick 160 is tilted with respect to the posture in which the joystick 160 is erected represents the magnitude of the moving speed of the probe 24A shown in FIG. The posture in which the joystick 160 is raised is a non-operated posture of the joystick 160. In the case of non-operation of the joystick 160 shown in FIG. 5, the moving speed of the probe 24A shown in FIG. 1 is set to zero.

When the angle at which the joystick 160 is tilted is relatively large, the moving speed of the probe 24A shown in FIG. 1 is relatively large. On the other hand, when the tilting angle of the joystick 160 shown in FIG. 5 is relatively small, the moving speed of the probe 24A shown in FIG. 1 is relatively small.

The joystick 160 may be operated in an oblique direction with respect to the direction indicated by the four arrow lines shown in FIG. For example, when the joystick 160 is operated diagonally with respect to the arrow line with + X and the arrow line with + Y, the probe 24A shown in FIG. 1 has a positive component in the X-axis direction and a Y-axis. Move in the direction having the positive component of the direction.

When the joystick 160 is rotated, the joystick 160 outputs a movement command voltage for moving the probe head 24 shown in FIG. 1 in the Z-axis direction. For example, when the joystick 160 shown in FIG. 5 is rotated in the direction in which the arrow line with + Z is directed, the joystick 160 is a movement command for moving the probe head 24 shown in FIG. 1 in the positive direction in the Z-axis direction. Output voltage. The arrow line with −Z shown in FIG. 5 represents the negative direction in the Z-axis direction.

The magnitude of the rotation angle of the joystick 160 represents the magnitude of the moving speed of the probe 24A shown in FIG. 1 in the Z-axis direction. In the non-rotating state of the joystick 160, the moving speed of the probe 24A shown in FIG. 1 in the Z-axis direction is set to zero.

The joystick operation panel 29 includes a plurality of operation buttons 162. Each operation button 162 is assigned a function related to the movement of the probe 24A shown in FIG. Examples of the functions assigned to the operation buttons 162 include a teaching operation function, an origin return function, and a step feed function.

The rotation operation of the probe head 24 shown in FIG. 1 can be realized by switching the operation mode of the joystick operation panel 29 to the rotation operation mode and operating the joystick 160. The rotation operation of the probe head 24 shown in FIG. 1 may be realized by operating the operation button 162.

Although FIG. 5 illustrates the joystick operation panel 29 including one joystick 160, the joystick operation panel 29 may include a plurality of joysticks. As an example including a plurality of joysticks, an example including a first joystick for X-axis direction and Y-axis direction operation and a second joystick for Z-axis direction operation can be mentioned.

FIG. 6 is a block diagram showing a schematic configuration of the joystick. The joystick 160 includes a voltage output unit 160A and an angle detection unit 160B.

The voltage output unit 160A outputs a voltage according to the operation amount of the joystick 160. The operation amount is a concept including the magnitude of the angle at which the joystick 160 is tilted and the magnitude of the angle at which the joystick 160 is rotated.

The analog signal output from the voltage output unit 160A is converted into a digital signal by using the analog-to-digital converter 170. The digital signal output from the analog-to-digital converter 170 is transmitted to the processor 172.

The angle detection unit 160B detects the direction in which the joystick 160 is tilted or the direction in which the joystick 160 is rotated. The signal output from the angle detection unit 160B is transmitted to the processor 172.

The processor 172 outputs a movement command voltage representing a velocity v _x in the X-axis direction, a velocity v _y in the Y-axis direction, and a velocity v _z in the Z-axis direction. The movement command voltage output from the processor 172 is expressed using the following equation 1.

The movement command voltage expressed using the above equation 1 is expressed using the machine coordinate system.

[Work coordinate system settings]
Next, a setting example of the work coordinate system will be described. FIG. 7 is a schematic diagram of the setting of the work coordinate system. The setting of the work coordinate system shown in the present embodiment includes spatial correction, origin setting, and reference axis setting. The spatial correction, the origin setting, and the reference axis setting will be described below in this order.

<Spatial correction>
In the spatial correction, any plane 400 on the work 401 is measured. In the measurement of the plane 400, first, the posture of the probe 24A shown in FIG. 1 is set so that the probe 24A and the slitus 24B are parallel to the Z axis of the machine coordinate system.

Next, the contactor 24C is brought into contact with three different positions on the plane 400 shown in FIG. 7 to obtain coordinate values in the machine coordinate system at the three different positions on the plane 400. The plane 400 is identified using the coordinate values in the machine coordinate system at three different positions on the plane 400. The measurement of the plane 400 determines the intersection 402 of the plane 400 and the _Z0 axis, and the normal vector 404 of the plane 400.

The X ₀ Y ₀ Z ₀ coordinate system illustrated with a solid line in FIG. 7 is a machine coordinate system. The _Z0 axis is the Z axis of the machine coordinate system. The _Z0 axis is rotated in a direction parallel to the normal vector 404 of the plane 400. The machine coordinate system is then transformed into the X ₁ Y ₁ Z ₁ coordinate system shown using the dashed line. Spatial correction is the process of converting the X ₀ Y ₀ Z ₀ coordinate system into the X ₁ Y ₁ Z ₁ coordinate system.

<Origin setting>
FIG. 8 is an explanatory diagram of the origin setting in the setting of the work coordinate system. In the origin setting, the origin 406 of the X ₁ Y ₁ Z ₁ coordinate system shown in FIG. 7 is translated along the Z ₀ axis and moved to the intersection 402 of the plane 400 and the Z ₀ axis.

Then, the X ₁ Y ₁ Z ₁ coordinate system is converted into the X ₂ Y ₂ Z ₂ coordinate system illustrated using the long dashed line. Through the above processing, the direction of the Z-axis of the work coordinate system and the origin of the Z-axis of the work coordinate system are determined.

Next, the hole 410 in the plane 400 shown in FIG. 8 is measured. Instead of measuring the hole 410, any position on the plane 400 may be measured. The hole 410 shown in FIG. 8 is measured to obtain the center 412 of the hole 410. The intersection 402 is translated with respect to the plane 400, and the intersection 402 is moved to the position of the center 412 of the hole 410.

The X ₂ Y ₂ Z ₂ coordinate system illustrated with solid lines in FIG. 8 is transformed into the X ₃ Y ₃ Z ₃ coordinate system illustrated with dashed lines. Through the above processing _, the origin of the work coordinate system is determined at the position of the center 412 of the hole 410 _, which is the origin of the _X3Y3Z3 coordinate system.

<Reference axis setting>
FIG. 9 is an explanatory diagram of the reference axis setting in the setting of the work coordinate system. In the reference axis setting, the hole 420 in the plane 400 is measured. Instead of measuring the hole 420, any position on the plane 400, which is different from the center 412 of the hole 410, may be measured.

The hole 420 is measured to determine the position of the center 422 of the hole 420. Next _, the X3 axis and the _Y3 axis _are rotated to a position where the X3 axis passes through the position of the center 422 of the hole 420. α represents the angle at which the _X3 axis is rotated.

The _X4 axis shown in FIG. 9 is the X axis of the work coordinate system. Further, the _Y4 axis is the Y axis of the work coordinate system. Further, the _Z3 axis shown in FIG. 8 is the Z axis of the work coordinate system. The work coordinate system setting method shown in the present embodiment is an example, and another method applicable to the coordinate measuring machine may be applied to the work coordinate system setting method. The work coordinate system setting described here can be executed by using the work coordinate system setting unit 121 shown in FIG.

<Explanation of transformation matrix>
When the work coordinate system is not set, the transformation matrix from the machine coordinate system to the work coordinate system is as shown in Equation 2 below. The transformation matrix shown in Equation 2 is one aspect of the second matrix.

When the inclination of the Z ₁ axis shown in FIG. 7 with respect to the Z ₀ axis is 5 degrees, the transformation matrix from the machine coordinate system to the work coordinate system is as shown in Equation 3 below.

The above equation 3 is as shown in equation 4 below when the inclination of the Z ₁ axis with respect to the Z ₀ axis is θ.

The rotation of the XY plane around the _Z3 axis shown in FIG. 8 is expressed using the following equation 5 with the angle of rotation as α.

When the angle formed by the _X4 axis and the X3 axis shown in FIG. 9 is ₅ degrees, the transformation matrix from the machine coordinate system to the work coordinate system is updated to the transformation matrix of the following equation 6. The work coordinate system converted using the following equation 6 is a coordinate system in which the _X4 axis is the X axis, the Y4 axis is the Y axis, and the _Z3 axis shown in FIG. ₈ is the Z axis.

The above equation 6 is expressed using the following equation 7 using the angle θ and the angle α.

The transformation matrix shown in the above equation 7 is one aspect of the first matrix. The transformation matrix shown in the above equation 6 is a specific example in one aspect of the first matrix.

When the work coordinate system described with reference to FIGS. 7 to 9 is set, the transformation matrix representing the transformation relationship between the machine coordinate system and the work coordinate system is stored in the transformation matrix storage unit 112 shown in FIG. .. The transformation matrix storage unit 112 stores the transformation matrix by associating the measurement target surface of the work with the transformation matrix.

The coordinate conversion unit 110 can read out the transformation matrix corresponding to the measurement target surface of the work from the conversion matrix storage unit 112 using the measurement target surface of the work as an index.

[Explanation of measurement method according to the first embodiment]
<Overview>
FIG. 10 is a schematic diagram schematically showing the movement of the probe. FIG. 10 schematically shows a state in which the plane 452 of the work 450 placed on the table 14 is being measured. Specifically, FIG. 10 illustrates a state in which the probe 24A is inserted into the hole 454 formed in the plane 452.

The Z spindle 22 and the probe head 24 shown by the alternate long and short dash line in FIG. 10 represent an intermediate state from the position where the operation starts to the position where the contactor 24C is inserted into the hole 454. The Z spindle 22 and the probe head 24 illustrated with solid lines represent a state in which the contactor 24C is inserted at an arbitrary position in the hole 454.

In the measurement method shown in the present embodiment, when the work coordinate system is set for the work 450, the measurement mode of the joystick operation panel 29 can be switched to the work coordinate system follow-up mode. In the work coordinate system follow-up mode, the plane 452, which is the surface to be measured, is regarded as the XY plane of the machine coordinate system, and the normal of the plane 452 is regarded as the Z axis of the machine coordinate system, and the joystick operation panel 29 is operated. Is possible.

When the measurement mode of the joystick operation panel 29 is the machine coordinate system follow-up mode, the measurement of the work 450 tilted with respect to the horizontal plane is a combination of the operation of tilting the joystick 160 of the joystick operation panel 29 and the operation of rotating the joystick 160. It requires complicated operations.

On the other hand, in the work coordinate system follow-up mode, the operation of the joystick operation panel 29 in the machine coordinate system is converted into the operation of the probe 24A in the work coordinate system. The operator can operate the joystick operation panel 29 by regarding the plane 452 of the work 450 as the XY plane of the machine coordinate system and the normal of the plane 452 as the Z axis of the machine coordinate system. The rotation of the probe head 24 may be automatically executed by using the conversion relationship between the Z-axis direction in the work coordinate system and the Z-axis in the machine coordinate system, or may be manually executed.

<Measurement procedure>
FIG. 11 is a flowchart showing the procedure of the measurement method according to the first embodiment. The measurement method shown in FIG. 11 may be realized by executing the measurement program mounted on the computer 32 shown in FIG.

In the measurement mode switching determination step S10, the coordinate system tracking mode setting unit 108 shown in FIG. 4 determines whether or not the measurement mode has been switched to the work coordinate system tracking mode. As an example of the operation of switching the measurement mode, there is an example in which the operator presses the work coordinate system tracking mode button by using the application software mounted on the computer 32 shown in FIG.

In the measurement mode switching determination step S10 of FIG. 11, if the coordinate system follow-up mode setting unit 108 shown in FIG. 4 determines that the operation of switching the measurement mode to the work coordinate system follow-up mode has not been performed, a No determination is made. .. In the case of No determination, the process proceeds to the machine coordinate system tracking mode setting step S12 of FIG.

In the machine coordinate system follow-up mode setting step S12, the coordinate conversion unit 110 shown in FIG. 4 sets the default conversion matrix represented by the above equation 2 without changing the conversion matrix. The default transformation matrix is an aspect of the initial values of the matrix. In the machine coordinate system follow-up mode setting step S12, the coordinate conversion unit 110 shown in FIG. 4 sets the conversion matrix represented by the above equation 2, and then proceeds to the operation determination step S20.

On the other hand, in the measurement mode switching determination step S10, when the coordinate system follow-up mode setting unit 108 shown in FIG. 4 determines that the operation for switching the measurement mode to the work coordinate system follow-up mode has been performed, a Yes determination is made. In the case of Yes determination, the process proceeds to the work coordinate system tracking mode setting step S14 of FIG. The measurement mode switching determination step S10 is one aspect of the switching step.

In the work coordinate system follow-up mode setting step S14, the coordinate system follow-up mode setting unit 108 shown in FIG. 4 sets the work coordinate system follow-up mode. In the work coordinate system follow-up mode setting step S14 of FIG. 11, after the coordinate system follow-up mode setting unit 108 shown in FIG. 4 sets the work coordinate system follow-up mode, the process proceeds to the transformation matrix acquisition step S16 of FIG.

In the transformation matrix acquisition step S16, the coordinate transformation unit 110 shown in FIG. 4 is stored in the transformation matrix storage unit 112 shown in FIG. 11 with the plane 452 of the work 450 shown in FIG. 10 as an index. The transformation matrix corresponding to the plane 452 of the work 450 shown in the above is acquired.

In the transformation matrix acquisition step S16 of FIG. 11, after the coordinate conversion unit 110 shown in FIG. 4 acquires the transformation matrix, the process proceeds to the transformation matrix change step S18 of FIG. In the transformation matrix changing step S18, the coordinate conversion unit 110 shown in FIG. 4 changes the default transformation matrix to the transformation matrix acquired in the transformation matrix acquisition step S16 of FIG.

In the transformation matrix changing step S18, the coordinate conversion unit 110 shown in FIG. 4 changes the transformation matrix, and then proceeds to the operation determination step S20 of FIG. Each step from the operation determination step S20 to the measurement end determination step S28 is a component of the process for measuring the work 450 shown in FIG. The transformation matrix acquisition step S16 and the transformation matrix changing step S18 are examples of the components of the transformation process.

The operation determination step S20 of FIG. 11 determines whether or not the operator has operated the joystick operation panel 29 shown in FIG. In the operation determination step S20 of FIG. 11, when the coordinate conversion unit 110 shown in FIG. 4 determines that the joystick operation panel 29 shown in FIG. 10 is not operated, a No determination is made. In the case of No determination, the coordinate conversion unit 110 repeatedly executes the operation determination step S20 until the operation determination step S20 in FIG. 11 is determined to be Yes.

On the other hand, in the operation determination step S20 of FIG. 11, when the coordinate conversion unit 110 shown in FIG. 4 determines that the joystick operation panel 29 shown in FIG. 10 has been operated, a Yes determination is made. In the case of Yes determination, the process proceeds to the movement command voltage acquisition step S22 of FIG.

In the movement command voltage acquisition step S22, the coordinate conversion unit 110 shown in FIG. 4 acquires the movement command voltage of each axis output from the joystick 160 shown in FIG. The movement command voltage of each axis is expressed using the above equation 1.

In the movement command voltage acquisition step S22 of FIG. 11, after the coordinate conversion unit 110 shown in FIG. 4 acquires the movement command voltage of each axis, the process proceeds to the movement command voltage conversion step S24 of FIG.

In the movement command voltage conversion step S24, the coordinate conversion unit 110 shown in FIG. 4 is the conversion matrix updated in the conversion matrix changing step S18 of FIG. 11 or the conversion matrix set in the machine coordinate system tracking mode setting step S12. Is used to convert the movement command voltage of each axis into the movement command voltage of each axis according to the work coordinate system follow-up mode or the machine coordinate system follow-up mode. The movement command voltage is one aspect of the movement command signal.

The movement command voltage (x _v1 , y _v1 , z _v1 ) of each axis when the transformation matrix is expressed using the above equation 6 is expressed using the following equation 8. When the transformation matrix is expressed using the above equation 2, the transformation matrix of the above equation 2 is applied to the transformation matrix of the following equation 8.

In the movement command voltage conversion step S24 of FIG. 11, after the movement command voltage of each axis corresponding to the work coordinate system follow-up mode or the machine coordinate system follow-up mode is generated, the process proceeds to the drive command output step S26. In the drive command output step S26, the coordinate conversion unit 110 shown in FIG. 4 transmits a movement command signal for each axis according to the work coordinate system follow-up mode or the machine coordinate system follow-up mode to the drive command generation unit 114.

The drive command generation unit 114 generates a drive command for each axis, and transmits the drive command for each axis to the drive unit 140 via the drive command output unit 116.

In the drive command output step S26 of FIG. 11, after the drive command output unit 116 shown in FIG. 4 outputs a drive command of each axis, the process proceeds to the measurement end determination step S28 of FIG. In the measurement end determination step S28, the system control unit 102 determines whether or not the measurement of the plane 452 of the work 450 shown in FIG. 10 has been completed.

In the measurement end determination step S28 of FIG. 11, it may be determined that the joystick 160 shown in FIG. 10 has completed the measurement when it has not been operated for a certain period of time. In the measurement end determination step S28 of FIG. 11, it may be determined that the measurement is completed when the measurement end command is input.

If the system control unit 102 shown in FIG. 4 determines in the measurement end determination step S28 of FIG. 11 that the measurement has not been completed, a No determination is made. In the case of No determination, the process returns to the operation determination step S20, and each step from the operation determination step S20 to the measurement end determination step S28 is repeatedly executed until the determination in the measurement end determination step S28 is a Yes determination.

Each step from the operation determination step S20 to the measurement end determination step S28 is an example of a component of the drive process.

On the other hand, in the measurement end determination step S28, when the system control unit 102 shown in FIG. 4 determines that the measurement has been completed, a Yes determination is made. In the case of Yes determination, the process proceeds to the transformation matrix initialization step S30 of FIG.

In the transformation matrix initialization step S30, the coordinate transformation unit 110 shown in FIG. 4 initializes the transformation matrix. In the initialization of the transformation matrix, the transformation matrix shown in Equation 2 above, which is the default transformation matrix, is set in the transformation matrix used in the movement command voltage conversion step S24 of FIG.

In the machine coordinate system follow-up mode setting step S12 of FIG. 11, when the coordinate conversion unit 110 shown in FIG. 4 sets the machine coordinate system follow-up mode, the transformation matrix initialization step S30 of FIG. 11 may be omitted.

In the transformation matrix initialization step S30, as an example of the operation of initializing the transformation matrix, an example in which the operator presses the work coordinate system tracking mode clear button using the application software mounted on the computer 32 shown in FIG. Can be mentioned.

In the transformation matrix initialization step S30, after the coordinate transformation unit 110 shown in FIG. 4 executes the initialization of the transformation matrix, the system control unit 102 shown in FIG. 4 ends the measurement method.

[Action effect]
According to the three-dimensional measuring machine configured as described above, the coordinate system tracking mode setting unit 108 for selectively switching between the work coordinate system tracking mode and the machine coordinate system tracking mode is provided. This makes it possible to select between the work coordinate system follow-up mode and the machine coordinate system follow-up mode according to the measurement conditions such as the shape of the work 450 and the ability of the operator.

Further, when the work coordinate system follow-up mode is set, the transformation matrix representing the conversion relationship from the machine coordinate system to the work coordinate system is read, and the movement command signal in the machine coordinate system output from the joystick 160 is the work coordinate. It is converted into a movement command signal in the system.

As a result, the operator operates the joystick 160 with the measured surface on which the work coordinate system is set as the XY plane in the machine coordinate system and the normal of the measured surface as the Z axis in the machine coordinate system. It is possible.

[Explanation of measurement method according to the second embodiment]
FIG. 12 is a schematic diagram schematically showing the measurement method according to the second embodiment. Hereinafter, the points common to the first embodiment in the second embodiment will be omitted as appropriate, and the points different from the first embodiment in the second embodiment will be described in detail.

<Explanation of issues>
When the probe 24A is moved at a constant low speed using the joystick operation panel 29 shown in FIG. 12 and the work 450 shown in FIG. 10 is measured, the moving speed of the probe 24A depends on the operating state of the joystick 160. Will fluctuate, making it difficult to move the probe head 24 at a constant low speed.

For example, when different operators perform the same operation, the operation state of the joystick 160 may be different due to the difference in the operators. When one operator executes the same operation a plurality of times, the operation state of the joystick 160 may be different a plurality of times depending on the situation of the operator.

The difference in the operating state of the joystick 160 is a variation in the moving speed of the probe 24A. Variations in the moving speed of the probe 24A can cause variations in the measurement results of the work 450.

The moving speed of the probe 24A during probing is an important factor for measuring the work 450 with high accuracy with little variation. When performing manual measurement using the joystick operation panel 29, it is preferable to move the probe 24A at a constant speed.

In the present embodiment, when the trigger operation of the joystick 160 is executed, the mode is switched to the auto-probing mode. In the autoprobing mode, the probe 24A has a constant speed and moves at a low speed.

<Joystick trigger operation>
FIG. 12 schematically illustrates the trigger operation of the joystick 160. The trigger operation of the joystick 160 shown in FIG. 12 is an operation of hitting the joystick 160. The arrow line shown in FIG. 12 indicates the direction in which the joystick 160 is struck. Further, the joystick 160 illustrated by using the alternate long and short dash line represents the joystick 160 in a struck state.

The operation of hitting the joystick 160 is an operation in which the joystick 160 is suddenly operated and the state in which the joystick 160 is operated is not held. The operation of hitting the joystick 160 may be an operation of the maximum stroke of the joystick 160 in any direction.

When the controller 28 shown in FIG. 4 detects the trigger operation of the joystick 160, the controller 28 transmits a movement command signal for moving the probe head 24 at a predetermined probing speed to the drive unit 140. The probing speed is a constant speed and a low speed. The probing speed is maintained by the firmware of the controller 28. The operator can change the measurement speed from the software.

The moving direction of the probe 24A may be the direction in which the joystick 160 is struck. The moving direction of the probe 24A may be the X-axis direction or the Y-axis direction, which is closer to the direction in which the joystick 160 is struck.

When measuring four points in the circle of the inner diameter of the hole 454 shown in FIG. 10, first, the probe head 24 is stopped with the contactor 24C inserted in the hole 454. Next, the operation of hitting the joystick 160 once in four different directions is executed. The four directions of hitting the joystick 160 are preferably the plus X-axis direction, the minus X-axis direction, the plus Y-axis direction, and the minus Y-axis direction. The single tapping operation referred to here includes a case where the tapping operation is performed a plurality of times within the sampling period, but the controller 28 determines that the tapping operation is a single tapping operation.

In this embodiment, the measurement of a hole is illustrated as an example of auto-probing, but it is possible to measure an arbitrary shape by executing a trigger operation according to the measurement position.

When the controller 28 shown in FIG. 4 detects the trigger operation of the joystick 160 shown in FIG. 10, the controller 28 sets the probing target position in the direction in which the joystick 160 is tilted from the current position of the joystick 160. The coordinates of the current position of the joystick 160 are (x _c , y _c , z _c ), the coordinates of the target position of probing are (x _t , y _t , z _t ), and the unit vector in the direction of hitting the joy stick 160 is (i). , J, _k ), the search distance of the probe _24A is D _sh , and the radius of the contact _24C is R _pb . Expressed using.

Here, the controller 28 may hold a predetermined value for the search distance D _sh of the probe 24A. The search distance D _sh of the probe 24A may be a value held by the controller 28 that can be changed according to the measurement target. An example of a default value for the search distance D _sh of the probe 24A is 50 millimeters.

The probing speed is preferably 5% or more and 50% or less of the measured speed. As the measurement speed, the moving speed of the probe, which is applied when the automatic measurement is performed using the coordinate measuring machine, can be applied. An example of a measurement speed is 15 millimeters per second.

When the measuring speed is 15 mm / s, the probing speed can be 0.75 mm / s or more and 7.5 mm / s or less.

The controller 28 may hold a predetermined value for the probing speed. The probing speed may be a value obtained by changing the value held by the controller 28. An example of a default value for probing speed is 5 millimeters per second.

The direction of striking the joystick 160 may be not only the X-axis direction and the Y-axis direction, but also an oblique direction intersecting the X-axis direction and the Y-axis direction.

When the target position expressed using the above equation 9 is outside the stroke range of the probe 24A, the controller 28 shown in FIG. 4 displays an error message without performing probing using the probe 24A. ..

The area outside the stroke range of the probe 24A may include a region where the probe 24A is movable, but the probe 24A is prohibited from being moved based on conditions such as the shape of the measurement target.

As the error message, character information indicating that an error has occurred or voice information indicating that an error has occurred can be applied. Sound information such as beeps and alarms may be applied to the error message.

If the contact 24C does not touch the probing point even if the probe 24A moves the search distance D _sh , no error shall occur. When the contactor 24C stops without touching the probing point, the joystick 160 may be in an operation waiting state.

<Detection of joystick trigger operation>
FIG. 13 is a schematic diagram showing the output voltage of the joystick on which the trigger operation is performed. The horizontal axis of the graph shown in FIG. 13 is the period. The unit of the period is seconds. The vertical axis of the graph shown in FIG. 13 is voltage. The unit of voltage is volt.

The voltage detection unit 122 shown in FIG. 4 calculates the output voltage difference dv / dt of the joystick 160 per unit period dt. The voltage determination unit 124 determines whether or not the output voltage difference dv / dt of the joystick 160 per unit period dt calculated by using the voltage detection unit 122 exceeds a predetermined threshold value δ.

When the output voltage difference dv / dt of the joystick 160 per unit period dt exceeds a predetermined threshold value δ, the probing mode switching unit 126 determines that the joystick 160 shown in FIG. 10 has been hit, and determines that the joystick 160 has been hit. Switch the probing mode to auto probing mode.

When the probing mode is switched to the auto probing mode by using the probing mode switching unit 126 shown in FIG. 4, the drive command output unit 116 transmits the movement command parameter of the auto probing mode to the drive unit 140. The movement command parameters include a movement direction command of the probe 24A, a movement speed command of the probe 24A, and a movement distance command of the probe 24A.

The unit period dt is the sampling period of the output voltage value of the joystick 160 shown in FIG. 10, which is defined inside the firmware. The output voltage difference dv of the joystick 160 is calculated by subtracting the voltage value sampled at the sampling timing immediately before the arbitrary sampling timing from the voltage value sampled at the arbitrary sampling timing.

The threshold value δ is set to a default value in advance according to the specifications of the joystick 160 and the like. The threshold value δ may be changeable.

The output voltage of the joystick is one aspect of the output signal value of the joystick per unit period when the joystick is operated. The output voltage difference dv / dt of the joystick 160 per unit period dt is one aspect of the change value of the output signal value of the joystick per unit period.

The voltage determination unit 124 shown in FIG. 4 triggers the joystick based on the determination result of comparing the change value of the output signal value of the joystick per unit period with a predetermined threshold value when the joystick is operated. This is an aspect of a determination unit that determines whether or not an operation has been performed.

The probing mode switching unit 126 shown in FIG. 4 is one aspect of the switching unit.

The drive unit 140 shown in FIG. 4 is an aspect of the drive unit that starts the movement of the probe in the auto-probing mode when the joystick is triggered.

The voltage output unit 160A shown in FIG. 6 is an aspect of the voltage output unit that outputs a voltage proportional to the operation amount of the joystick.

The parameter setting unit 128 shown in FIG. 4 is one aspect of the parameter setting unit that sets the movement parameters of the probe.

The parameter setting unit 128 is one aspect of the parameter setting unit that sets the moving direction of the probe according to the operation direction of the joystick when the joystick is triggered.

The coordinate conversion unit 110 shown in FIG. 4 uses a transformation matrix that defines the conversion relationship between the machine coordinate system and the work coordinate system, and sets the movement parameters of the probe set by the parameter setting unit in the work coordinate system. This is one aspect of the conversion unit that converts the movement parameters of the probe.

The error message display unit 132 shown in FIG. 4 is an aspect of a notification unit that notifies an error when the target position of the probe is outside the movable range of the probe.

<Explanation of auto-probing procedure>
FIG. 14 is a flowchart showing the procedure of the measurement method according to the second embodiment. The measurement method shown in FIG. 14 may be realized by executing the measurement program mounted on the computer 32 shown in FIG.

In the trigger operation determination step S100, the voltage determination unit 124 shown in FIG. 4 determines whether or not the trigger operation of the joystick 160 shown in FIG. 10 has been executed.

In the trigger operation determination step S100 of FIG. 14, when the voltage determination unit 124 shown in FIG. 4 determines that the trigger operation of the joystick 160 shown in FIG. 10 has not been executed, a No determination is made. In the case of No determination, normal probing is executed in the normal probing mode execution step S102 of FIG.

In the normal probing executed in the normal probing mode execution step S102, the probing speed is set according to the operation amount of the joystick 160 shown in FIG. In the normal probing mode execution step S102 of FIG. 14, after the normal probing is executed, the process proceeds to the measurement end determination step S120.

On the other hand, in the trigger operation determination step S100, when the voltage determination unit 124 shown in FIG. 4 determines that the trigger operation of the joystick 160 shown in FIG. 10 has been executed, a Yes determination is made. In the case of Yes determination, the process proceeds to the parameter setting step S110 of FIG.

In the trigger operation determination step S100 of FIG. 14, the joystick trigger operation is performed based on the determination result of comparing the change value of the output signal value of the joystick per unit period with a predetermined threshold value when the joystick is operated. Is one aspect of the determination step of determining whether or not the above has been performed.

The trigger operation determination step S100 of FIG. 14 is one aspect of a switching step of switching to an autoprobing mode in which the probe is moved at a constant speed when the joystick is triggered.

In the parameter setting step S110, the parameter setting unit 128 shown in FIG. 4 has the moving speed of the probe 24A, the moving direction of the probe 24A, the search distance of the probe 24A, and the current state of the probe 24A shown in FIG. 10 in the autoprobing mode. Set the position.

In the parameter setting step S110, the parameter setting unit 128 shown in FIG. 4 proceeds to the target position calculation step S112 of FIG. 14 after the parameters in the auto-probing mode are set.

In the target position calculation step S112, the parameter setting unit 128 shown in FIG. 4 calculates the coordinates (x _t , y _t , z _t ) of the target position of the probe 24A shown in FIG. 10 using the above equation 6. do. In the target position calculation step S112 of FIG. 14, after the coordinates (x _t , y _t , z _t ) of the target position of the probe 24A shown in FIG. 10 are calculated, the process proceeds to the search distance determination step S114 of FIG.

In the search distance determination step S114, the search distance determination unit 130 shown in FIG. 4 determines whether or not the search distance D _sh of the probe 24A shown in FIG. 10 is within the stroke range of the probe 24A.

In the search distance determination step S114 of FIG. 14, when the search distance determination unit 130 of FIG. 4 determines that the search distance D _sh of the probe 24A shown in FIG. 10 is out of the stroke range of the probe 24A, No. It will be a judgment. In the case of No determination, the process proceeds to the error message display step S130 of FIG.

In the error message display step S130, the error message display unit 132 shown in FIG. 4 displays an error message indicating that the search distance D _sh of the probe 24A shown in FIG. 10 is out of the stroke range of the probe 24A.

In the error message display step S130 of FIG. 14, after the error message display unit 132 shown in FIG. 4 displays the error message, the process proceeds to the measurement end determination step S120 of FIG.

On the other hand, in the search distance determination step S114, when the search distance determination unit 130 of FIG. 4 determines that the search distance _Dsh of the probe 24A shown in FIG. 10 is within the stroke range of the probe 24A, a Yes determination is made. It becomes. In the case of Yes determination, the process proceeds to the probing start step S116 of FIG.

In the probing start step S116, the drive command output unit 116 of FIG. 4 transmits a movement command signal corresponding to auto-probing to the drive unit 140. The probe 24A shown in FIG. 10 performs autoprobing.

When the auto-probing of the probe 24A shown in FIG. 10 is started in the probing start step S116 of FIG. 14, the process proceeds to the moving distance determination step S118 of FIG. In the movement distance determination step S118, the movement distance determination unit 134 of FIG. 4 determines whether or not the movement distance of the probe 24A shown in FIG. 10 has reached the search distance D _sh of the probe 24A.

In the movement distance determination step S118 of FIG. 14, when the movement distance determination unit 134 of FIG. 4 determines that the movement distance of the probe 24A shown in FIG. 10 does not reach the search distance D _sh of the probe 24A, No. It will be a judgment. In the case of No determination, the moving distance determination step S118 is repeatedly executed until a Yes determination is made in the moving distance determination step S118 of FIG.

On the other hand, in the movement distance determination step S118 of FIG. 14, when the movement distance determination unit 134 of FIG. 4 determines that the movement distance of the probe 24A shown in FIG. 10 has reached the search distance of the probe 24A, Yes. It will be a judgment. In the case of Yes determination, the process proceeds to the measurement end determination step S120 of FIG.

In the measurement end determination step S120, the system control unit 102 of FIG. 4 determines whether or not to end the measurement. In the measurement end determination step S120 of FIG. 14, when the system control unit 102 of FIG. 4 determines that the measurement is not completed, a No determination is made. In the case of No determination, the process proceeds to the trigger operation determination step S100 of FIG.

On the other hand, in the measurement end determination step S120 of FIG. 14, when the system control unit 102 of FIG. 4 determines that the measurement is completed, the determination is Yes. In the case of Yes determination, the measurement ends.

The probing start step S116, the movement distance determination step S118, and the measurement end determination step S120 of FIG. 14 are examples of components of a drive process for starting the movement of the probe in the auto-probing mode when the joystick trigger operation is performed. be.

<Other examples of joystick trigger operation>
The joystick 160 shown in FIG. 10 rotates the knob of the joystick 160 faster than a normal operation when performing autoprobing in the Z-axis direction. When one joystick 160 shown in FIG. 10 is provided, the autoprobing in the X-axis direction and the Y-axis direction and the autoprobing in the Z-axis direction are executed separately.

On the other hand, when two joysticks including a joystick dedicated to the Z-axis direction are provided, auto-probing in the X-axis direction and the Y-axis direction and auto-probing in the Z-axis direction can be performed at the same time. Strictly speaking, the term “simultaneous” as used herein includes substantially simultaneous “simultaneity” in which the same effects as those at the same time can be obtained, although the timing is different.

[Action and effect of the second embodiment]
According to the coordinate measuring machine and the measuring method according to the second embodiment, when the trigger operation of the joystick 160 is detected, the mode is switched to the auto-probing mode. As a result, variations in measurement results due to variations in the operation of the joystick 160 are suppressed, and high-precision measurement is possible.

When the output voltage difference dv / dt of the joystick 160 per unit period dt exceeds a predetermined threshold value, it is determined that the trigger operation of the joystick 160 has been performed. As a result, erroneous detection of the trigger operation of the joystick 160 is suppressed.

As the trigger operation of the joystick 160, an operation different from the normal operation of the joystick 160 such as hitting the joystick 160 is applied. This makes it possible to execute the auto-probing mode regardless of conditions such as the ability of the operator.

The auto-probing mode according to the second embodiment can be combined with the work coordinate system tracking mode according to the first embodiment. Thereby, the auto-probing mode in the work coordinate system can be realized by applying the operation of the joystick 160 in the machine coordinate system tracking mode.

For example, the coordinates (x _t , y _t ,) of the target position of the probe 24A shown in FIG. 10 represented by the above equation 6 using a transformation matrix showing the transformation relationship from the machine coordinate system to the work coordinate system. z _t ) may be converted into the coordinates of the target position of the probe 24A in the work coordinate system.

Further, the movement parameter of the probe 24A shown in FIG. 10 may be converted into the movement parameter of the probe 24A in the work coordinate system. Examples of the movement parameters of the probe 24A to be converted include the search distance of the probe 24A and the movement direction of the probe 24A.

As an example of the transformation matrix showing the transformation relationship from the machine coordinate system to the work coordinate system, there is an example of a transformation row expressed by using the above equation 7.

In the present specification, an embodiment using the probe head 24 for simultaneous control of five axes has been illustrated, but the probe head 24 is moved in the X-axis direction, the Y-axis direction, and the Z-axis direction with the probe head 24 being non-rotating. A mode using 24 is also possible.

In the embodiment of the present invention described above, the constituent requirements can be appropriately changed, added, or deleted without departing from the spirit of the present invention. The present invention is not limited to the embodiments described above, and many modifications can be made by a person having ordinary knowledge in the art within the technical idea of the present invention.

10 ... 3D measuring machine, 24A ... probe, 28 ... controller, 29 ... joystick operation panel, 102 ... system control unit, 110 ... coordinate conversion unit, 116 ... drive command output unit, 121 ... work coordinate system setting unit, 122 ... Voltage detection unit, 124 ... Voltage determination unit, 126 ... Probing mode switching unit, 128 ... Parameter setting unit, 130 ... Search distance determination unit, 132 ... Error message display unit, 134 ... Movement distance determination unit, 140 ... Drive unit

Claims (12)

It is a three-dimensional measuring machine that operates a joystick to move a probe and measures an object to be measured using the probe.
Whether or not the trigger operation of the joystick is performed based on the determination result of comparing the change value of the output signal value of the joystick per unit period with the predetermined threshold value when the joystick is operated. Judgment unit and
When the determination unit determines that the trigger operation of the joystick has been performed, a switching unit that switches to an autoprobing mode for moving the probe at a constant speed, and a switching unit.
A drive unit that starts the movement of the probe in the auto-probing mode in response to the trigger operation of the joystick when the switching unit switches to the auto-probing mode.
Equipped with
The determination unit is a three-dimensional measuring machine that determines whether or not the trigger operation that does not hold the state in which the joystick is operated is performed . The joystick includes a voltage output unit that outputs a voltage proportional to the operation amount of the joystick.
The coordinate measuring machine according to claim 1, wherein the determination unit determines that the trigger operation of the joystick has been performed when the change value of the output voltage of the joystick per unit period exceeds the threshold value. A parameter setting unit for setting the movement parameters of the probe is provided.
The three-dimensional measuring machine according to claim 1 or 2 , wherein the parameter setting unit sets the search distance of the probe by one trigger operation of the joystick in the auto-probing mode. The three-dimensional measuring machine according to claim 3 , wherein the parameter setting unit sets the moving direction of the probe according to the operating direction of the joystick when the joystick is operated by the trigger. The three-dimensional measuring machine according to claim 3 or 4 , wherein the parameter setting unit sets the moving speed of the probe in the auto-probing mode. It is a three-dimensional measuring machine that operates a joystick to move a probe and measures an object to be measured using the probe.
Whether or not the trigger operation of the joystick is performed based on the determination result of comparing the change value of the output signal value of the joystick per unit period with the predetermined threshold value when the joystick is operated. Judgment unit and
When the determination unit determines that the trigger operation of the joystick has been performed, a switching unit that switches to an autoprobing mode for moving the probe at a constant speed, and a switching unit.
A drive unit that starts the movement of the probe in the auto-probing mode in response to the trigger operation of the joystick when the switching unit switches to the auto-probing mode.
It is a parameter setting unit for setting the movement parameter of the probe, and sets the search distance of the probe by one trigger operation of the joystick in the autoprobing mode, and the joystick is operated by the trigger. , A parameter setting unit that sets the moving direction of the probe according to the operating direction of the joystick,
Equipped with
The parameter setting unit sets the coordinates (x t, y t, z t) of the target position of the probe, and sets the coordinates (x _t , y _t , z _t ).
The coordinates of the current position of the probe are (x _c , y _c , z _c ), the search distance is D _sh , the radius of the probe is R _pb , and the unit vector in the moving direction of the probe is (i, j, k). Then, the coordinates (x _t , y _t , z _t ) of the target position of the probe are the following equations (x _t , y _t , z _t ) = (x _c , y _c , z _c ) × (D). _sh + R _pb ) × (i, j, k)
A three-dimensional measuring machine calculated using. The three-dimensional measuring device according to claim 6 , further comprising a notification unit for notifying an error when the target position of the probe is outside the movable range of the probe. The work coordinate system setting unit that sets the work coordinate system for the object to be measured,
Using a transformation matrix that defines the transformation relationship between the machine coordinate system and the work coordinate system, the movement parameters of the probe set by the parameter setting unit are converted into the movement parameters of the probe in the work coordinate system. Conversion part and
The three-dimensional measuring machine according to any one of claims 5 to 7 . It is a measurement method in which a joystick is operated to move a probe and the probe is used to measure an object to be measured.
Whether or not the trigger operation of the joystick is performed based on the determination result of comparing the change value of the output signal value of the joystick per unit period with the predetermined threshold value when the joystick is operated. Judgment process and
A switching step of switching to an auto-probing mode in which the probe is moved at a constant speed when it is determined that the trigger operation of the joystick has been performed in the determination step.
A driving step of starting the movement of the probe in the autoprobing mode in response to the trigger operation of the joystick when the autoprobing mode is switched in the switching step.
Including
The determination step is a measurement method for determining whether or not the trigger operation is performed, in which the state in which the joystick is operated is not held . It is a measurement method in which a joystick is operated to move a probe and the probe is used to measure an object to be measured.
Whether or not the trigger operation of the joystick is performed based on the determination result of comparing the change value of the output signal value of the joystick per unit period with the predetermined threshold value when the joystick is operated. Judgment process and
A switching step of switching to an auto-probing mode in which the probe is moved at a constant speed when it is determined that the trigger operation of the joystick has been performed in the determination step.
A driving step of starting the movement of the probe in the autoprobing mode in response to the trigger operation of the joystick when the autoprobing mode is switched in the switching step.
In the parameter setting step of setting the movement parameter of the probe , the search distance of the probe by one trigger operation of the joystick in the autoprobing mode is set, and the joystick is operated by the trigger. , A parameter setting step of setting the moving direction of the probe according to the operation direction of the joystick, and
Including
In the parameter setting step, the coordinates (xt, yt, zt) of the target position of the probe are set.
When the coordinates of the current position of the probe are (xc, yc, zc), the search distance is Dsh, the radius of the probe is Rpb, and the unit vector in the moving direction of the probe is (i, j, k), the above The coordinates (xt, yt, zt) of the target position of the probe are the following equations (xt, yt, zt) = (xc, yc, zc) × (Dsh + Rpb) × (i, j, k).
Measurement method calculated using. It is a measurement program that operates a joystick to move a probe and measures an object to be measured using the probe.
Whether the trigger operation of the joystick was performed based on the determination result of comparing the change value of the output signal value of the joystick per unit period with the predetermined threshold value when the computer operates the joystick. Judgment unit that determines whether or not
When the determination unit determines that the trigger operation of the joystick has been performed, the switching unit for switching to the autoprobing mode for moving the probe at a constant speed, and
When the switching unit switches to the auto-probing mode, the joystick functions as a driving unit for starting the movement of the probe in the auto-probing mode in response to the trigger operation of the joystick .
The determination unit is a measurement program that determines whether or not the trigger operation that does not hold the state in which the joystick is operated is performed . It is a measurement program that operates a joystick to move a probe and measures an object to be measured using the probe.
Whether the trigger operation of the joystick was performed based on the determination result of comparing the change value of the output signal value of the joystick per unit period with the predetermined threshold value when the computer operates the joystick. Judgment unit that determines whether or not
A switching unit that switches to an autoprobing mode in which the probe is moved at a constant speed when the determination unit determines that the trigger operation of the joystick has been performed.
A drive unit that starts the movement of the probe in the auto-probing mode in response to the trigger operation of the joystick when the switching unit switches to the auto-probing mode, and
It is a parameter setting unit for setting the movement parameter of the probe, and sets the search distance of the probe by one trigger operation of the joystick in the autoprobing mode, and the joystick is operated by the trigger. , It functions as a parameter setting unit that sets the movement direction of the probe according to the operation direction of the joystick.
The parameter setting unit sets the coordinates (xt, yt, zt) of the target position of the probe.
When the coordinates of the current position of the probe are (xc, yc, zc), the search distance is Dsh, the radius of the probe is Rpb, and the unit vector in the moving direction of the probe is (i, j, k), the above The coordinates (xt, yt, zt) of the target position of the probe are the following equations (xt, yt, zt) = (xc, yc, zc) × (Dsh + Rpb) × (i, j, k).
A measurement program calculated using.

Images