JP7189466B2 - Coordinate 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.

2. Description of the Related Art A three-dimensional measuring machine is known that manually measures an object to be measured using an operation member such as a joystick.

Patent Literature 1 describes a three-dimensional measuring machine with a joystick. The three-dimensional measuring machine described in Patent Document 1 obtains the normal vector of the target plane from the coordinate values of three points on the target plane that are not on the same straight line, and From the coordinate values of two points on the X-axis, the spatial direction vector of the straight line that should be the X-axis on the plane of interest is obtained. Furthermore, the outer product of the normal vector and the spatial direction vector is obtained.

A coordinate transformation matrix is obtained from the normal vector, the spatial direction vector, and the outer product of the two, and the machine coordinate system command values determined by operating the joystick are transformed into work coordinate system command values using the coordinate transformation matrix. be.

In addition, the three-dimensional measuring machine described in Patent Document 1 converts the coordinate rotation into the speed command value for the X-axis direction, the speed command value for the Y-axis direction, and the speed command value for the Z-axis direction of the joystick. and correspond to the X-, Y-, and Z-axes of the work coordinate system set on the work.

Japanese Patent Publication No. 5-25046

Depending on the shape of the object to be measured and the orientation of the surface to be measured, if the machine coordinate system is not converted to the work coordinate system and the measurement is based on the machine coordinate system, the efficiency of measurement can be expected to be improved and high Accuracy measurements may be achieved.

However, Patent Literature 1 does not describe or suggest the above problems in the measurement based on the workpiece coordinate system. Moreover, Patent Literature 1 does not describe or suggest a configuration for solving the above problems.

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 solving new problems in manual measurement based on a work coordinate system using an operation member. intended to provide

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

A three-dimensional measuring machine according to a first aspect is a three-dimensional measuring machine that moves a probe by operating an operating section to measure an object to be measured using the probe, and includes a movement command signal output from the operating section. a driving unit that drives the probe based on the , a switching unit that switches the measurement based on the machine coordinate system to the measurement based on the work coordinate system, and when the switching unit switches to the measurement based on the work coordinate system, the machine coordinate system and a transforming unit that transforms a movement command signal output from the operation unit into a movement command signal in the work coordinate system using a first matrix that defines a transformation relationship with the work coordinate system. .

According to the first aspect, it is possible to switch the measurement using the machine coordinate system to the measurement using the workpiece coordinate system. When the movement command signal in the machine coordinate system is converted into the movement command signal in the work coordinate system, the probe can be moved in the work coordinate system by operating the operating section based on the machine coordinate system.

The operation unit includes operation members such as a joystick and a trackball. The operation unit may include operation members such as operation buttons.

A measurement based on the machine coordinate system is a measurement that specifies the measurement position of the object to be measured using the coordinate values of the machine coordinate system. A measurement based on the work coordinate system is a measurement that specifies the measurement position of the object to be measured using the coordinate values of the work coordinate system.

The probe is configured to be movable in each of the first axis direction, the second axis direction, and the third axis direction of the three-dimensional orthogonal coordinate system. The probe may be capable of rotation about an axis of rotation along directions parallel to both the first axis and the second axis, which are orthogonal to each other. The probe may be capable of rotation about an axis of rotation along a direction parallel to the first axis and a third axis orthogonal to the second axis.

According to a second aspect, in the three-dimensional measuring machine of the first aspect, the operating section may be configured to output a movement command signal indicating the movement direction of the probe and the movement speed of the probe.

According to the second aspect, it is possible to specify the movement parameter of the probe using the movement direction of the probe and the movement speed of the probe.

A third aspect is the three-dimensional measuring machine according to the first aspect or the second aspect, wherein the conversion unit moves the probe based on the machine coordinate system when the measurement based on the machine coordinate system is performed. A matrix may be used to convert the movement command signal output from the operation unit into a movement command signal in the machine coordinate system.

According to the third aspect, when the measurement based on the machine coordinate system is performed, the probe can be moved based on the machine coordinate system by operating the operating section based on the machine coordinate system.

A fourth aspect is the three-dimensional measuring machine according to any one of the first to third aspects, comprising a storage unit that stores the first matrix, and the conversion unit is switched to measurement based on the work coordinate system by the switching unit. The first matrix may be obtained from the storage unit when the first matrix is obtained.

According to the fourth aspect, the conversion section can acquire the first matrix pre-stored in the storage section and convert the movement command signal in the machine coordinate system into the movement command signal in the work coordinate system.

A fifth aspect is the three-dimensional measuring machine according to the first aspect or the second aspect, wherein the transforming unit uses the initial value of the matrix for transforming the movement command signal as the second When the matrix is set and the switching unit switches to the measurement based on the work coordinate system, the first matrix is read from the storage unit that stores the first matrix, and the matrix for converting the movement command signal is converted from the second matrix. It may be configured to change to the first matrix.

According to the fifth aspect, the conversion unit can update the first matrix set as the initial value to the second matrix, and convert the movement command signal in the machine coordinate system into the movement command signal in the work coordinate system. .

A sixth aspect is the three-dimensional measuring machine according to the fifth aspect, wherein the converting section sets the second matrix as the initial value of the matrix for converting the movement command signal, and the measurement is performed based on the machine coordinate system. Alternatively, a configuration may be adopted in which the matrix for converting the movement command signal is not changed.

According to the sixth aspect, when the measurement based on the machine coordinate system is performed, the conversion unit can output the movement command signal in the machine coordinate system using the second matrix set as the initial value. .

According to a seventh aspect, the three-dimensional measuring machine according to any one of the first to sixth aspects may be configured to include a work coordinate system setting section for setting a work coordinate system with respect to the object to be measured.

According to the seventh aspect, it is possible to set the work coordinate system for any object to be measured.

A measuring method according to an eighth aspect is a measuring method in which the operation unit is operated to move the probe to measure the object to be measured using the probe, based on a movement command signal output from the operation unit, a drive step of driving a probe that measures the object to be measured; a switching step of switching from measurement based on the machine coordinate system to measurement based on the work coordinate system; a conversion step of converting a movement command signal output from the operation unit into a movement command signal in the work coordinate system using a first matrix that defines a conversion relationship between the coordinate system and the work coordinate system. .

According to the eighth aspect, it is possible to obtain the same effect as the first aspect.

In the eighth aspect, items similar to the items specified in the second to seventh aspects can be appropriately combined. In that case, the constituent elements responsible for the processes and functions specified in the three-dimensional measuring machine can be grasped as the constituent elements of the measuring method responsible for the corresponding processes and functions.

A measurement program according to a ninth aspect is a measurement program for operating an operation unit to move a probe to measure an object to be measured using the probe, wherein the computer responds to a movement command signal output from the operation unit. A driving unit that drives the probe that measures the object to be measured, a switching unit that switches the measurement based on the machine coordinate system to the measurement based on the work coordinate system, and when the switching unit switches to the measurement based on the work coordinate system In addition, using the first matrix that defines the conversion relationship between the machine coordinate system and the work coordinate system, the measurement program functions as a conversion section that converts the movement command signal output from the operation section into a movement command signal in the work coordinate system. is.

According to the ninth aspect, it is possible to obtain the same effects as those of the first aspect.

In the ninth aspect, the same items as those specified in the second to seventh aspects can be appropriately combined. In that case, the constituent elements responsible for the processes and functions specified in the three-dimensional measuring machine can be grasped as the constituent elements of the measurement program responsible for the corresponding processes and functions.

According to the present invention, the measurement using the machine coordinate system can be switched to the measurement using the workpiece coordinates. When the movement command signal in the machine coordinate system is converted into the movement command signal in the work coordinate system, the probe can be moved in the work coordinate system by operating the operating section based on the machine coordinate system.

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 motion of the probe head about the first axis of rotation. FIG. 3 is an enlarged view of the probe head showing the rotational movement of the probe head about the second axis of rotation. FIG. 4 is a block diagram showing a configuration example of a controller. FIG. 5 is a perspective view of the joystick operating panel. FIG. 6 is a block diagram showing a schematic configuration of the joystick. FIG. 7 is a schematic diagram of setting the work coordinate system. FIG. 8 is an explanatory diagram of origin setting in setting the work coordinate system. FIG. 9 is an explanatory diagram of setting the reference axis in setting the work coordinate system. FIG. 10 is a schematic diagram schematically showing movement of the probe. FIG. 11 is a flow chart showing the procedure of the measuring method according to the first embodiment. FIG. 12 is a schematic diagram schematically showing the measuring method according to the second embodiment. FIG. 13 is a schematic diagram showing the output voltage of the joystick in which the trigger operation is performed. FIG. 14 is a flow chart showing the procedure of the measuring method according to the second embodiment.

Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. In this specification, the same reference numerals are given to the same configurations as those described above, and the description thereof will be omitted as appropriate.

[Explanation of 3D measuring machine]
<Overall composition>
FIG. 1 is an overall configuration diagram of a three-dimensional measuring machine. In this embodiment, an example of a three-dimensional measuring machine that moves in a portal will be described. A three-dimensional measuring machine is sometimes called a Coordinate Measuring Machine. Coordinate Measuring Machine is sometimes abbreviated as CMM.

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

The machine coordinate system is a coordinate system determined based on the origin of the machine coordinate system unique to the three-dimensional measuring machine 10 . A work coordinate system, which will be described later, is a coordinate system determined based on the origin of the work coordinate system set on the work.

The three-dimensional measuring machine 10 shown in FIG. 1 operates the joystick operation panel 29 to move the probe head 24 and measure the work as the object to be measured. In addition, in FIG. 1, illustration of a workpiece is omitted. The workpiece is shown at 450 in FIG. The joystick operating panel 29 is one aspect of the operating section.

The three-dimensional measuring machine 10 includes a base 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 pedestal 12 supports the lower surface 14C of the table 14. As shown in FIG. A surface plate can be applied to the table 14 . A right Y carriage 16R and a 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 arranged at the other end 14E of the table 14 in the X-axis direction.

A side surface 14B on the side of one end 14D in the X-axis direction of the table 14 forms a sliding surface with the right Y carriage 16R. A bearing is provided on the surface of the right Y carriage 16R that faces the side surface 14B of the table 14 .

A side surface 14F on the side of the other end 14E in the X-axis direction of the table 14 forms a sliding surface with the left Y carriage 16L. A bearing is provided on the surface of the left Y carriage 16L that faces the side surface 14F of the table 14 .

One end 14D in the X-axis direction of the upper surface 14A of the table 14 in the X direction forms a sliding surface with the right Y carriage 16R. A bearing is provided on the surface of the right Y carriage 16R that faces one end 14D of the upper surface 14A of the table 14 in the X-axis direction.

The other end 14E in the X-axis direction of the upper surface 14A of the table 14 in the X-direction forms a sliding surface with the left Y carriage 16L. A bearing is provided on the surface of the left Y carriage 16L that faces the other end 14E in the X-axis direction of the upper surface 14A of the table 14 . Illustration of the bearing of the right Y carriage 16R and the bearing of the left Y carriage 16L is omitted.

An upper portion of the right Y carriage 16R and an upper portion of the left Y carriage 16L are connected using an X guide 18. As shown in FIG. The right Y carriage 16R, the left Y carriage 16L, and the X guide 18 are components of the portal frame 26. As shown in FIG. The portal frame 26 is supported by the table 14 so as to be movable along the Y-axis direction.

A linear scale for position detection in the Y-axis direction is attached to the side surface 14B of the table 14 . The Y-axis direction position detection linear scale detects the position of the right Y carriage 16R in the Y-axis direction. The Y-axis direction position detection linear scale outputs a detection signal representing the position of the right Y-carriage 16R in the Y-axis direction. The Y-axis direction position detection linear scale 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 18 A with the X carriage 20 . The X carriage 20 is provided with bearings on the surface facing the sliding surface 18A of the X guide 18 . The X carriage 20 is supported movably along the X-axis direction using an X guide 18 . Illustration of the bearings of the X carriage 20 is omitted.

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

The X carriage 20 incorporates bearings for guiding in the Z-axis direction. A Z spindle 22 is mounted along the bearings for Z-axis guidance. The Z spindle 22 is movably supported in the Z-axis direction. Illustration of bearings for guiding in the Z-axis direction is omitted.

A linear scale for position detection in the Z-axis direction is attached to the X-carriage 20 . The Z-axis direction position detection linear scale detects the position of the Z spindle 22 in the Z-axis direction. The Z-axis direction position detection linear scale outputs a detection signal representing the position of the Z spindle 22 in the Z-axis direction. The Z-axis direction position detection linear scale outputs coordinate values in the Z-axis direction in the machine coordinate system.

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

A probe head 24 is attached to the lower end of the Z spindle 22 . The probe head 24 includes probes 24A, slices 24B, and contacts 24C. A slicer 24B is attached to the tip of the probe 24A. A contact 24C is attached to the tip of the slice 24B.

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

The probe head 24 can rotate the probe 24A using only rotational motion about the first axis of rotation 24D or the second axis of rotation 24E. This allows faster measurements. The measurement here may be read as probing or determination of coordinate values.

The three-dimensional measuring machine 10 includes an X carriage driving section that drives the X carriage 20 , a Y carriage driving section that drives the portal frame 26 , and a Z spindle driving section that drives the Z spindle 22 .

Illustrations of the X carriage driving section, the Y carriage driving section, and the Z spindle driving section are omitted. The X carriage drive, Y carriage drive, and Z spindle drive are components of drive 140 shown in FIG. The drive unit 140 is one aspect of a drive unit that drives the probe based on the movement command signal output from the operation unit.

The three-dimensional measuring machine 10 has a controller 28 , a joystick operation panel 29 and a computer 32 . The controller 28 is electrically connected to the measurement section of the main body section 10A of the coordinate measuring machine 10 . In addition, in FIG. 1, the illustration of the measurement unit is omitted. The measuring section is shown at 142 in FIG.

Controller 28 is electrically connected to joystick operation panel 29 . The controller 28 receives movement command signals transmitted from the joystick operation panel 29 . An example of the movement command signal is a movement command signal that includes 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 driving section, and a drive command for driving the Z spindle driving section based on the movement command signal transmitted from the joystick operation panel 29. do.

The controller 28 is electrically connected to an X carriage drive that drives the X carriage 20 . The controller 28 sends a drive command to the X carriage drive section.

The controller 28 is electrically connected to the Y carriage drive that drives the portal frame 26 . The controller 28 sends drive signals to the Y carriage drive section.

Controller 28 is electrically connected to the Z spindle that drives Z spindle 22 . Controller 28 sends drive signals to the Z spindle.

The controller 28 receives electrical signals representing measurement results transmitted from the measurement unit. The controller 28 acquires coordinate value information at the measurement position of the workpiece measured using the measurement unit. The coordinate value information includes the coordinate value in the X-axis direction, the coordinate value in the Y-axis direction, and the coordinate value in the Z-axis direction.

The joystick operation panel 29 has a joystick and a plurality of operation buttons. A joystick operation panel 29 is an operation unit operated by an operator. In FIG. 1, illustration of a joystick and a plurality of operation buttons is omitted. The details of the joystick operation panel 29 will be described later.

The computer 32 is installed with software 32A. The software 32A includes a measurement program in which procedures of a measurement method using the joystick operation panel 29 are described. The software 32A also includes a program for checking the measurement results obtained from the measuring section 142. FIG.

The computer 32 is electrically connected to the controller 28 via an input interface (not shown). The computer 32 can execute various programs included in the software 32A based on program execution instructions sent from the controller 28 . The computer 32 can transmit various programs included in the software 32A to the controller 28 based on a program transmission command transmitted from the controller 28 .

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

Transmission of electrical signals between the controller 28 and the joystick operation panel 29 and transmission of electrical signals between the controller 28 and the computer 32 may be wired or wireless. A known communication protocol can be applied to the transmission of the electric signal.

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

For example, when the position of the contactor 24C is the lowest point, and the probe 24A is at the position of 0 degree, the probe head 24 is in the range of minus 115 degrees or more and plus 115 degrees or less around the first rotation axis 24D. Rotational movement is possible with

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

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

<Detailed description of the controller>
FIG. 4 is a block diagram showing a configuration example of a controller. The controller 28 shown in FIG. 4 has a system control section 102 . A system control unit 102 functions as a general control unit for the controller 28 . The system control unit 102 functions as a memory controller that controls writing of data to storage elements such as the measurement data storage unit 120 and reading of data from the storage elements.

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

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

The controller 28 has 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 has a signal input section 106 . The signal input unit 106 receives movement command signals and operation command signals 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 has a coordinate system following mode setting section 108 and a coordinate conversion section 110 . A coordinate system follow-up mode setting unit 108 sets whether or not the operation of the joystick operation panel 29 follows the work coordinate system.

When the coordinate system follow-up mode setting unit 108 is used to set the work coordinate system follow-up mode in which the operation of the joystick operation panel 29 follows the work coordinate system, the controller 28 moves the probe expressed using the machine coordinate system. 24A and the moving speed of the probe 24A are sent to the coordinate conversion unit 110. FIG. The coordinate system follow-up mode setting unit 108 is one aspect of a switching unit that switches measurement based on the machine coordinate system to measurement based on the work coordinate system.

The coordinate transformation unit 110 converts the moving direction and the moving speed of the probe 24A represented using the machine coordinate system into the moving direction and moving speed of the probe 24A represented using the work coordinate system. Convert to The coordinate transformation unit 110 is one aspect of a transformation unit.

The controller 28 has a transformation matrix storage unit 112 . A transformation matrix storage unit 112 stores a transformation matrix that defines a transformation relationship from the machine coordinate system to the work coordinate system. A 3-row, 3-column determinant is an example of a transformation matrix representing transformation of a three-dimensional coordinate system. The coordinate transformation unit 110 reads a transformation matrix from the transformation matrix storage unit 112 and executes transformation from the machine coordinate system to the work coordinate system.

The controller 28 has a drive command generator 114 and a drive command output unit 116 . A drive command generation unit 114 generates a drive command for driving the X carriage 20 shown in FIG. Generate a drive command to drive the

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

The controller 28 has a measurement data input section 118 and a measurement data storage section 120 . The measurement data input unit 118 acquires measurement data transmitted from the measurement unit 142 provided in the main unit 10A of the three-dimensional measuring machine 10 .

The measurement unit 142 includes an X-axis direction position detection linear scale, 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 value in the X-axis direction, the coordinate value in the Y-axis direction, and the coordinate value in the Z-axis direction at each measurement position.

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

The controller 28 has a work coordinate system setting section 121 . The work coordinate system setting unit 121 sets a work coordinate system for the object to be measured in accordance with a work coordinate system setting instruction. The details of setting the work coordinate system using the work coordinate system setting unit 121 will be described later.

The controller 28 includes a voltage detection section 122 , a voltage determination section 124 , a probing mode switching section 126 , a parameter setting section 128 , a search distance determination section 130 , an error message display section 132 and a movement distance determination section 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 movement 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 appropriately integrated, separated, shared, or omitted. Controller 28 may include one or more processors. Controller 28 may include an electrical circuit constructed using electrical components.

<Configuration example of joystick operation panel>
FIG. 5 is a perspective view of the joystick operating panel. The joystick operation panel 29 shown in FIG. 5 has one joystick 160 . Joystick 160 generates a movement command voltage representing the movement direction and movement speed of 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 movement direction of the probe 24A shown in FIG. 1 within the XY plane. For example, when the joystick 160 is tilted in the direction indicated by the +X arrow in FIG. 5, the joystick 160 generates a movement command voltage that moves the probe 24A shown in FIG. 1 in the positive direction of the X axis. .

The arrow line with -X shown in FIG. 5 represents the minus direction of the X-axis direction. The arrow line with +Y represents the positive direction of the Y-axis. The arrow with -Y represents the minus direction of the Y-axis.

The magnitude of the tilting angle of the joystick 160 with respect to the upright posture of the joystick 160 represents the magnitude of the moving speed of the probe 24A shown in FIG. The posture in which the joystick 160 is raised is the posture in which the joystick 160 is not operated. When the joystick 160 shown in FIG. 5 is not operated, the movement speed of the probe 24A shown in FIG. 1 is zero.

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

The joystick 160 may be operated diagonally with respect to the directions indicated by the four arrow lines shown in FIG. For example, when the joystick 160 is operated in a direction oblique to an arrow line with +X and an arrow line with +Y, the probe 24A shown in FIG. Move in a direction that has a 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 indicated by the arrow with +Z, the joystick 160 issues a movement command to move the probe head 24 shown in FIG. 1 in the positive Z-axis direction. Output voltage. The arrow line with -Z shown in FIG. 5 represents the negative direction of 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. When the joystick 160 is in a non-rotating state, the moving speed of the probe 24A shown in FIG. 1 in the Z-axis direction is zero.

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

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 with one joystick 160, the joystick operation panel 29 may have a plurality of joysticks. An example of having multiple joysticks includes a first joystick for X- and Y-axis manipulations and a second joystick for Z-axis manipulations.

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

Voltage output unit 160A outputs a voltage corresponding to the amount of operation of joystick 160 . The operation amount is a concept that includes the magnitude of the angle by which the joystick 160 is tilted and the magnitude of the angle by which the joystick 160 is rotated.

The analog signal output from the voltage output section 160A is converted into a digital signal using the analog-to-digital converter 170. FIG. The digital signal output from analog-to-digital converter 170 is sent to 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. A signal output from the angle detector 160B is sent to the processor 172 .

The processor 172 outputs movement command voltages representing the X-axis velocity v _x , the Y-axis velocity v _y , and the Z-axis velocity v _z . The movement command voltage output from processor 172 is expressed using Equation 1 below.

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

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

<Spatial Correction>
In spatial correction, an arbitrary plane 400 on workpiece 401 is measured. In the measurement of the plane 400, first, the posture of the probe 24A shown in FIG. 1 is such that the probe 24A and the slice 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 acquire the coordinate values of the three different positions on the plane 400 in the machine coordinate system. Plane 400 is identified using coordinate values in the machine coordinate system of three different locations on plane 400 . The measurement of plane 400 determines the intersection 402 of plane 400 with the Z ₀ axis and the normal vector 404 of plane 400 .

The X ₀ Y ₀ Z ₀ coordinate system illustrated using solid lines in FIG. 7 is the machine coordinate system. The _Z0 axis is the Z axis of the machine coordinate system. The Z ₀ axis is rotated so that it is parallel to the normal vector 404 of the plane 400 . The machine coordinate system is then transformed to the X ₁ Y ₁ Z ₁ coordinate system shown using dashed lines. The process of transforming the X ₀ Y ₀ Z ₀ coordinate system into the X ₁ Y ₁ Z ₁ coordinate system is spatial correction.

<Origin setting>
FIG. 8 is an explanatory diagram of origin setting in setting the work coordinate system. In 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 to the intersection 402 of the plane 400 and the Z ₀ axis.

The X ₁ Y ₁ Z ₁ coordinate system is then transformed into the X ₂ Y ₂ Z ₂ coordinate system illustrated using long dashed lines. 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.

Hole 410 in plane 400 shown in FIG. 8 is then measured. Instead of measuring hole 410, any position in plane 400 may be measured. Measure the hole 410 shown in FIG. 8 to determine the center 412 of the hole 410 . The intersection point 402 is translated with respect to the plane 400 to move the intersection point 402 to the position of the center 412 of the hole 410 .

The X ₂ Y ₂ Z ₂ coordinate system illustrated using solid lines in FIG. 8 is transformed into the X ₃ Y ₃ Z ₃ coordinate system illustrated using 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 setting the reference axis in setting the work coordinate system. In the reference axis setting, hole 420 in plane 400 is measured. Instead of measuring hole 420, any location in plane 400 different from center 412 of hole 410 may be measured.

Measure the hole 420 to determine the location of the center 422 of the hole 420 . Next, the X ₃ axis and the Y ₃ axis are rotated to a position where the X ₃ axis passes through the position of the center 422 of the hole 420 . α represents the angle to rotate the _X3 axis.

The _X4 axis shown in FIG. 9 is the X axis of the work coordinate system. Also, the _Y4 axis is the Y axis of the work coordinate system. Furthermore, the _Z3 axis shown in FIG. 8 is the Z axis of the work coordinate system. The method of setting the work coordinate system shown in the present embodiment is an example, and other methods applicable to the three-dimensional measuring machine may be applied as the method of setting the work coordinate system. The setting of the work coordinate system described here can be executed using the work coordinate system setting unit 121 shown in FIG.

<Description of transformation matrix>
When the work coordinate system follow-up mode is not set, the conversion 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 tilt of the _Z1 axis with respect to the _Z0 axis shown in FIG. 7 is 5 degrees, the transformation matrix of Equation 2 above is updated to the transformation matrix of Equation 3 below.

Equation 3 above is expressed as Equation 4 below when the tilt of the _Z1 axis with respect to the _Z0 axis is θ.

Rotation of the XY plane about the _Z3 axis shown in FIG.

Assuming that the angle between the _X4 axis and the X3 axis shown in FIG. 9 is ₅ degrees, the conversion matrix from the machine coordinate system to the work coordinate system is updated to the conversion matrix of Equation 6 below. The workpiece coordinate system to be converted using the following formula 6 is a coordinate system in which the X _4th axis is the X axis, the Y _4th axis is the Y axis, and the Z _3rd axis shown in FIG. 8 is the Z axis.

Equation 6 above is expressed using Equation 7 below using angles θ and α.

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

When the work coordinate system described with reference to FIGS. 7 to 9 is set, a 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 associates the measurement target surface of the work with the transformation matrix and stores the transformation matrix.

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

[Description of the measurement method according to the first embodiment]
<Overview>
FIG. 10 is a schematic diagram schematically showing movement of the probe. FIG. 10 schematically illustrates a state in which a flat surface 452 of a workpiece 450 placed on the table 14 is being measured. Specifically, FIG. 10 illustrates insertion of probe 24A into hole 454 formed in flat surface 452. As shown in FIG.

The Z-spindle 22 and probe head 24 shown in dashed lines in FIG. 10 represent an intermediate state from the operation start position to the position where the contactor 24C is inserted into the hole 454. FIG. The Z spindle 22 and the probe head 24 illustrated using solid lines represent a state in which the contactor 24C is inserted into the hole 454 at an arbitrary position.

In the measuring method shown in this 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 following mode. In the work coordinate system following 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 line 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 workpiece 450 inclined with respect to the horizontal plane is performed by combining the operation of tilting the joystick 160 of the joystick operation panel 29 and the operation of rotating the joystick 160. A complicated operation is required.

On the other hand, in the work coordinate system follow-up mode, the operation of the joystick control 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 workpiece 450 as the XY plane of the machine coordinate system and the normal line of the plane 452 as the Z axis of the machine coordinate system. Rotation of the probe head 24 may be performed automatically 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 performed manually.

<Measurement procedure>
FIG. 11 is a flow chart showing the procedure of the measuring method according to the first embodiment. The measurement method whose procedure is shown in FIG. 11 may be implemented by executing a measurement program installed in the computer 32 shown in FIG.

In the measurement mode switching determination step S10, the coordinate system follow-up mode setting unit 108 shown in FIG. 4 determines whether or not an operation has been performed to switch the measurement mode to the work coordinate system follow-up mode. An example of an operation for switching the measurement mode is an example in which an operator presses a work coordinate system follow-up mode button using application software installed in the computer 32 shown in FIG.

If the coordinate system follow-up mode setting unit 108 shown in FIG. 4 determines that the operation to switch the measurement mode to the work coordinate system follow-up mode is not performed in the measurement mode switching determination step S10 of FIG. . If the determination is No, the process proceeds to the machine coordinate system follow-up mode setting step S12 in FIG.

In the machine coordinate system follow-up mode setting step S12, the coordinate transformation unit 110 shown in FIG. 4 sets the default transformation matrix expressed using the above equation 2 without changing the transformation matrix. A default transformation matrix is one 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 expressed using the above equation 2, and then proceeds to the operation determination step S20.

On the other hand, when the coordinate system follow-up mode setting unit 108 shown in FIG. 4 determines that an operation to switch the measurement mode to the work coordinate system follow-up mode has been performed in the measurement mode switch determination step S10, the determination is Yes. If the determination is Yes, the process proceeds to work coordinate system follow-up mode setting step S14 in 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. After 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, 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 uses the plane 452 of the workpiece 450 shown in FIG. Acquire the transformation matrix corresponding to the plane 452 of the workpiece 450 shown in .

In the transformation matrix acquisition step S16 of FIG. 11, the coordinate transformation unit 110 shown in FIG. 4 acquires the transformation matrix, and then proceeds to the transformation matrix change step S18 of FIG. In the transformation matrix change step S18, the coordinate transformation 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 transformation unit 110 shown in FIG. 4 changes the transformation matrix, and then the process proceeds to the operation determining step S20 in FIG. Each step from the operation determination step S20 to the measurement end determination step S28 is a constituent element of the step of measuring the workpiece 450 shown in FIG. The conversion matrix acquisition step S16 and the conversion matrix change step S18 are examples of components of the conversion step.

In the operation determination step S20 of FIG. 11, it is determined whether or not the operator has operated the joystick operation panel 29 shown in FIG. If the coordinate conversion unit 110 shown in FIG. 4 determines that the joystick operation panel 29 shown in FIG. 10 is not being operated in the operation determination step S20 of FIG. 11, the determination is No. In the case of No determination, the coordinate transformation unit 110 repeatedly executes the operation determination step S20 until the operation determination step S20 of FIG. 11 becomes Yes determination.

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

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

11, the coordinate conversion unit 110 shown in FIG. 4 acquires the movement command voltage for each axis, and then 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 converts the conversion matrix updated in the conversion matrix changing step S18 of FIG. is used to convert the movement command voltage for each axis into a movement command voltage for each axis according to the work coordinate system follow-up mode or machine coordinate system follow-up mode. The move command voltage is one aspect of the move command signal.

Movement command voltages (x _v1 , y _v1 , z _v1 ) for each axis when the transformation matrix is expressed using the above equation 6 are expressed using the following equation 8. Also, when the transformation matrix is expressed using Equation 2 above, the transformation matrix of Equation 2 above is applied to the transformation matrix of Equation 8 below.

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

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 in FIG. 11, the drive command output unit 116 shown in FIG. 4 outputs the drive command for each axis, and then the process proceeds to the measurement end determination step S28 in FIG. In the measurement end determination step S28, the system control unit 102 determines whether or not the measurement of the flat surface 452 of the work 450 shown in FIG. 10 has ended.

In the measurement end determination step S28 of FIG. 11, it may be determined that the measurement has ended when the joystick 160 shown in FIG. 10 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 a measurement end command is input.

When the system control unit 102 shown in FIG. 4 determines that the measurement is not completed in the measurement end determination step S28 of FIG. 11, the determination is No. 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 becomes Yes.

Each step from the operation determination step S20 to the measurement end determination step S28 is an example of components of the driving step.

On the other hand, when the system control unit 102 shown in FIG. 4 determines that the measurement has ended in the measurement end determination step S28, the determination is Yes. In the case of Yes judgment, it progresses to transformation matrix initialization process 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 conversion matrix, the conversion matrix shown in Equation 2 above, which is the default conversion matrix, is set as the conversion matrix used in the movement command voltage conversion step S24 of FIG.

4 sets the machine coordinate system follow-up mode in the machine coordinate system follow-up mode setting step S12 of FIG. 11, 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 for initializing the transformation matrix, an example in which the operator presses the work coordinate system following mode clear button using the application software installed in the computer 32 shown in FIG. are mentioned.

In transformation matrix initialization step S30, after coordinate transformation section 110 shown in FIG. 4 initializes the transformation matrix, system control section 102 shown in FIG. 4 terminates the measurement method.

[Effect]
The three-dimensional measuring machine configured as described above includes a coordinate system follow-up mode setting unit 108 for selectively switching between the work coordinate system follow-up mode and the machine coordinate system follow-up mode. As a result, it is possible to select between the work coordinate system follow-up mode and the machine coordinate system follow-up mode according to the shape of the work 450 and the measurement conditions such as the operator's ability.

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

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

[Description of the measurement method according to the second embodiment]
FIG. 12 is a schematic diagram schematically showing the measuring method according to the second embodiment. Hereinafter, the description of the points in common with the first embodiment in the second embodiment will be appropriately omitted, and the points in the second embodiment that are different from the first embodiment will be described in detail.

<Description of the task>
When using the joystick operation panel 29 shown in FIG. 12 to move the probe 24A at a constant low speed to measure the workpiece 450 shown in FIG. fluctuates, making constant slow movement of the probe head 24 difficult.

For example, when different operators perform the same operation, the operating state of the joystick 160 may differ due to the difference in operators. When one operator performs the same operation multiple times, the operation state of the joystick 160 may be different multiple times due to the operator's situation.

Differences in the operating state of the joystick 160 result in variations 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 workpiece 450. FIG.

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

In this embodiment, the mode is switched to the auto probing mode when the trigger operation of the joystick 160 is performed. 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. FIG. The trigger operation of joystick 160 shown in FIG. 12 is an operation of hitting joystick 160 . The arrow line shown in FIG. 12 represents the direction in which the joystick 160 was struck. Also, the joystick 160 illustrated using a dashed line represents the joystick 160 in a hit state.

The operation of hitting the joystick 160 is an operation of abruptly operating the joystick 160 and not holding the operating state of the joystick 160 . The operation of hitting the joystick 160 may be the maximum stroke operation 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 to the driving section 140 to move the probe head 24 at a predetermined probing speed. The probing speed is held in firmware of the controller 28 . The operator can change the probing speed from software.

The moving direction of the probe 24A may be the direction in which the joystick 160 is hit. 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 on the inner diameter circle of the hole 454 shown in FIG. Next, an operation of tapping the joystick 160 once each in four different directions is executed. The four directions for 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 mentioned here includes a case where multiple tapping operations are performed within the sampling period, but the controller 28 determines that it is a single tapping operation.

In the present embodiment, hole measurement is exemplified as an example of autoprobing, but any shape can be measured 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, it sets the target position for probing from the current position of the joystick 160 in the direction in which the joystick 160 is tilted. Let the coordinates of the current position of the joystick 160 be (x _c , y _c , z _c ), the coordinates of the target position of probing be (x _t , y _t , z _t ), and the unit vector of the hitting direction of the joystick 160 be (i , j, k), the search distance of the probe 24A is D _sh , and the radius of the contactor 24C is R _pb , the coordinates (x _t , y _t , z _t ) of the target position are given by the following equation 9: is represented by

Here, the controller 28 may hold a predetermined value for the search distance _Dsh of the probe 24A. The search distance _Dsh of the probe 24A may be changeable from the value held by the controller 28 according to the object to be measured. An example of a default value for search distance D _sh for probe 24A is 50 millimeters.

The probing speed may be held by the controller 28 at a predetermined value. The probing speed may be a value obtained by changing the value held by the controller 28 . Examples of default probing speed values include speeds of 3 millimeters per second to 5 millimeters per second.

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

If the measurement speed is 15 millimeters per second, the probing speed can be greater than or equal to 0.75 millimeters per second and less than or equal to 7.5 millimeters per second.

The direction in which the joystick 160 is hit 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.

If the target position expressed using Equation 9 above is outside the range of the stroke 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 of the probe 24A may include an area where the probe 24A is movable, but the movement of the probe 24A is prohibited based on conditions such as the shape of the object to be measured.

The error message can be text information indicating that an error has occurred or voice information indicating that an error has occurred. Error messages may apply sound information such as beeps and alarms.

If the probe 24A moves the search distance _Dsh but the contactor 24C does not contact the probing point, no error will occur. When the contactor 24C stops without contacting the probing point, the joystick 160 may be put into an operation waiting state.

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

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 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. Switch the probing mode to auto probing mode.

When the probing mode is switched to the auto probing mode using the probing mode switching unit 126 shown in FIG. The movement command parameters include a movement direction command for the probe 24A, a movement speed command for the probe 24A, and a movement distance command for the probe 24A.

A unit period dt is a sampling period of the output voltage value of the joystick 160 shown in FIG. 10 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 one time before the arbitrary sampling timing from the voltage value sampled at the arbitrary sampling timing.

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

The joystick output voltage is one aspect of the joystick output signal value 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 obtained by comparing the change value of the output signal value of the joystick per unit period when the joystick is operated with a predetermined threshold value. It is one 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 one aspect of the drive unit that starts moving the probe in the auto probing mode when the trigger operation of the joystick is performed.

The voltage output section 160A shown in FIG. 6 is one aspect of the voltage output section that outputs a voltage proportional to the amount of operation 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 operating direction of the joystick when the trigger operation is performed on the joystick.

The coordinate transformation unit 110 shown in FIG. 4 converts the movement parameters of the probe set using the parameter setting unit into It is one aspect of a conversion unit that converts into movement parameters of the probe.

The error message display section 132 shown in FIG. 4 is one aspect of the reporting section that reports an error when the target position of the probe is outside the movable range of the probe.

<Description of auto probing procedure>
FIG. 14 is a flow chart showing the procedure of the measuring method according to the second embodiment. In trigger operation determination step S100, voltage determination unit 124 shown in FIG. 4 determines whether or not the trigger operation of joystick 160 shown in FIG. 10 has been performed.

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 performed, the No determination is made. In the case of No determination, normal probing is performed in the normal probing mode execution step S102 of FIG.

In the normal probing performed in the normal probing mode execution step S102, the probing speed is set according to the amount of operation of the joystick 160 shown in FIG. After normal probing is performed in normal probing mode execution step S102 of FIG. 14, the process proceeds to 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 performed, the determination is Yes. In the case of Yes determination, it progresses to parameter setting process S110 of FIG.

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

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

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

In the parameter setting step S110, the parameter setting unit 128 shown in FIG. 4 sets the parameters for the auto probing mode, and then proceeds to the target position calculation step S112 in FIG.

In the target position calculation step S112, the parameter setting unit 128 shown in FIG. 4 uses Equation 9 above to calculate the coordinates (x _t , y _t , z _t ) of the target position of the probe 24A shown in FIG. do. After the coordinates (x _t , y _t , z _t ) of the target position of the probe 24A shown in FIG. 10 are calculated in the target position calculation step S112 of FIG. 14, 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 _Dsh of the probe 24A shown in FIG. 10 is within the stroke range of the probe 24A.

14, if the search distance determination unit 130 of FIG. 4 determines that the search distance _Dsh of the probe 24A shown in FIG. 10 is outside the range of the stroke of the probe 24A, No be judged. If the determination is No, the process proceeds to error message display step S130 in FIG.

In the error message display step S130, the error message display unit 132 shown in FIG. 4 displays an error message to the effect that the search distance _Dsh of the probe 24A shown in FIG. 10 is outside 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 range of the stroke of the probe 24A, Yes becomes. If the determination is Yes, the process proceeds to probing start step S116 in FIG.

In the probing start step S116, the drive command output unit 116 in 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.

In the probing start step S116 of FIG. 14, when the automatic probing of the probe 24A shown in FIG. 10 is started, the movement distance determination step S118 of FIG. 14 is performed. 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 _Dsh of the probe 24A.

In the movement distance determination step _S118 of FIG. 14, if the movement distance determination unit 134 of FIG. 4 determines that the movement distance of the probe 24A shown in FIG. be judged. In the case of No determination, the moving distance determining step S118 is repeatedly executed until the moving distance determining step S118 of FIG. 14 becomes Yes determination.

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 be judged. In the case of Yes determination, the process proceeds to the measurement end determination step S120 in 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 not to end the measurement, the determination is No. In the case of No determination, the process proceeds to the trigger operation determination step S100 of FIG.

On the other hand, when the system control unit 102 in FIG. 4 determines to end the measurement in the measurement end determination step S120 in FIG. 14, the determination is Yes. If the determination is Yes, the measurement ends.

The probing start step S116, the movement distance determination step S118, and the measurement end determination step S120 in FIG. 14 are examples of components of the driving step for starting the movement of the probe in the auto probing mode when the joystick is triggered. be.

<Another example of joystick trigger operation>
The joystick 160 shown in FIG. 10 rotates the knob of the joystick 160 faster than normal operation when performing auto probing in the Z-axis direction. When one joystick 160 shown in FIG. 10 is provided, auto probing in the X-axis and Y-axis directions and auto probing in the Z-axis direction are performed separately.

On the other hand, if two joysticks are provided, including a joystick dedicated to the Z-axis direction, auto-probing in the X-axis direction and Y-axis direction and auto-probing in the Z-axis direction can be performed simultaneously. The term "at the same time" as used herein includes substantially the same time in which the same effects as at the same time can be obtained, although the timing is strictly different.

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

When the output voltage difference dv/dt of joystick 160 per unit period dt exceeds a predetermined threshold, it is determined that joystick 160 has been triggered. This suppresses erroneous detection of the trigger operation of the joystick 160 .

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. As a result, the auto probing mode can be executed regardless of conditions such as the operator's ability.

The auto probing mode according to the second embodiment can be combined with the work coordinate system following 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 following mode.

For example, the coordinates (x _t , y _t , z _t ) may be transformed into the coordinates of the target position of the probe 24A in the work coordinate system.

Further, the movement parameters of the probe 24A shown in FIG. 10 may be converted into movement parameters of the probe 24A in the work coordinate system. 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 representing the transformation relationship from the machine coordinate system to the work coordinate system, there is a transformation matrix expressed using the above equation (7).

In this specification, an embodiment using the five-axis simultaneous control probe head 24 was exemplified. A mode using 24 is also possible.

In the embodiments of the present invention described above, it is possible to appropriately change, add, or delete constituent elements without departing from the gist of the present invention. The present invention is not limited to the embodiments described above, and many modifications are possible within the technical concept of the present invention by those skilled in the art.

DESCRIPTION OF SYMBOLS 10... Three-dimensional measuring machine 24A... Probe 28... Controller 29... Joystick operation panel 102... System control part 108... Coordinate system follow-up mode setting part 110... Coordinate conversion part 116... Drive command output part 121 ... work coordinate system setting section, 140 ... driving section

Claims (5)

A three-dimensional measuring machine that moves a probe by operating an operation unit and measures an object to be measured using the probe,
a drive unit that drives the probe based on a movement command signal output from the operation unit;
a switching unit that switches measurement based on the machine coordinate system to measurement based on the work coordinate system;
When the switching unit switches to the measurement based on the work coordinate system, the first matrix that defines the conversion relationship between the machine coordinate system and the work coordinate system is used to convert the movement command signal output from the operation unit to the work coordinate system. a conversion unit that converts to a movement command signal in a coordinate system;
with
The conversion unit converts the target surface of the object to be measured from among the first matrix associated with each of the object surfaces to be measured to the object surface to be measured of the object to be measured using the object surface to be measured of the object to be measured as an index. A coordinate measuring machine that obtains the corresponding first matrix. The first matrix is defined using the inclination of the normal to the measurement target surface with respect to the Z axis in the machine coordinate system to which the XYZ coordinate system is applied and the rotation angle of the measurement target surface with respect to the XY plane in the machine coordinate system. The three-dimensional measuring machine according to claim 1. In the first matrix, the inclination of the normal to the measurement target surface with respect to the Z axis in the machine coordinate system to which the XYZ coordinate system is applied is θ, and the rotation angle of the measurement target surface with respect to the XY plane in the machine coordinate system is α. Equation 7

3. The three-dimensional measuring machine according to claim 1 or 2, which is represented by using . A measuring method for measuring an object to be measured using the probe by operating an operation unit to move the probe,
a driving step of driving a probe for measuring an object to be measured based on the movement command signal output from the operation unit;
a switching step of switching from measurement based on the machine coordinate system to measurement based on the work coordinate system;
When the measurement is switched to the work coordinate system based on the work coordinate system in the switching step, the movement command signal output from the operation unit is used to convert the movement command signal output from the operation unit to the work using the first matrix that defines the conversion relationship between the machine coordinate system and the work coordinate system. a conversion step of converting to a movement command signal in a coordinate system;
including
In the conversion step, from among a first matrix associated with each of a plurality of measurement surfaces of the object to be measured, the object surface to be measured of the object to be measured is used as an index to convert the surface to be measured of the object to be measured. A measurement method for obtaining the corresponding first matrix. A measurement program for operating an operation unit to move a probe to measure an object to be measured using the probe,
a drive unit for driving a probe for measuring an object to be measured based on a movement command signal output from the operation unit;
A switching unit for switching measurement based on the machine coordinate system to measurement based on the work coordinate system, and defining a conversion relationship between the machine coordinate system and the work coordinate system when the switching unit switches to measurement based on the work coordinate system. Using the first matrix, it functions as a conversion unit that converts the movement command signal output from the operation unit into a movement command signal in the work coordinate system,
The conversion unit converts the target surface of the object to be measured from among the first matrix associated with each of the object surfaces to be measured to the object surface to be measured of the object to be measured using the object surface to be measured of the object to be measured as an index. A measurement program that obtains the corresponding first matrix.

Images