KR102629252B1 - Industrial machines, dimension estimation devices, and dimension estimation methods - Google Patents

Abstract

The measured value acquisition unit acquires measured values of the dimensions of the workpiece using a gauge. The target cutting amount specification unit specifies the target cutting amount by the grindstone. The estimation model is a model that outputs an estimated value of the dimension of the workpiece by inputting the measured value of the dimension and the target cutting amount, which are generated based on the relationship between the measured value by a gauge and the target cutting amount and noise. The size estimation unit inputs the measured value of the size and the target cutting amount into the estimation model, thereby obtaining an estimated value of the size that removes the influence of grinding by the grindstone.

Description

Industrial machines, dimension estimation devices, and dimension estimation methods

The present invention relates to industrial machines, dimension estimation devices, and dimension estimation methods.

This application claims priority to Patent Application No. 2019-068540 filed in Japan on March 29, 2019, and uses the contents herein.

Patent Document 1 discloses a technique for measuring the roundness of a workpiece without removing the workpiece from the grinding machine. According to the technology described in Patent Document 1, a three-point contact measuring device is brought into contact with and moved along the peripheral surface of the workpiece, and based on the measured value, the rotation angle of the workpiece, the rotation axis of the workpiece, and the position of the three-point contact measuring device, the workpiece Specifies the roundness of .

Japanese Patent Publication No. 2001-66132

However, when the grinding machine is grinding the workpiece, the workpiece is bent by pressing the grindstone. Additionally, during grinding, the influence of movement of the grindstone or disturbance caused by the coolant is significant, so the measured value of the three-point contact measuring device using the method described in Patent Document 1 includes an error. The purpose of the present invention is to provide an industrial machine, a size estimation device, and a size estimation method that can estimate the dimensions of a workpiece by eliminating the influence of grinding by a grindstone during grinding of the workpiece.

According to the first aspect of the present invention, a grinding machine includes a disc-shaped grindstone that contacts the workpiece and grinds the workpiece, an actuator that moves the grindstone in a cutting direction, and a gauge that measures the dimensions of the workpiece. and a control device that controls the actuator, wherein the control device includes a measured value acquisition unit that acquires a measured value of the dimension by the gauge, and a target cutting amount that is specified by the grindstone. outputting an estimated value of the dimensions of the workpiece by inputting the target cutting amount specification unit, the measured value of the dimension and the target cutting amount generated based on the relationship between the measured value by the gauge and the target cutting amount and noise; It is provided with an estimation model and a dimension estimation unit that inputs the measured value of the dimension and the target cutting amount into the estimation model to obtain an estimated value of the dimension with the influence of grinding by a grindstone removed.

According to at least one of the above aspects, the dimensions of the workpiece can be estimated by eliminating the influence of grinding by the grindstone.

[Figure 1] A top view showing the configuration of a grinding machine according to the first embodiment.
[Figure 2] A cross-sectional view of a grinding machine showing the positional relationship between a grindstone, a workpiece, and a sizing gauge.
[FIG. 3] is a schematic block diagram showing the configuration of a control device according to the first embodiment.
[FIG. 4] is a flowchart showing the operation of the control device according to the first embodiment.
[FIG. 5] A diagram showing an example of a measurement result of roundness by the control device according to the first embodiment.

<First embodiment>

Hereinafter, embodiments will be described in detail with reference to the drawings.

《Configuration of grinding machine》

1 is a top view showing the configuration of a grinding machine according to the first embodiment. A grinding machine is an example of an industrial machine.

The grinding machine 100 includes a base 110, a support device 120, a grindstone base, a sizing gauge 140, a control device 150, and a display device 160. The base 110 is installed on the floor of the factory. The support device 120 and the grindstone stand 130 are installed on the upper surface of the base 110. The support device 120 supports both ends of the workpiece W and rotates the workpiece W around the main axis. The grindstone stand 130 supports the grindstone 131 for processing the workpiece W supported on the support device 120.

Hereinafter, the direction orthogonal to the main axis on the upper surface of the base 110 is called the X direction, the direction in which the main axis extends is called the Y direction, and the direction orthogonal to the upper surface of the base 110 is called the Z direction. . That is, in the following description, the positional relationship of the grinding machine 100 is explained with reference to a three-dimensional orthogonal coordinate system consisting of the X-axis, Y-axis, and Z-axis. In addition, hereinafter, the main axis of the grinding machine 100 is also referred to as the C-axis.

In the first embodiment, an example in which the grinding machine 100 forms a crankshaft by grinding the workpiece W will be described. The crankshaft consists of a crank journal (W1), a crank pin (W2), and a crank arm (W3). The crank journal W1 is a shaft held on the engine bearing. The axis of the crank journal W1 coincides with the main axis during processing by the grinding machine 100. The crank pin W2 is a portion with a circular cross-section that is connected to the connecting rod of the piston. The crank pin W2 has an axis at a position spaced apart from the axis of the crank journal W1 so that the piston reciprocates by rotation of the crankshaft. The crank arm W3 connects the crank journal W1 and the crank pin W2.

The base 110 includes a Y-axis guide portion 111 that slidably supports the grindstone stand 130 in the Y-axis direction, and moves the grindstone stand 130 in the Y-axis direction along the Y-axis guide portion 111. It is provided with a Y-axis actuator 112. The Y-axis actuator 112 may be configured by a direct-acting motor or by a combination of a ball screw and a rotary motor.

The support device 120 includes a headstock 121 supporting one end of a substantially cylindrical workpiece W, and a tailstock 122 supporting the other end. The headstock 121 is provided with a rotation motor 123 that rotates the workpiece W around an axis and a spindle sensor 124 that measures the rotation angle of the rotation motor 123.

The grindstone stand 130 includes a grindstone 131, an Equipped with

The grindstone 131 is formed in a disk shape and is rotated around the central axis by a rotation motor 135. The grindstone 131 is installed so that its central axis is parallel to the Y axis. On the surface of the grindstone 131, a plurality of mounting holes for mounting a crystal weight are installed at equal intervals on the same circumference.

The X-axis guide portion 132 slides the grindstone stand 130 in the

The X-axis actuator 133 moves the grindstone 131 in the X-axis direction along the X-axis guide portion 132. The X-axis direction is the cutting direction of the grindstone 131. The X-axis actuator 133 may be composed of a direct-acting motor or a combination of a ball screw and a rotary motor.

The displacement sensor 134 measures the displacement of the grindstone 130 in the X-axis direction with respect to the base 110. The displacement sensor 134 is configured by, for example, a linear encoder.

The rotation motor 135 rotates the grindstone 131 around the central axis.

The rotation angle sensor 136 measures the rotation angle of the grindstone 131. The rotation angle sensor 136 is configured by, for example, a rotary encoder.

That is, in the grinding machine 100 according to the first embodiment, the workpiece W is supported between the headstock 121 and the tailstock 122 of the support device 120, and the workpiece W is grounded by the grindstone 131. Grind the outer peripheral surface of W).

Figure 2 is a cross-sectional view of a grinding machine showing the positional relationship between a grindstone, a workpiece, and a sizing gauge.

The sizing gauge 140 is installed on the grindstone 130 and measures the dimensions of the workpiece W while contacting the outer peripheral surface of the workpiece W. The sizing gauge 140 according to the first embodiment measures the dimension of the workpiece W on the same surrounding surface as the grinding point by the grindstone 131.

The sizing gauge 140 includes a gauge body 141, a first arm 142, a second arm 143, and a stand 144. The gauge body 141 is an in-process gauge having a V block having a concave portion inscribed at two points on the peripheral surface of the workpiece W, and a measurement portion formed at the center of the concave portion of the V block. The first end of the first arm 142 is fixed to the gauge body 141. The second end of the first arm 142 is rotatably supported by the first end of the second arm 143. The second end of the second arm 143 is rotatably supported on the stand 144. The stand 144 is fixed to the grindstone stand 130.

The first arm 142 and the second arm 143 support the gauge body 141 so that the measuring portion of the gauge body 141 always contacts the crank pin W2 portion of the workpiece W. Since the central axis of the crank pin (W2) is located at a distance from the main axis of the grinding machine (100), as the workpiece (W) rotates, the position where the measuring unit touches is in phase with the cross-sectional circle of the crank pin (W2) For example, it changes around ±10 degrees from the 35 degree position.

《Configuration of control device》

Fig. 3 is a schematic block diagram showing the configuration of a control device according to the first embodiment.

The control device 150 controls the Y-axis actuator 112, the rotation motor 123, the X-axis actuator 133, and the rotation motor 135. The control device 150 includes a processor 151, main memory 153, storage 155, and interface 157. The processor 151 reads a program from the storage 155, expands it into the main memory 153, and executes the above-described processing according to the program. Additionally, the processor 151 secures a storage area corresponding to each of the above-described storage units in the main memory 153 according to the program.

The program may be intended to realize some of the functions that are caused to the control device 150. For example, the program may exert its function by combining it with another program already stored in the storage 155 or by combining it with another program mounted on another device. In another embodiment, the control device 150 may be provided with a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or instead of the above configuration. Examples of PLD include Programmable Array Logic (PAL), Generic Array Logic (GAL), Complex Programmable Logic Device (CPLD), and Field Programmable Gate Array (FPGA). In this case, part or all of the functions realized by the processor 151 may be realized by the corresponding integrated circuit.

Examples of storage 155 include hard disk drive (HDD), solid state drive (SSD), magnetic disk, magneto-optical disk, compact disk read only memory (CD-ROM), and digital versatile disk read only memory (DVD-ROM). , semiconductor memory, etc. The storage 155 may be internal media directly connected to the bus of the control device 150, or may be external media connected to the control device 150 through the interface 157 or a communication line. Additionally, when this program is distributed to the control device 150 via a communication line, the control device 150 that has received the distribution may develop the program into the main memory 153 and execute the above-described processing. In at least one embodiment, storage 155 is a tangible, non-transitory storage medium.

By executing the program, the processor 151 performs a measurement value acquisition unit 511, a target cutting amount specification unit 512, an error calculation unit 513, a target state amount calculation unit 514, and a command value calculation unit 515. , it functions as a command output unit 516, a measurement position compensation unit 517, an estimation model 518, a dimension estimation unit 519, and a display control unit 520.

The measured value acquisition unit 511 acquires measured values from the main axis sensor 124, the displacement sensor 134, and the sizing gauge 140. That is, the measured value acquisition unit 511 acquires the measured value L of the displacement of the grindstone 131 in the X-axis direction, the measured value θ of the rotation angle of the main axis, and the measured value x of the dimension of the workpiece W.

The target cutting amount specification unit 512 determines the measured value L of the displacement in the Based on the shape, the target cutting amount x _r of the grindstone 131 is specified. Here, with reference to FIG. 2, a method of specifying a specific target cutting amount x _r by the target cutting amount specifying unit 512 will be described. First, the target cutting amount specification unit 512 determines the crankshaft relative to the target shape facing the grindstone 131 from the measured value θ of the rotation angle of the main axis acquired by the measurement value acquisition unit 511 and the target shape of the workpiece W. The position O of the central axis of the pin W2 is specified. Next, the target cutting amount specification unit 512 includes the radius R of the grindstone 131, the distance E from the main axis to the central axis of the crank pin W2, the measured value L of the displacement of the X axis, and the measured value of the rotation angle of the main axis. Based on θ and the target radius r ₀ of the work W, the target cutting amount x _r in the radial direction of the work W is calculated. Specifically, the radius R of the workpiece W is calculated based on the following equation (1). Then, the target cutting amount specification unit 512 calculates the target cutting amount x _r per diameter of the workpiece W by doubling the value obtained by subtracting the radius r ₀ for the target shape from the radius R of the workpiece W. . The target cutting amount specification unit 512 relates a specific target cutting amount x _r to the pin angle Ψ of the contact point of the crank pin W2 and the grindstone 131 shown in FIG. Record it in

[Number 1]

… (One)

_{The error} calculation unit 513 calculates the ) and the contour error per diameter of the workpiece W generated by the control error of the rotation motor 123 is calculated. The displacement command value L _ref is the target value of the displacement of the X-axis actuator 133, and the angle command value θ _ref is the target value of the rotation angle of the main axis. Specifically, the error calculation unit 513 calculates the contour error Δ _r per diameter of the workpiece W based on the following equation (2). The error calculation unit 513 records a specific outline error Δ _r in the main memory 153 in relation to the pin angle Ψ of the contact point.

[Number 2]

… (2)

The target state quantity calculation unit 514 calculates the target value of the state quantity related to the displacement of the grindstone 131 based on the target value of the displacement of the X-axis actuator 133. Specifically, the target state quantity calculation unit 514 calculates the values of the target speed, target acceleration, and target jerk in the X-axis direction of the grindstone 131.

The command value calculation unit 515 calculates the current command value of the X-axis actuator 133 based on the target value of the state quantity of the grindstone 131. Specifically, the command value calculation unit 515 calculates the current command value by converting the target value of the state quantity of the grindstone 131 into a current value for achieving the target value.

The command output unit 516 outputs the current command value calculated by the command value calculation unit 515 to the X-axis actuator 133. Additionally, the command output unit 516 outputs a current command value for rotating the main shaft at a predetermined rotation speed to the rotation motor 123.

The measurement position compensation unit 517 compensates for the phase difference between the contact point of the grindstone 131 on the crank pin W2 and the contact point of the sizing gauge 140 with respect to the target cutting amount x _r and the outline error Δ _r . That is, the measurement position compensation unit 517 provides a target cutting _amount Specify the contour error Δ _r (Ψ∼).

Specifically, the measurement position compensation unit 517 sets the angle Ψ to which the sizing gauge 140 touches among the pin angles Ψ of the contact point between the crank pin W2 and the grindstone 131 recorded in the main memory 153. Specifies the angle closest to . The measurement position compensation unit ₅₁₇ is configured to calculate the _target cutting amount Specify .

The estimation model 518 inputs the measured value x _of the dimension of the workpiece W, the target cutting _amount This is a model that outputs an estimated value of the dimensions of the workpiece (W) considering the effects of measurement disturbance, control error, etc. Workpiece warpage, measurement disturbance, and control error are examples of noise that is multiplied by the measured value of the dimension of the workpiece W. The estimated model 518 is constructed by a Kalman filter based on a mathematical model that takes into account workpiece warpage, measurement disturbance, and the positional relationship between the crank pin W2 and the grindstone 131.

Here, the design idea of the estimation model 518 will be explained.

Considering the amount of displacement of the workpiece W due to bending, the actual cutting amount of the workpiece W by the grindstone 131 is input as the target cutting amount x _r and an explanatory variable z regarding the actual size of the workpiece W It can be expressed by a state equation with T and M as dynamic parameters. Additionally, the measured value x of the dimension of the workpiece W can be expressed by an output equation with z as a state and N as a dynamic characteristic parameter, an explanatory variable related to the actual dimension of the workpiece W. And the dynamic characteristics parameters T, M, and N are scalars or matrices.

That is, the actual cutting amount of the workpiece W by the grindstone 131 is expressed by the following equation (3). In addition, the measured value x of the dimension is expressed by the following equation (4).

Equation (3) is the state equation at the contact point of the whetstone 131 on the crank pin W2. In order to convert equation (3) into the equation of state at the contact point of the sizing gauge 140, the phase difference between the contact point of the grindstone 131 at the crank pin W2 and the contact point of the sizing gauge 140 is calculated as a time-varying dead time ( It can be expressed as dead time. That is, the portion ground at the contact point with the grindstone 131 is measured at the contact point with the sizing gauge 140 after a certain period of time (time-varying dead time) has elapsed. Specifically, x _r (Ψ∼) specified by the measurement position compensation unit 517 can be substituted for the target cutting amount x _r in equation (3).

[Number 3]

… (3)

[Number 4]

… (4)

Here, taking into account the measurement disturbance η _d (θ) and the outline error Δ _r (Ψ∼) of the workpiece W, the measured value x of the dimension can be expressed as in the following equation (5).

[Number 5]

… (5)

Here, a new state z _θ is formed that integrates the state z related to the actual dimension of the workpiece W and the measurement disturbance η _d (θ). Specifically, equation (5) can be expressed as equation (6).

[Number 6]

… (6)

And, w is a term of observation noise that can be taken into account in the Kalman filter.

That is, equation (6) can be expressed as a function h{z _θ , Δ _r (Ψ∼)} of the state z _θ and the outline error Δ _r (Ψ∼).

Here, by treating the state z related to the actual size of the workpiece W in equation (3) as the state z related to the actual size of the workpiece W and the state z _θ of the measurement disturbance η _d (θ), Equation (3) can be expressed as Equation (7). However, since equation (7) is simple, it is an equation that assumes that the measurement disturbance η _d (θ) is a constant value disturbance. During grinding, the measurement disturbance caused by the movement of the grindstone 131 and the coolant is large, so in practice, this disturbance can be modeled and included in equation (7).

[Number 7]

… (7)

And, v is a term of system noise that can be taken into account in the Kalman filter. That is, equation (7) can be expressed as a function f{z _θ , x _r (Ψ∼)} of the state z _θ and the target cutting amount x _r (Ψ∼).

By configuring a Kalman filter based on Equations (6) and (7) above, the estimation model 518 shown in Equation (8) below can be designed.

[Number 8]

… (8)

That is, the estimation model 518 uses the estimated value z _θ ^ of the state related to dimensions and measurement disturbance, the measured value x of the dimension, the outline error Δ _r (Ψ∼), and the target cutting amount x _r (Ψ∼) as variables. The branch is the Kalman filter of the time evolution model.

The size estimation unit 519 includes the measured value x of the dimension acquired by the measurement value acquisition unit 511, the target cutting _amount By inputting the calculated contour error Δ _r (Ψ∼) into the estimation model 518, an estimated value of the dimension of the workpiece W is obtained from which various effects of grinding by the grindstone are removed. Here, _the target _cutting amount It is possible to estimate dimensions by compensating for the phase difference between the contact point and the contact point of the sizing gauge 140.

The display control unit 520 outputs a display signal on a screen indicating the roundness of the workpiece W to the display device 160 based on the estimated value of the dimension estimated by the size estimation unit 519.

《Operation of control device》

Fig. 4 is a flowchart showing the operation of the control device according to the first embodiment.

When the grinding machine 100 starts processing the workpiece W, the measured value acquisition unit 511 receives the measured value of the rotation angle of the main shaft from the main axis sensor 124 and the measured value of the rotation angle of the main axis from the displacement sensor 134 to the grindstone 131. The measured value of the displacement in the X-axis direction and the measured value of the dimension of the workpiece W are acquired from the sizing gauge 140 (step S1). The target cutting amount specification unit 512 determines the workpiece W based on the measured value of the rotation angle of the main axis acquired in step S1, the measured value of the displacement of the grindstone 131 in the X-axis direction, and the above-mentioned equation (1). Calculate the radius (step S2). Additionally, the target cutting amount specification unit 512 specifies the target cutting amount per diameter of the work W based on the calculated radius of the work W and the target shape of the work W (step S3). The target cutting amount specification unit 512 records a specific target cutting amount in the main memory 153 in relation to the pin angle Ψ of the contact point between the crank pin W2 and the grindstone 131 shown in FIG. 2.

The error calculation unit 513 determines the radius of the workpiece W specified in step S2, the angle command value of the main axis, the displacement command value in the X-axis direction of the grindstone 131, and the target shape of the workpiece W, as described above. Based on equation (2), the outline error per diameter of the workpiece W is calculated (step S4). The error calculation unit 513 records the calculated outline error Δ _r in the main memory 153 in relation to the pin angle Ψ of the contact point between the crank pin W2 and the grindstone 131 shown in FIG. 2 .

The target state quantity calculation unit 514 calculates the target value of the state quantity related to the displacement of the grindstone 131 based on the target value of the displacement of the X-axis actuator 133 (step S5). The command value calculation unit 515 calculates the current command value of the X-axis actuator 133 based on the target value of the state quantity calculated in step S5 (step S6). The command output unit 516 outputs the current command value calculated in step S6 to the X-axis actuator 133. Additionally, the command output unit 516 outputs a current command value for rotating the main shaft at a predetermined rotation speed to the rotation motor 123 (step S7).

The measurement position compensation unit 517 selects the pin angle Ψ of the contact point between the crank pin W2 and the grindstone 131 recorded in the main memory 153, which is closest to the angle Ψ at which the sizing gauge 140 touches. Specify (step S8). The measurement position compensation unit 517 specifies the target cutting amount and outline error of the grindstone 131 related to the angle Ψ~ at which the sizing gauge 140 touches the specific angle in step S8 (step S9). That is, the measurement position compensation unit 517 compensates for the phase difference between the contact point of the grindstone 131 and the sizing gauge 140 on the crank pin W2, the target cutting amount per diameter of the workpiece W, and the contour. Specify the error. The dimension estimation unit 519 obtains an estimated value of the dimension of the workpiece W by inputting the measured dimension value acquired in step S1 and the outline error and target cutting amount specified in step S9 into the estimation model 518 ( Step S10).

The display control unit 520 updates a screen showing the roundness of the workpiece W based on the estimated value of the dimension estimated by the size estimation unit 519, and outputs a display signal of the screen to the display device 160. (Step S11).

The control device 150 determines whether processing of the workpiece W has been completed (step S12). If machining has not been completed (step S12: NO), the process returns to step S1 and machining control continues. On the other hand, when processing is completed (step S12: YES), the control device 150 ends processing control.

《Action/Effect》

The control device 150 according to the first embodiment inputs the measured value of the dimension by the sizing gauge 140 and the target cutting amount of the grindstone 131 into an estimation model to obtain an estimated value of the dimension of the workpiece W. get In this way, the control device 150 estimates the size of the workpiece W based on the measured value of the dimension by the sizing gauge 140, the target cutting amount of the grindstone 131, and the model, thereby The dimensions of the workpiece W can be estimated by removing the influence of grinding or measurement disturbance caused by the grindstone 131, such as bending.

FIG. 5 is a diagram showing an example of a measurement result of roundness by the control device according to the first embodiment. As shown in FIG. 5, it can be seen that the roundness measured by the control device 150 in real time by the method shown in FIG. 4 has the same level of accuracy as the roundness measured in a later process. In contrast, the measured value of the dimension itself by the sizing gauge 140 (real-time measured value by the sizing gauge) has a large error with respect to the roundness measured in the subsequent process. From this, it can be seen that according to the first embodiment, the size of the workpiece W can be estimated by removing the influence of grinding by the grindstone 131 and measurement disturbance.

Additionally, the control device 150 according to the first embodiment is based on the measured value of the displacement by the displacement sensor 134 and the measured value of the rotation angle of the rotation motor 123 by the rotation angle sensor 136, The outline error of the workpiece W caused by the control error of the As a result, the control device 150 can estimate the dimensions of the workpiece W by considering the influence of control errors of the X-axis actuator 133 and the rotation motor 123. And, in another embodiment, the control device 150 may estimate the dimensions of the workpiece W without taking into account the control errors of the X-axis actuator 133 and the rotation motor 123.

In addition, the control device 150 according to the first embodiment provides a contour error and target cutting amount that compensate for the dead time in which the workpiece W moves from the position where the grindstone 131 touches to the position where the sizing gauge 140 touches. Enter into the estimation model. As a result, even when the grinding point by the grindstone 131 and the measurement point by the sizing gauge 140 are different, the size of the workpiece W can be appropriately estimated.

The estimation model for the control device 150 according to the first embodiment is a Kalman filter having an observation model whose variables include the measured values of the dimensions, and a time evolution model whose variables include the estimated values of the dimensions and the target cutting amount. . On the other hand, other embodiments are not limited to this. For example, the estimation model according to another embodiment may be a learned model trained to output the dimensions of the workpiece W by inputting the measured values of the dimensions and the target cutting amount. The learned model may be constructed by, for example, a neural network.

Although one embodiment has been described in detail with reference to the drawings, the specific configuration is not limited to the above, and various design changes are possible.

For example, in the first embodiment, the control device 150 of the grinding machine 100 measures the roundness, but it is not limited to this. For example, in another embodiment, a size estimation device equipped with a sizing gauge 140 and having a roundness display function may be mounted on the existing grinding machine 100. In this case, the size estimation device does not need to have the configuration of the target state quantity calculation unit 514, the command value calculation unit 515, and the command output unit 516 of the control device 150 according to the first embodiment. Furthermore, in another embodiment, a PC on which a program for realizing the dimension estimation function according to the first embodiment is installed is connected to the grinding machine 100 equipped with the sizing gauge 140, and the workpiece ( You can estimate the roundness of W).

Additionally, the sizing gauge 140 according to the first embodiment is an in-process gauge, but is not limited to this. For example, the sizing gauge 140 according to another embodiment may be a sizing gauge 140 according to a method other than three-point measurement, such as measuring the diameter by inserting the workpiece W from both sides.

In addition, the grinding machine 100 according to the first embodiment cuts out the crankshaft from the workpiece W, but is not limited to this. For example, the grinding machine 100 according to another embodiment may cut out another object with a circular cross-section, such as a cylindrical shaft, from the workpiece W.

Additionally, the estimation model of the control device 150 according to the first embodiment may include grinding resistance and chatter that affect the dimensions of the workpiece W as variables. In this case, the measured value acquisition unit 511, in addition to the measured value of the rotation angle of the main axis, the measured value of the displacement of the grindstone 131 in the Measured values of the torque and rotation angle of 135) and the driving force of the X-axis actuator 133 are also acquired.

For example, the control device 150 according to the first embodiment controls the grinding machine 100, but is not limited to this. For example, the control device 150 according to another embodiment may control an industrial machine using tools other than the grindstone 131. Additionally, in another embodiment, instead of the control device 150, an external measuring device may estimate the roundness of the workpiece W.

[Industrial availability]

According to the above disclosure of the present invention, the dimensions of the workpiece can be estimated by eliminating the influence of grinding by the grindstone.

100: Grinding machine
110: expectations
111: Y-axis guide part
112: Y-axis actuator
120: support device
121: headstock
122: tailstock
123: rotation motor
124: Main axis sensor
130: Grindstone stand
131: Whetstone
132: X-axis guide part
133: X-axis actuator
134: displacement sensor
135: rotation motor
136: rotation angle sensor
140: sizing gauge
141: Gauge body
142: 1st arm
143: 2nd arm
144: stand
150: control device
151: processor
153: main memory
155: storage
157: interface
160: display device
511: Measurement value acquisition unit
512: Target cutting amount specific part
513: error calculation unit
514: Target state quantity calculation unit
515: Command value calculation unit
516: Command output unit
517: Measurement position compensation unit
518: Estimated model
519: Dimension estimation unit
520: display control unit
W: workpiece
W1: Crank Journal
W2: Crank pin
W3: Crank Arm

Claims (7)

A tool that contacts a workpiece and processes the workpiece;
an actuator that moves the tool in a cutting direction;
A gauge that measures the dimensions of the workpiece; and
A control device that controls the actuator;
Including,
The control device is,
a measured value acquisition unit that acquires a measured value of the dimension using the gauge;
a target cutting amount specification unit that specifies a target cutting amount by the tool;
An estimated value of the dimension of the workpiece by inputting the measured value of the dimension and the target cutting amount, generated based on the relationship between the measured value of the dimension by the gauge and the target cutting amount and the noise multiplied by the measured value of the dimension. an estimation model that outputs; and
A dimension estimation unit that obtains an estimated value of the dimension by inputting the measured value of the dimension and the target cutting amount into the estimation model,
industrial machinery. According to paragraph 1,
It includes a displacement sensor that measures the displacement of the actuator,
The control device includes an error calculation unit that calculates a contour error of the workpiece caused by a control error of the actuator based on a displacement command value of the actuator and a measured value of the displacement,
The industrial machine, wherein the estimation model outputs an estimated value of the dimension of the workpiece by inputting a measured value of the dimension, the target cutting amount, and a contour error of the workpiece. According to paragraph 2,
a rotation motor that rotates the workpiece around a main axis; and
a rotation angle sensor that measures the rotation angle of the rotation motor;
Including,
The measured value acquisition unit acquires the measured value of the rotation angle by the rotation angle sensor,
The error calculation unit generates a control error of the actuator based on the displacement command value and the measured value of the displacement, the angle command value of the rotation motor and the measured value of the rotation angle, and the target shape of the workpiece. An industrial machine that calculates the contour error of the workpiece. According to paragraph 2 or 3,
The dimension estimation unit is an industrial machine that inputs the contour error and the target cutting amount into the estimation model based on the dead time in which the workpiece moves from the position where the tool touches to the position where the gauge touches. . According to any one of claims 1 to 3,
The estimation model is a Kalman filter having an observation model having the measured value of the dimension as a variable, an estimated value of the dimension, and a time evolution model having the target cutting amount as a variable. A dimension estimation device that estimates the dimensions of a workpiece to be processed by moving the tool in the cutting direction by an actuator,
a measured value acquisition unit that acquires measured values of the dimensions;
a target cutting amount specification unit that specifies a target cutting amount of the actuator;
Outputting an estimated value of the dimension of the workpiece by inputting the measured value of the dimension and the target cutting amount of the actuator, which are generated based on the relationship between the measured value of the dimension and the target cutting amount and the noise multiplied by the measured value of the dimension. an estimation model; and
a dimension estimation unit that obtains an estimated value of the dimension by inputting the measured value of the dimension and the target cutting amount into the estimation model;
Including, a dimension estimation device. A method of estimating the dimensions of a workpiece to be processed by moving the tool in the cutting direction by an actuator,
A step of acquiring measured values of dimensions of the workpiece;
a step of specifying a target cutting amount of the actuator; and
To an estimation model that outputs an estimated value of the dimension of the workpiece by inputting the measured value of the dimension and the target cutting amount of the actuator, which are generated based on the relationship between the measured value of the dimension and the target cutting amount and noise, the dimension a step of obtaining an estimated value of the dimension by inputting the measured value of and the target cutting amount;
Including, dimension estimation method.