WO2006077629A1 - 位置決め装置及び位置決め方法 - Google Patents
位置決め装置及び位置決め方法 Download PDFInfo
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- WO2006077629A1 WO2006077629A1 PCT/JP2005/000572 JP2005000572W WO2006077629A1 WO 2006077629 A1 WO2006077629 A1 WO 2006077629A1 JP 2005000572 W JP2005000572 W JP 2005000572W WO 2006077629 A1 WO2006077629 A1 WO 2006077629A1
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- Prior art keywords
- positioning
- coordinate value
- axis
- measurement area
- coordinate
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/248—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves using special electromagnetic means or methods
- B23Q17/2485—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves using special electromagnetic means or methods using interruptions of light beams
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/27—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an absolute digital measuring device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37125—Photosensor, as contactless analog position sensor, signal as function of position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43115—Adaptive stopping
Definitions
- the present invention relates to a positioning device, and particularly to realization of highly accurate non-contact measurement.
- the first position detection sensor further includes a first position detection sensor for detecting a rough feed amount of a table on which a workpiece is placed, and a second position detection sensor for detecting a minute feed amount.
- a positioning method has been established in which the table is positioned by driving the drive mechanism based on the coarse feed amount detection result in the above and the minute feed amount detection result in the second position detection sensor. (For example, see Patent Document 3).
- Patent Document 1 Japanese Patent Application Laid-Open No. 2003-205439 (FIG. 2)
- Patent Document 2 JP 2000-52198 A
- Patent Document 3 Japanese Patent Laid-Open No. 63-109956
- the probe for contact detection needs to be improved in rigidity in order to suppress deformation due to pressure at the time of contact, and accordingly, the spherical portion at the tip of the probe has a constant size. It was necessary to make it larger.
- the spherical shape portion at the tip of the probe cannot be brought close to the minute shape portion, and there is a disadvantage that measurement of the same portion is impossible.
- the shape of the minute pin is very fine, so that the object to be measured is deformed by the contact pressure due to the probe contact, and the measurement itself is impossible. Become.
- the error can be suppressed to about 5 / zm, but the range force that can be measured with the high-precision laser measuring instrument is limited to, for example, about 10 mm ⁇ lmm.
- the laser measuring instrument and the object to be measured must be placed in the range of about 10 mm ⁇ lmm, making practical use as they are difficult.
- the present invention has been made in order to solve a problem that is difficult, and can perform a high-precision positioning operation at a high speed without having to worry about a collision at the time of measurement. There is no need to prepare a positioning program based on multiple shape data for each fixed shape in advance! For the purpose of obtaining a positioning device!
- the distance between the positioning object and the positioning object is measured in a non-contact manner, and the positioning object is detected only in the length measurement area within a predetermined detection position force range.
- a moving means for relatively moving a length measuring means for outputting a detection signal and when the positioning object and the length measuring means are relatively moved by the moving means, a detection signal from the length measuring means is received.
- Positioning control means for storing coordinate values after automatic correction by the control means and determining a position based on the reference coordinate values.
- a non-contact type length measuring means is provided, and a measuring object approaching at a high speed based on the position data from the length measuring means is moved to an axis at an arbitrary length measurement distance.
- means for stopping means for automatically correcting the overshoot amount based on the position data, controlling the axis to an arbitrary position, and means for reading the spindle NC coordinate value after the automatic correction.
- FIG. 1 is a configuration diagram of a positioning apparatus showing Embodiment 1 of the present invention.
- FIG. 2 is a diagram showing a sensor output signal of the positioning device.
- FIG. 3 is a system flow diagram of the positioning device.
- FIG. 4 is a diagram showing high-speed and high-precision depth measurement of a minute part in a positioning device.
- FIG. 5 is a diagram showing a relationship between a measurement distance and an error amount in a laser displacement meter.
- FIG. 6 is a block diagram of a positioning device showing Embodiment 2 of the present invention.
- FIG. 7 is a diagram showing a positioning process of the positioning device.
- FIG. 8 is a diagram showing a positioning system when used in combination with the C-axis, showing Embodiment 3 of the present invention.
- FIG. 9 is a diagram showing a misalignment correction value calculation method when the positioning device is used in combination with the C axis.
- FIG. 10 is a configuration diagram of a positioning device showing Embodiment 4 of the present invention.
- FIG. 11 is a diagram showing the relationship between the machine temperature of a machine tool and the amount of machine displacement.
- FIG. 1 shows a configuration when the positioning device according to Embodiment 1 of the present invention is applied to an electric discharge machine.
- the electric discharge machine is composed of an axis control means 1 such as an NC, an axis drive means 2, a spindle head part 3, a machining tank 4, a surface plate 5, etc.
- an axis control means 1 such as an NC
- an axis drive means 2 such as an NC
- a spindle head part 3 such as a machining tank 4
- a surface plate 5 etc.
- a tool electrode 6 is provided on the spindle head part.
- the machining workpiece 7 is installed on the surface plate side.
- a non-contact sensor 8 typified by a laser displacement meter is attached to the detachable sensor unit 9 and is configured to be attached to the main shaft portion through the sensor attachment guide 10. Yes.
- an output signal from the non-contact sensor 8 is transmitted to the axis control means 1, and an optimum axis feed command is issued to the axis drive means 2 by the positioning control means 11.
- FIG. 2 shows an output signal from the non-contact sensor 8
- FIG. 3 shows a system flow in which the drive means 2 performs an optimum measurement operation using the output signal and the positioning control means 11.
- the high-precision non-contact sensor described in this embodiment has a limited measurement range and resolution. Use a general type such as about 30 mm ⁇ 2 mm at 0.5 ⁇ m and about 5 mm ⁇ 0.3 mm at a resolution of 0.1 ⁇ m.
- the output signal from the non-contact sensor 8 has an output specification in which the output signal is switched between H and L at any position in the measurement range (generally the middle position of the measurement range).
- the non-contact sensor 8 and the workpiece 7 side measured part are moved by a certain distance, and the coordinate value of the drive axis at that time is controlled. It can be read by means 1.
- the non-contact sensor 8 attached to the detachable sensor unit 9 is driven by the shaft drive unit 2 by driving the spindle head unit 3 based on the command from the axis control means 1. Move relative to the non-measurement part (measurement 21).
- the non-contact sensor 8 has a length measurement range.
- the output signal is switched from L to H, and the length measurement range.
- the H level is maintained, and when it is out of the measuring range, it becomes the L level.
- the positioning operation utilizing the detection of the length measurement range is the present embodiment. Next, the positioning process shown in FIG. 3 will be described using the operation conceptual diagram shown in FIG.
- the axis moves at high speed in the direction toward the measurement object (in this case, the + direction), and the sensor head moves to the measurement object.
- the maximum speed that can be set by the NC controller 1 (for example, 50 m / min for linear drive) can be set.
- this coordinate value (coordinate A) is one-way movement of the overshoot amount when moving from the target position (30 mm) that should originally be positioned in the direction of the minimum unit of the above-mentioned fixed period at a minute feed speed. It becomes a coordinate value.
- this coordinate value is the coordinate value obtained by moving the overshoot amount in the + direction when moving in the + direction for the minimum unit of the above-mentioned fixed period from the target position that should be positioned. .
- the point is set as the final positioning completion point (coordinate C), and the coordinates are read.
- the moving speed can be increased because damage due to collision is not received.
- the delay time is estimated to be 0.01 seconds, the overshoot amount is 8.3 mm, and there is no possibility of problems such as collision in the device of the example. .
- NC coordinate 1 High-speed positioning and reading of drive coordinates (NC coordinate 1) at the same position on the surface (measurement reference point) for depth measurement using the process shown in Fig. 3 above, such as an NC drive Performed by the controller.
- the depth measurement unit performs high-speed positioning as described above, and reads the drive coordinates (NC coordinate 2) at the same position using a drive control device such as NC.
- the non-contact sensor 8 is positioned at a position that is a fixed distance (30 mm in this embodiment) at each of the measurement reference point and the depth measurement point, and the difference between the NC coordinate values of the two is determined.
- Figure 5 shows the data that shows the error amount of a typical laser measuring instrument.
- the X axis (horizontal axis) of the graph is the value obtained by reading the drive coordinates of the distance between the laser head and the measured object by a drive control means such as NC.
- the measuring range specification of the laser measuring machine is 28mm-30mm!
- Fig. 5 (a) shows the 28mm-30mm data from the driving coordinate values
- Fig. 5 (b) shows the 29.9mm-30.1mm data
- Fig. 5 (c) shows the 29.99-30.01mm data.
- the error amount of the Y axis should always be zero. However, in the actual data, the amount of error increases or decreases according to the measurement distance, which indicates the limit of the HZW accuracy of the current laser measurement accuracy.
- the maximum error amount is 51 ⁇ m.
- the laser measuring instrument is adjusted to minimize the measurement error at the midpoint of the measurement range, so the repeatability at that point (30 mm in this case) is 1 ⁇ m. It can be seen that the following are suppressed (see Fig. 5 (c)).
- the laser measuring instrument has a very small error when measuring a measured object at an arbitrary distance (30 mm in this case).
- a non-contact type length measuring means and a measurement object approaching at high speed enters an arbitrary length measurement distance based on position data from the length measuring means.
- the means for stopping the shaft at the time, the means for automatically correcting the overshoot amount based on the position data and controlling the axis to an arbitrary position, and the means for reading the spindle NC coordinate value after the automatic correction are provided.
- FIG. 6 shows a positioning device according to the second embodiment.
- a total of 5 axes Direction non-contact It consists of length measuring means.
- FIG. 7 shows a positioning process for measuring a misalignment correction amount with respect to the main axis in a measurement object (tool electrode or the like).
- the coordinate value is read by the axis control means 1 represented by the NC for the stop coordinate of the drive system.
- This coordinate value shows the coordinate 30mm above the Z-axis sensor 35 accurately! /
- the installation method may be performed manually by the operator operating the drive system easily, or by a program based on the electrode shape data and the + X-axis sensor 31 position coordinate value obtained by force. Automatic control may be performed.
- the electrode is positioned at high speed in the direction of the + X-axis sensor in the same way as described above, and after completion, the drive coordinates are read by NC.
- This coordinate value indicates a coordinate of ⁇ 30 mm more accurately than the + X-axis sensor 31.
- This coordinate value indicates a coordinate of +30 mm more accurately than the X-axis sensor 32.
- the amount of misalignment of the electrode in the X-axis direction can be calculated from the coordinate value acquired from the positioning operation by S21 and S22.
- the amount of electrode misalignment is +
- the position of the X-axis sensor and the X-axis sensor are known. Since the center coordinate A of the position of the X-axis sensor and the X-axis sensor is known, if the electrodes are symmetrical, the coordinate value acquired in S21) and the center coordinate B of the coordinate value acquired in S22) Should match the coordinate A above. However, if coordinates A and B do not match, the electrode is not symmetrical, and that value is the amount of electrode misalignment.
- the electrode is moved on the axis of the Y-axis sensor.
- the electrode moving means may be manually operated by an operator by simply operating the drive system, as in the case of installation on the X-axis sensor, or electrode shape data acquired in advance and the + Y-axis sensor. It may be automatically controlled by a program based on the 33 position coordinate values.
- the electrode is positioned at high speed in the + Y-axis sensor direction as described above, and after completion, the drive coordinates are read by the NC.
- This coordinate value shows the coordinate of -30mm more accurately than the + Y axis sensor 33! /.
- This coordinate value indicates the coordinate of +30 mm more accurately than the Y-axis sensor 34.
- the amount of misalignment of the electrode in the Y-axis direction can be calculated from the coordinate value obtained from the positioning operation by S24 and S25.
- the center coordinate C of the position of the + Y-axis sensor and the Y sensor is known, so if the electrodes are symmetrical
- the coordinate value acquired in S24 and the center coordinate D of the coordinate value acquired in S25 should match the above coordinate C. However, if coordinates C and D do not match, the electrode is not symmetric and the value is the amount of electrode misalignment.
- the non-contact measuring means in a total of five axes directions of ⁇ X direction, Y direction, and Z axis direction are provided, the positioning is compared with the conventional contact type positioning. Approach speed can be greatly improved.
- the second embodiment it is necessary to prepare a total of five non-contact sensors for correcting misalignment, but by using the C axis (rotating axis) in combination with the main axis, The same misalignment correction can be achieved with a non-contact sensor for 1 axis in 1 axis and 1 axis in the Z axis direction for a total of 2 axes.
- FIG. 8 shows a positioning system when using the C axis together.
- the misalignment amount y is calculated from Equation 2 (see below for the calculation equation).
- n Ax— Cx (Cx is a known value)
- this method is based on the premise that there is no misalignment in the C-axis main body when the force of the C-axis rotation is used when measuring the center deflection of the electrode.
- the non-contact in each axial direction is provided by including the C-axis drive unit of the main shaft.
- the tactile measurement means can be shared, and high-precision centering correction with respect to the main axis of the tool electrode can be realized at high speed.
- FIG. 10 shows an application example of the positioning device according to the fourth embodiment to an electric discharge machine.
- the electric discharge machine includes an axis control means 1, an axis drive means 2, a spindle head portion 3, and the like.
- a non-contact sensor 8 typified by a laser displacement meter capable of measuring in the XYZ axial directions shown in the first and second embodiments is attached as shown in FIG.
- the thermal displacement correction reference block 52 is directly attached to the spindle 3 so that the mechanical thermal displacement can be measured with the reference block 52 as a representative point.
- the value can be considered as the mechanical thermal displacement.
- An output signal from the non-contact sensor 8 is transmitted to the axis control means 1, and an optimum axis feed command is issued to the axis drive means 2 by the positioning control means 11 so as to correct the mechanical thermal variation.
- the thermal displacement correction reference block 52 made of a ceramic material attached to the main shaft 3 is set at regular intervals (for example, the acquisition interval can be arbitrarily set from about 1 second to about 1 minute). By performing such high-speed positioning, the positioning control means 11 acquires the NC coordinate value after positioning.
- This NC coordinate displacement indicates the amount of mechanical thermal displacement of the structure centered on the object that is displaced according to changes in the temperature environment when the machine tool is installed. It must be acquired at regular intervals.
- the obtained mechanical thermal displacement amount is obtained by adding a correction value to the original position command in SZW control for each NC command as a drive control device by the thermal displacement correction means 51.
- the drive operation can be controlled to cancel the mechanical thermal displacement.
- FIG. 11 shows the relationship between the mechanical thermal displacement and the mechanical temperature change. It is possible to calculate the mechanical thermal displacement from the mechanical temperature change shown in Fig. 11 by constructing an approximate expression, but since this is an approximate solution, there is a limit to the correction of the mechanical thermal displacement. That's true.
- the correction for mechanical thermal displacement is limited to about 1Z2.
- the mechanical thermal displacement at the electrode tip due to mechanical thermal displacement is 20 m, the correction is performed.
- the error amount due to thermal displacement of about 10 m still remains
- the error amount can be zero immediately after the measurement.
- direct measurement of the mechanical thermal displacement is advantageous as shown in the present embodiment.
- the high-precision positioning means adopting the non-contact measurement method and the thermal displacement correction means with acquired data force are provided, in a complex thermal change environment such as an actual factory. Even high-precision machining can be measured and corrected to achieve high-precision machining. Industrial applicability
- the positioning device according to the present invention is suitable for use as positioning means in various numerically controlled machine tools.
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Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
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CNB200580046909XA CN100507778C (zh) | 2005-01-19 | 2005-01-19 | 定位装置及定位方法 |
PCT/JP2005/000572 WO2006077629A1 (ja) | 2005-01-19 | 2005-01-19 | 位置決め装置及び位置決め方法 |
EP05703809.3A EP1840686B1 (en) | 2005-01-19 | 2005-01-19 | Positioning device and positioning method |
JP2006553782A JP4840144B2 (ja) | 2005-01-19 | 2005-01-19 | 位置決め装置及び位置決め方法 |
US11/814,147 US8131385B2 (en) | 2005-01-19 | 2005-01-19 | Positioning device and positioning method with non-contact measurement |
TW094107977A TWI258827B (en) | 2005-01-19 | 2005-03-16 | Apparatus and method for positioning |
Applications Claiming Priority (1)
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PCT/JP2005/000572 WO2006077629A1 (ja) | 2005-01-19 | 2005-01-19 | 位置決め装置及び位置決め方法 |
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WO2006077629A1 true WO2006077629A1 (ja) | 2006-07-27 |
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PCT/JP2005/000572 WO2006077629A1 (ja) | 2005-01-19 | 2005-01-19 | 位置決め装置及び位置決め方法 |
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US (1) | US8131385B2 (ja) |
EP (1) | EP1840686B1 (ja) |
JP (1) | JP4840144B2 (ja) |
CN (1) | CN100507778C (ja) |
TW (1) | TWI258827B (ja) |
WO (1) | WO2006077629A1 (ja) |
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- 2005-01-19 WO PCT/JP2005/000572 patent/WO2006077629A1/ja active Application Filing
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- 2005-01-19 CN CNB200580046909XA patent/CN100507778C/zh active Active
- 2005-01-19 US US11/814,147 patent/US8131385B2/en active Active
- 2005-01-19 EP EP05703809.3A patent/EP1840686B1/en active Active
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Cited By (9)
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US20100024206A1 (en) * | 2006-12-26 | 2010-02-04 | Mitsubishi Heavy Industries, Ltd. | Spindle inclination detector and machine tool including the same |
US8545145B2 (en) * | 2006-12-26 | 2013-10-01 | Mitsubishi Heavy Industries, Ltd. | Spindle inclination detector and machine tool including the same |
JP2009233785A (ja) * | 2008-03-27 | 2009-10-15 | Mori Seiki Co Ltd | 工作機械の位置測定方法とその装置 |
JP2013233638A (ja) * | 2012-05-10 | 2013-11-21 | Mitsubishi Electric Corp | 工作機械およびその熱変位補正方法 |
CN105094045A (zh) * | 2014-05-09 | 2015-11-25 | 上海铼钠克数控科技有限公司 | 数控机床及利用其实施的定位加工方法 |
CN105094045B (zh) * | 2014-05-09 | 2017-11-10 | 上海铼钠克数控科技股份有限公司 | 数控机床及利用其实施的定位加工方法 |
US10131025B2 (en) | 2015-07-24 | 2018-11-20 | Fanuc Corporation | Workpiece positioning device for positioning workpiece |
JP6868147B1 (ja) * | 2020-08-04 | 2021-05-12 | Dmg森精機株式会社 | 工作機械、検知方法、および、検知プログラム |
JP2022029120A (ja) * | 2020-08-04 | 2022-02-17 | Dmg森精機株式会社 | 工作機械、検知方法、および、検知プログラム |
Also Published As
Publication number | Publication date |
---|---|
EP1840686B1 (en) | 2013-05-08 |
EP1840686A4 (en) | 2011-08-10 |
CN101133371A (zh) | 2008-02-27 |
TW200627567A (en) | 2006-08-01 |
CN100507778C (zh) | 2009-07-01 |
JPWO2006077629A1 (ja) | 2008-06-12 |
JP4840144B2 (ja) | 2011-12-21 |
US20090204272A1 (en) | 2009-08-13 |
US8131385B2 (en) | 2012-03-06 |
EP1840686A1 (en) | 2007-10-03 |
TWI258827B (en) | 2006-07-21 |
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