WO2020203817A1 - 産業機械、寸法推定装置、および寸法推定方法 - Google Patents

産業機械、寸法推定装置、および寸法推定方法 Download PDF

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Publication number
WO2020203817A1
WO2020203817A1 PCT/JP2020/014134 JP2020014134W WO2020203817A1 WO 2020203817 A1 WO2020203817 A1 WO 2020203817A1 JP 2020014134 W JP2020014134 W JP 2020014134W WO 2020203817 A1 WO2020203817 A1 WO 2020203817A1
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Prior art keywords
dimension
work
cut
value
target
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PCT/JP2020/014134
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English (en)
French (fr)
Japanese (ja)
Inventor
板東　賢一
モハマド ムンジル
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株式会社小松製作所
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Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to KR1020217027506A priority Critical patent/KR102629252B1/ko
Priority to CN202080017871.8A priority patent/CN113518689B/zh
Priority to DE112020000654.9T priority patent/DE112020000654T5/de
Publication of WO2020203817A1 publication Critical patent/WO2020203817A1/ja

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    • 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
    • B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
    • B24B5/36—Single-purpose machines or devices
    • B24B5/42—Single-purpose machines or devices for grinding crankshafts or crankpins
    • 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
    • B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/02—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent
    • B24B49/04—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent involving measurement of the workpiece at the place of grinding during grinding operation

Definitions

  • the present invention relates to industrial machines, dimensional estimation devices, and dimensional estimation methods.
  • the present application claims priority with respect to Japanese Patent Application No. 2019-068540 filed in Japan on March 29, 2019, the contents of which are incorporated herein by reference.
  • Patent Document 1 discloses a technique for measuring the roundness of a work without removing the work from the grinding machine. According to the technique described in Patent Document 1, a three-point contact measuring instrument is contact-moved along the peripheral surface of the work, and the measured value, the rotation angle of the work, the rotation axis of the work and the three-point contact measuring instrument The roundness of the work is specified based on the position of and.
  • An object of the present invention is to provide an industrial machine, a dimensional estimation device, and a dimensional estimation method capable of estimating the dimensions of a work by removing the influence of grinding by a grindstone during grinding of the work.
  • the grinding machine includes a disk-shaped grindstone that comes into contact with the work and grinds the work, an actuator that moves the grindstone in the cutting direction, and a gauge that measures the dimensions of the work.
  • a control device for controlling the actuator includes a measurement value acquisition unit that acquires a measurement value of the dimension by the gauge, and a target cut amount specification that specifies a target cut amount by the grindstone.
  • the size of the work can be estimated by removing the influence of grinding by the grindstone.
  • FIG. 1 is a top view showing the configuration of the grinding machine according to the first embodiment.
  • the grinding machine is an example of an industrial machine.
  • the grinding machine 100 includes a base 110, a support device 120, a grindstone base 130, 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 base 130 are provided on the upper surface of the base 110.
  • the support device 120 supports both ends of the work W and rotates the work W around the main axis.
  • the grindstone base 130 supports the grindstone 131 for processing the work W supported by the support device 120.
  • the direction orthogonal to the main axis on the upper surface of the base 110 is referred to as the X direction
  • the direction in which the main axis extends is referred to as the Y direction
  • the direction orthogonal to the upper surface of the base 110 is referred to as the Z direction. That is, in the following description, the positional relationship of the grinding machine 100 will be described with reference to the three-dimensional Cartesian coordinate system including the X-axis, the Y-axis, and the Z-axis. Further, hereinafter, the spindle of the grinding machine 100 is also referred to as a C axis.
  • the crankshaft is composed of a crank journal W1, a crank pin W2, and a crank arm W3.
  • the crank journal W1 is a shaft held by the bearing of the engine.
  • the shaft of the crank journal W1 coincides with the spindle during machining by the grinding machine 100.
  • the crank pin W2 is a circular cross-sectional portion connected to the connecting rod of the piston.
  • the crank pin W2 has a shaft at a position away from the shaft of the crank journal W1 so that the piston reciprocates due to the 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 base 130 in the Y-axis direction, and a Y-axis actuator 112 that moves the grindstone base 130 in the Y-axis direction along the Y-axis guide portion 111.
  • the Y-axis actuator 112 may be configured by a linear motor or a combination of a ball screw and a rotary motor.
  • the support device 120 includes a headstock 121 that supports one end of a substantially cylindrical work W, and a tailstock 122 that supports the other end.
  • the headstock 121 includes a rotary motor 123 that rotates the work W about an axis, and a spindle sensor 124 that measures the rotation angle of the rotary motor 123.
  • the grindstone base 130 includes a grindstone 131, an X-axis guide portion 132, an X-axis actuator 133, a displacement sensor 134, a rotation motor 135, and a rotation angle sensor 136.
  • the grindstone 131 is formed in a disk shape and is rotated around a central axis by a rotary motor 135.
  • the grindstone 131 is provided so that the central axis is parallel to the Y axis.
  • On the surface of the grindstone 131 a plurality of mounting holes for mounting the correction weight are provided on the same circumference at equal intervals.
  • the X-axis guide portion 132 slidably supports the grindstone base 130 with respect to the base 110 in the X-axis direction.
  • 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 configured by a linear motor, or may be configured by a combination of a ball screw and a rotary motor.
  • the displacement sensor 134 measures the displacement of the grindstone base 130 with respect to the base 110 in the X-axis direction.
  • the displacement sensor 134 is composed of, for example, a linear encoder.
  • the rotary 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 composed of, for example, a rotary encoder.
  • the work W is supported between the headstock 121 and the tailstock 122 of the support device 120, and the outer peripheral surface of the work W is ground by the grindstone 131.
  • FIG. 2 is a cross-sectional view of a grinding machine showing the positional relationship between the grindstone, the work, and the fixed size gauge.
  • the fixed size gauge 140 is provided on the grindstone base 130 and measures the dimensions of the work W while contacting the outer peripheral surface of the work W.
  • the sizing gauge 140 according to the first embodiment measures the dimensions of the work W on the same peripheral surface as the grinding point by the grindstone 131.
  • the fixed size gauge 140 includes a gauge body 141, a first arm 142, a second arm 143, and a stand 144.
  • the gauge body 141 is a horse riding gauge having a V block having recesses inscribed at two points on the peripheral surface of the work W and a measuring unit provided in the center of the recesses 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 by the stand 144.
  • the stand 144 is fixed to the grindstone base 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 work W. Since the central axis of the crank pin W2 is located away from the main axis of the grinding machine 100, the position where the measuring unit hits as the work W rotates is in the same phase (for example, 35 degrees) in the cross-sectional circle of the crank pin W2. It changes about ⁇ 10 degrees from the position).
  • FIG. 3 is a schematic block diagram showing a configuration of the control device according to the first embodiment.
  • the control device 150 controls the Y-axis actuator 112, the rotary motor 123, the X-axis actuator 133, and the rotary motor 135.
  • the control device 150 includes a processor 151, a main memory 153, a storage 155, and an interface 157.
  • the processor 151 reads a program from the storage 155, expands it into the main memory 153, and executes the above processing according to the program. Further, the processor 151 secures a storage area corresponding to each of the above-mentioned storage units in the main memory 153 according to the program.
  • the program may be for realizing a part of the functions exerted by the control device 150.
  • the program may exert its function in combination with another program already stored in the storage 155, or in combination with another program mounted on another device.
  • the control device 150 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or in place of the above configuration.
  • PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array).
  • PLDs Programmable Logic Device
  • PAL Programmable Array Logic
  • GAL Generic Array Logic
  • CPLD Complex Programmable Logic Device
  • FPGA Field Programmable Gate Array
  • Examples of storage 155 include HDD (Hard Disk Drive), SSD (Solid State Drive), magnetic disk, magneto-optical disk, CD-ROM (Compact Disc Read Only Memory), DVD-ROM (Digital Versatile Disc Read Only Memory). , Semiconductor memory and the like.
  • the storage 155 may be an internal medium directly connected to the bus of the control device 150, or an external medium connected to the control device 150 via the interface 157 or a communication line. When this program is distributed to the control device 150 by a communication line, the distributed control device 150 may expand the program to the main memory 153 and execute the above processing.
  • the storage 155 is a non-temporary tangible storage medium.
  • the processor 151 executes the measurement value acquisition unit 511, the target depth of cut amount identification unit 512, the error calculation unit 513, the target state amount calculation unit 514, the command value calculation unit 515, the command output unit 516, and the measurement position compensation unit. It functions as 517, an estimation model 518, a dimension estimation unit 519, and a display control unit 520.
  • the measurement value acquisition unit 511 acquires the measurement value from the spindle sensor 124, the displacement sensor 134, and the sizing gauge 140. That is, the measurement value acquisition unit 511 acquires the measurement value L of the displacement of the grindstone 131 in the X-axis direction, the measurement value ⁇ of the rotation angle of the spindle, and the measurement value x of the dimensions of the work W.
  • the target depth of cut specifying unit 512 is based on the measured value L of the displacement of the grindstone 131 in the X-axis direction acquired by the measured value acquisition unit 511, the measured value ⁇ of the rotation angle of the spindle, and the target shape of the work W.
  • the target depth of cut x r of 131 is specified.
  • a specific method for specifying the target cut amount x r by the target cut amount specifying unit 512 will be described with reference to FIG.
  • the target depth of cut specifying unit 512 is the central axis of the crankpin W2 related to the target shape facing the grindstone 131 from the measured value ⁇ of the rotation angle of the spindle acquired by the measured value acquisition unit 511 and the target shape of the work W.
  • the target depth of cut specifying portion 512 includes the radius R of the grindstone 131, the distance E from the spindle to the central axis of the crank pin W2, the measured value L of the displacement of the X axis, the measured value ⁇ of the rotation angle of the spindle, and Based on the target radius r 0 of the work W, the target depth of cut x r in the radial direction of the work W is calculated. Specifically, the radius r of the work W is calculated based on the following equation (1).
  • the target cut amount specifying unit 512 calculates the target cut amount x r per the diameter of the work W by doubling the value obtained by subtracting the radius r 0 related to the target shape from the radius r of the work W. ..
  • the target cut amount specifying unit 512 records the specified target cut amount x r in the main memory 153 in association with the pin angle ⁇ of the contact point between the crank pin W2 and the grindstone 131 shown in FIG.
  • the error calculation unit 513 of the X-axis actuator 133 and the rotary motor 123 is based on the radius r of the work W, the displacement command value L ref , the angle command value ⁇ ref, and the target shape of the work W obtained based on the measured values.
  • the contour error per diameter of the work W caused by the control error is calculated.
  • the displacement command value L ref is the target value of the displacement of the X-axis actuator 133
  • the angle command value ⁇ ref is the target value of the rotation angle of the spindle.
  • error calculation unit 513 based on the following equation (2), calculates a drag error delta r per diameter of the workpiece W. Error calculating unit 513, the identified drag error delta r, it is recorded in the main memory 153 in association with the pin angle ⁇ of points per.
  • the target state amount calculation unit 514 calculates the target value of the state amount 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 target speed, target acceleration, and target jerk value of the grindstone 131 in the X-axis direction.
  • 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. Further, the command output unit 516 outputs a current command value for rotating the spindle at a predetermined rotation speed to the rotary motor 123.
  • the measurement position compensation unit 517 compensates for the phase difference between the contact point of the grindstone 131 and the contact point of the fixed size gauge 140 at the crank pin W2 with respect to the target depth of cut x r and the contour error ⁇ r . That is, the measurement position compensation unit 517 has a target depth of cut x r ( ⁇ to ) and a contour error ⁇ r of the grindstone 131 at the time of grinding corresponding to the points measured by the fixed size gauge 140 of the crank pin W2. Identify ( ⁇ ⁇ ). Specifically, the measurement position compensation unit 517 is the angle closest to the angle ⁇ to which the fixed size gauge 140 hits from the pin angle ⁇ of the contact point between the crank pin W2 and the grindstone 131 recorded in the main memory 153.
  • the measurement position compensation unit 517 determines the target depth of cut x r ( ⁇ ⁇ ) of the grindstone 131 and the contour error ⁇ r ( ⁇ ⁇ ) associated with the angle ⁇ ⁇ that the fixed size gauge 140 related to the specified angle hits. Identify.
  • Estimation model 518 by inputting a drag error delta r of the workpiece W caused by the target depth of cut x r, and the control error of the measured value x, the grinding wheel 131 of the dimensions of the workpiece W, the workpiece bending, measured disturbances, and control This is a model that outputs an estimated value of the size of the work W in consideration of the influence of an error or the like. Work deflection, measurement disturbance, and control error are examples of noise on the measured values of the work W dimensions.
  • the estimation model 518 is composed of a Kalman filter based on a mathematical model in consideration of workpiece deflection, measurement disturbance, and the positional relationship between the crank pin W2 and the grindstone 131.
  • the design concept of the estimation model 518 will be described.
  • the actual cutting amount of the work W by the grindstone 131 considering the displacement amount of the work W due to bending, input the target cutting amount x r , set the explanatory variable z related to the actual size of the work W, and T, M. Can be expressed by the equation of state with the dynamic characteristic parameter.
  • the measured value x of the dimension of the work W can be expressed by an output equation in which the explanatory variable z related to the actual dimension of the work W is the state and N is the dynamic characteristic parameter.
  • the dynamic characteristic parameters T, M and N are scalars or matrices. That is, the actual cutting amount of the work W by the grindstone 131 is expressed by the following equation (3).
  • Equation (3) is an equation of state at the contact point of the grindstone 131 on the crank pin W2.
  • the phase difference between the contact point of the grindstone 131 and the contact point of the fixed size gauge 140 at the crank pin W2 is set as the time-varying time. You can express it. That is, the portion ground at the contact point with the grindstone 131 is measured at the contact point with the fixed size gauge 140 after a certain time (time-varying time).
  • x r ( ⁇ to ) specified by the measurement position compensation unit 517 may be substituted for the target depth of cut x r in the equation (3).
  • the measured value x of the dimension can be expressed by the following equation (5).
  • a new state z ⁇ is constructed by integrating the state z related to the actual size of the work W and the measurement disturbance ⁇ d ( ⁇ ).
  • the equation (5) can be expressed as the equation (6).
  • Equation (6) the function h ⁇ z ⁇ , ⁇ r ( ⁇ ⁇ ) ⁇ state z theta and drag error delta r ([psi ⁇ ) can be expressed as.
  • the equation (3) is expressed by treating the state z related to the actual size of the work W in the equation (3) as the state z related to the actual size of the work W and the state z ⁇ of the measurement disturbance ⁇ d ( ⁇ ).
  • the equation (7) is an equation assuming that the measurement disturbance ⁇ d ( ⁇ ) is a constant value disturbance for the sake of simplicity. Since the movement of the grindstone 131 and the measurement disturbance due to the coolant are large during grinding, it is actually preferable to model these disturbances and incorporate them into the equation (7).
  • Equation (7) the function f ⁇ z ⁇ , x r ( ⁇ ⁇ ) ⁇ state z theta and a target depth of cut x r ([psi ⁇ ) can be expressed as.
  • the estimation model 518 shown in the following equation (8) can be designed.
  • estimation model 518 the estimated value z theta ⁇ state according to the dimensions and measurement disturbance, the measurement value x dimension, ( ⁇ [psi) drag error delta r, and the target depth of cut x r ([psi ⁇ ) variables It is a Kalman filter of the time evolution model that it has.
  • the dimension estimation unit 519 includes the measurement value x of the dimension acquired by the measurement value acquisition unit 511, the target depth of cut x r ( ⁇ ⁇ ) specified by the target depth of cut identification unit 512, and the contour calculated by the error calculation unit 513.
  • the error ⁇ r ( ⁇ ⁇ ) is obtained by inputting the error ⁇ r ( ⁇ ⁇ ) into the estimation model 518.
  • the display control unit 520 outputs a display signal on the screen indicating the roundness of the work W to the display device 160 based on the estimated value of the dimensions estimated by the dimension estimation unit 519.
  • FIG. 4 is a flowchart showing the operation of the control device according to the first embodiment.
  • the measurement value acquisition unit 511 determines the measurement value of the rotation angle of the spindle from the spindle sensor 124 and the measurement value of the displacement of the grindstone 131 in the X-axis direction from the displacement sensor 134.
  • the measured values of the dimensions of the work W are acquired from the dimension gauge 140 (step S1).
  • the target depth of cut specifying unit 512 determines the radius of the work W based on the measured value of the rotation angle of the spindle acquired in step S1, the measured value of the displacement of the grindstone 131 in the X-axis direction, and the above equation (1). Calculate (step S2).
  • the target cut amount specifying unit 512 specifies the target cut 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 specifying unit 512 records the specified target cutting amount in the main memory 153 in association with the pin angle ⁇ of the contact point between the crank pin W2 and the grindstone 131 shown in FIG.
  • the error calculation unit 513 is based on the radius of the work W specified in step S2, the angle command value of the spindle, the displacement command value of the grindstone 131 in the X-axis direction, the target shape of the work W, and the above equation (2). Then, the contour error per diameter of the work W is calculated (step S4). Error calculating unit 513, in association with the pin angle ⁇ of points per crank pin W2 and the grindstone 131 shown in FIG. 2, and records the calculated drag error delta r in the main memory 153.
  • the target state amount calculation unit 514 calculates the target value of the state amount 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. Further, the command output unit 516 outputs a current command value for rotating the spindle at a predetermined rotation speed to the rotary motor 123 (step S7).
  • Step S8 Measuring the position compensation unit 517, stored in main memory 153, from the pin angle [psi points per crank pin W2 and the grindstone 131, identifies the closest to the angle [psi ⁇ the sizing gauge 140 hits (step S8).
  • the measurement position compensation unit 517 specifies the target depth of cut of the grindstone 131 and the contour error associated with the angle ⁇ to which the fixed size gauge 140 related to the angle specified in step S8 hits (step S9). That is, the measurement position compensation unit 517 specifies the target depth of cut per diameter of the work W that compensates for the phase difference between the contact point of the grindstone 131 and the contact point of the fixed size gauge 140 at the crank pin W2, and the contour error. ..
  • the dimension estimation unit 519 obtains an estimated value of the dimension of the work W by inputting the measured value of the dimension acquired in step S1 and the contour error and the target depth of cut specified in step S9 into the estimation model 518. Step S10).
  • the display control unit 520 updates the screen showing the roundness of the work W based on the estimated value of the dimensions estimated by the dimension estimation unit 519, and outputs the display signal of the screen to the display device 160 (step S11). ..
  • the control device 150 determines whether or not the machining of the work W has been completed (step S12). If the machining is not completed (step S12: NO), the machining is returned to step S1 and the machining control is continued. On the other hand, when the machining is completed (step S12: YES), the control device 150 ends the machining control.
  • the control device 150 obtains an estimated value of the dimension of the work W by inputting the measured value of the dimension by the fixed size gauge 140 and the target depth of cut of the grindstone 131 into the estimation model. .. In this way, the control device 150 estimates the dimensions of the work W based on the measured value of the dimensions by the fixed size gauge 140, the target depth of cut of the grindstone 131, and the model, so that the grindstone 131 such as the bending of the work W
  • the size of the work W can be estimated by removing the influence of grinding and measurement disturbance caused by the grinding wheel.
  • 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.
  • the roundness measured by the control device 150 in real time by the method shown in FIG. 4 can obtain the same accuracy as the roundness measured in the subsequent process.
  • the measured value of the dimension by the fixed size gauge 140 real-time measured value by the fixed size gauge
  • the size of the work W can be estimated by removing the influence of grinding by the grindstone 131 and the measurement disturbance.
  • control device 150 has the X-axis actuator 133 and the rotation motor 123 based on the displacement measurement value by the displacement sensor 134 and the rotation angle measurement value of the rotation motor 123 by the rotation angle sensor 136.
  • the contour error of the work W caused by the control error of the work W is calculated, and the estimated value of the dimension of the work W is corrected based on the contour error.
  • the control device 150 can estimate the size of the work W in consideration of the influence of the control error of the X-axis actuator 133 and the rotary motor 123.
  • the control device 150 may estimate the dimensions of the work W without taking into account the control errors of the X-axis actuator 133 and the rotary motor 123.
  • control device 150 inputs to the estimation model the contour error and the target depth of cut that compensate for the dead time for the work W to move from the position where the grindstone 131 hits to the position where the fixed size gauge 140 hits. To do. As a result, even when the grinding point by the grindstone 131 and the measurement point by the fixed size gauge 140 are different, the size of the work W can be estimated appropriately.
  • the estimation model related to the control device 150 according to the first embodiment has an observation model having a measured value of dimensions as a variable and a time evolution model having an estimated value of dimensions and a target depth of cut as variables. It is a Kalman filter.
  • the estimation model according to another embodiment may be a trained model trained to output the dimensions of the work W by inputting the measured values of the dimensions and the target depth of cut.
  • the trained model may be constructed by, for example, a neural network.
  • the control device 150 of the grinding machine 100 measures the roundness, but the present invention is not limited to this.
  • a dimensional estimation device provided with a fixed size gauge 140 and having a roundness display function may be attached to the existing grinding machine 100.
  • the dimension estimation device does not have 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.
  • a PC having a program for realizing the dimension estimation function according to the first embodiment is connected to a grinding machine 100 provided with a fixed size gauge 140, and the work W is a perfect circle by the PC. The degree may be estimated.
  • the fixed size gauge 140 according to the first embodiment is a horse riding gauge, but is not limited to this.
  • the sizing gauge 140 according to another embodiment may be a sizing gauge 140 according to a method other than the three-point measurement, such as one that measures the diameter by sandwiching the work W from both sides.
  • the grinding machine 100 cuts out the crankshaft from the work W, but the present invention is not limited to this.
  • the grinding machine 100 according to another embodiment may cut out another object having a circular cross section, such as a cylindrical shaft, from the work W.
  • the estimation model of the control device 150 may include grinding resistance and chatter that affect the dimensions of the work W as variables.
  • the measurement value acquisition unit 511 has the torque and rotation angle of the rotary motor 135 of the grindstone in addition to the measurement value of the rotation angle of the spindle, the measurement value of the displacement of the grindstone 131 in the X-axis direction, and the measurement value of the dimension of the work W.
  • the measured value of, the thrust of the X-axis actuator 133, and the like are also acquired.
  • control device 150 controls the grinding machine 100, but is not limited to this.
  • control device 150 according to another embodiment may control an industrial machine using a tool other than the grindstone 131.
  • the roundness of the work W may be estimated by an external measuring device instead of the control device 150.
  • the size of the work can be estimated by removing the influence of grinding by the grindstone.
  • Target depth of cut specification unit 513 ... Error calculation unit 514 .
  • Target state amount 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 ... Work W1 ... Crank journal W2 ... Crank pin W3 ... Crank arm

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
  • Grinding Of Cylindrical And Plane Surfaces (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Numerical Control (AREA)
PCT/JP2020/014134 2019-03-29 2020-03-27 産業機械、寸法推定装置、および寸法推定方法 WO2020203817A1 (ja)

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