WO2020250779A1

WO2020250779A1 - Adjustment amount estimation apparatus, adjustment amount estimation method and adjustment amount estimation program

Info

Publication number: WO2020250779A1
Application number: PCT/JP2020/021975
Authority: WO
Inventors: 翼菅野; 直也寺澤; 文彦浅見; 隆史稲垣
Original assignee: 三菱電機株式会社
Priority date: 2019-06-12
Filing date: 2020-06-03
Publication date: 2020-12-17
Also published as: JPWO2020250779A1; CN113950650A; JP7158582B2

Abstract

This adjustment amount estimation apparatus (100) comprises: a data acquisition unit (41) which measures, via a communication unit 70, coordinates of a point on a surface included in a constituent component of a machine; and a geometric error computation unit (43) which, on the basis of the measured coordinates, computes a geometric error in the surface with respect to a reference value for geometric characteristics such as the shape, the attitude, or the position of said surface. Prior to machine assembly, the geometric error computation unit (43) executes, on the basis of the pre-assembly geometric error in the constituent component, a predictive calculation of post-machine assembly displacement of the surface from a reference position, and uses the displacement obtained by the predictive calculation to compute an adjustment amount for an adjustment member which changes the geometric characteristics of the surface.

Description

Adjustment amount estimation device, adjustment amount estimation method and adjustment amount estimation program

The present disclosure relates to an adjustment amount estimation device, an adjustment amount estimation method, and an adjustment amount estimation program.

In order to maintain the machining accuracy of the machine tool within the specified range, it is necessary to keep the inclination of the upper surface of the table on which the workpiece is mounted to be less than the geometric tolerance, and in some cases, it is necessary to adjust the machine tool.

However, it is difficult to judge which part of which component of the machine tool should be adjusted and how much the inclination can be suppressed below the geometrical tolerance.

Japanese Unexamined Patent Publication No. 2016-26892 Japanese Unexamined Patent Publication No. 2016-38674

In response to this problem, a technique for automatically calculating a correction value with respect to a reference value, that is, an adjustment amount has been proposed.
For example, Patent Document 1 describes a machine tool adjustment system that calculates a correction value for inclination of a guide surface. This machine tool adjustment system measures the displacement of a moving body moving on a guide surface, and calculates the amount of inclination adjustment based on the measured displacement.

Further, Patent Document 2 discloses a method of calculating the adjustment amount based on the reference coordinates of the tool and the geometric error.

On the other hand, in the manufacturing stage of a machine tool, even if a machine tool is assembled by combining components whose errors are less than or equal to the geometrical tolerance as designed, a inclination of more than the geometrical tolerance occurs due to the assembly method, accumulation of errors, and the like. It may end up. In such a case, if it is possible to predict the inclination of each component after assembling the machine tool, correct the design value so that the desired inclination can be obtained, and assemble the component based on the corrected design value. It eliminates the need for complicated adjustments after assembly, and can be expected to improve work efficiency.

However, since the techniques described in Patent Documents 1 and 2 are techniques for actually measuring the inclination of the surface of the machine tool to obtain a correction value, they cannot be used at the manufacturing stage of the machine tool in which the assembled machine tool does not exist.
Similar problems exist for any surface other than the guide surface. Further, the same problem exists not only at the manufacturing stage but also when the machine tool is disassembled and reassembled for maintenance or the like. Such a problem is not limited to machine tools, but generally occurs when a plurality of parts are assembled to manufacture a machine.
Furthermore, the same problem occurs not only for the inclination of the surface but also for any geometric error.

The present disclosure has been made in view of the above circumstances, and is an adjustment amount estimation device capable of estimating an adjustment amount for suppressing a geometrical error at an arbitrary part of the machine to be less than a geometrical tolerance before assembling the machine. , It is an object of the present invention to provide an adjustment amount estimation method and an adjustment amount estimation program.

In order to achieve the above object, the adjustment amount estimation device of the present disclosure includes a coordinate measuring unit that measures the coordinates of a point on a surface included in a component of a machine, and the shape of the surface based on the measured coordinates. It is provided with a geometric error calculation unit for calculating a geometric error which is an error from a reference value of a geometric characteristic of a posture or a position. Further, the geometric error calculation unit of the adjustment amount estimation device of the present disclosure includes a surface included in the component after the machine is assembled, based on the geometric error before the assembly of the machine and before the assembly of the component. The displacement from the reference position of is predicted and calculated, and the adjustment amount of the adjustment member that changes the geometrical characteristics of the surface is calculated from this displacement to estimate the adjustment amount.

According to the present disclosure, the adjustment amount is estimated by calculating the adjustment amount based on the geometric error of the component of the machine. Therefore, the geometric error of any part of the machine is performed before the assembly of the machine. The amount of adjustment to keep the amount below the geometrical tolerance can be estimated.

A block diagram showing the configuration of the adjustment amount estimation device according to the first embodiment of the present disclosure. The figure which shows an example of the hardware configuration which concretely realizes the adjustment amount estimation device of FIG. Explanatory drawing of the appearance of the machine tool to be adjusted using the adjustment amount estimation device of FIG. The figure which shows the outline of the connection point with the guide surface of the bed and the table of the machine tool of FIG. Explanatory drawing which shows an example of the spacer used for changing the height of the connection point of FIG. 4, which has the thickness of the minimum unit. Explanatory drawing which shows an example of one spacer which is used for changing the height of the connection point of FIG. 4, and has a thickness 4 times the smallest unit. An example of a spacer used for changing the height of the connection point in FIG. 4 is shown in which four spacers having the minimum unit thickness are stacked to form a spacer having a thickness four times the minimum unit as a whole. Explanatory drawing Flow chart of adjustment amount estimation process and work using the adjustment amount estimation device of FIG. Detailed flowchart of collection of 3D measurement results in FIG. Flow chart of calculation of geometric error after assembly in FIG. A more detailed flowchart that subdivides the steps of FIG. The figure which shows the example of the measurement point for estimating the parallelism on the table after the assembly work of the machine tool of FIG. The figure which shows the conversion method of the coordinate when adjusting the height of the connection point with the guide surface of the machine tool of FIG. Flow chart of instruction of adjustment amount and collection of measurement result of FIG. A block diagram showing a configuration of an adjustment amount estimation device according to a second embodiment of the present disclosure. Flow chart of adjustment amount estimation process and work using the adjustment amount estimation device of FIG. Flow chart of calculation of geometric error correction term using the adjustment amount estimation device of FIG. The figure which shows the structure of the data stored in the measurement position master storage part The figure which shows the structure of the data stored in the 3D measurement result storage part The figure which shows the structure of the data stored in the adjustment amount storage part The figure which shows the structure of the data which is stored in the measurement result storage part after adjustment. The figure which shows the structure of the data stored in the correction term storage part Flow chart of adjustment amount estimation processing and work using the adjustment amount estimation device according to the third embodiment of the present disclosure.

(First Embodiment)
Hereinafter, the adjustment amount estimation device 100 according to the first embodiment of the present disclosure will be described with reference to the drawings.

The adjustment amount estimation device 100 is a device that estimates the adjustment amount of the height of the support member of the machine tool P based on the geometrical error of the components constituting the machine tool P. The support material of the machine tool P supports the surface in order to bring the inclination of each surface including the guide surface of the machine tool P after assembling the components and the upper surface of the table on which the workpiece is mounted close to the target value. It is a member located at a plurality of points. The machine tool P includes, but is not limited to, for example, a lathe, a milling machine, an electric discharge machine, a laser machine, and the like.
As shown in FIG. 1, the adjustment amount estimation device 100 includes a data storage unit 20 that stores various data described later, a calculation unit 40 that performs various calculations, and a communication unit 70 that exchanges information with an external device. Be prepared. Further, the data storage unit 20, the data acquisition unit 41, and the calculation unit 40 can communicate with each other with an external device including the worker terminal 60 via the communication unit 70.
Further, as shown in FIG. 1, a three-dimensional measuring device M for measuring the three-dimensional shape of the object to be measured including the machine tool P is connected to the adjustment amount estimation device 100. The adjustment amount estimation device 100 communicates with the coordinate measuring device M via the communication unit 70.

The data storage unit 20 includes a measurement position master storage unit 21 for storing the measurement position master information illustrated in FIG. 16, a three-dimensional measurement result storage unit 22 for storing the three-dimensional measurement result information exemplified in FIG. The adjusted amount storage unit 23 for storing the height adjustment amount information exemplified in FIG. 18, the adjusted measurement result storage unit 24 for storing the adjusted measurement result information exemplified in FIG. 19, and FIG. 20 are exemplified. The correction term storage unit 25 for storing the correction term information is provided.

The measurement position master storage unit 21 includes the types of parts constituting the machine tool P, in other words, the identification information of parts such as part names, part numbers, specifications, and the types of measurement points including information on the dimensions or accuracy of measurement points. In other words, the measurement position master including the measurement point identification information, the position or coordinate range of the measurement point on the data which is the preset measurement point position, the design coordinate value of the measurement point of the machine tool P, and the like. Memorize information. The dimension of the measurement point is, for example, "2" in the case of two dimensions and "3" in the case of three dimensions, but is not limited to this. The measurement position master information is stored in the measurement position master storage unit 21 in advance by the user of the adjustment amount estimation device 100. Further, the measurement position master information is an example of the measurement position information in the claim.

The three-dimensional measurement result storage unit 22 includes a measurement order of coordinates by the three-dimensional measuring device M, a measurement ID (identification, identification code) for identifying the measurement time, and three-dimensional coordinates of points measured by the three-dimensional measurement. Store the original measurement result information. The three-dimensional measurement result storage unit 22 is an example of the coordinate storage unit in the claim.

The adjustment amount storage unit 23 stores the adjustment amount information of the height for adjusting the inclination of the guide surface of the machine tool.
The adjusted measurement result storage unit 24 stores the adjusted measurement result information including the three-dimensional coordinates of the points measured by the three-dimensional measurement after the adjustment.
The correction term storage unit 25 stores the correction term information which is the difference between the estimated value of the height of the guide surface calculated in the past and the actual value.

The calculation unit 40 performs various calculations for estimating the adjustment amount. The calculation unit 40 includes a data acquisition unit 41 that acquires various data, a data conversion unit 42 that converts data by associating information including coordinates with each other, and a geometric error calculation unit 43 that calculates a geometric error. An adjustment amount calculation unit 44 that calculates an adjustment amount of a component, an adjustment amount instruction unit 45 that instructs an adjustment amount, and a measurement result collection unit 46 that collects three-dimensional measurement result information are provided.

The data acquisition unit 41 acquires various data necessary for calculation from the data storage unit 20. The data acquisition unit 41 is an example of the coordinate measurement unit, the coordinate acquisition unit, the pre-adjustment measurement result acquisition unit, or the post-adjustment measurement result acquisition unit in the claim.

The data conversion unit 42 associates the information of the measurement point stored in the measurement position master storage unit 21 with the acquired coordinates. The data conversion unit 42 is an example of the coordinate data conversion unit in the claim.

The geometric error calculation unit 43 calculates the geometric error of the entire machine tool P after assembly based on the geometric error of each part. The adjustment amount calculation unit 44 calculates the adjustment amount of each part from the geometric error of the entire machine tool P after assembly. The adjustment amount indicating unit 45 instructs the adjustment amount by outputting the calculated adjustment amount to the display unit 61. The measurement result collection unit 46 collects the three-dimensional measurement result information of the assembled parts.

The worker terminal 60 includes a display unit 61 such as a liquid crystal display and an organic EL (Electro-Luminescence) display for displaying various information, an input unit 62 such as a mouse, a keyboard, and a touch panel for inputting information by an operator's operation. To be equipped.
The display unit 61 is an example of the adjustment amount output unit according to the claim.

The coordinate measuring device M is a device that measures the geometric characteristics of the object to be measured by acquiring the coordinates of each part of the object to be measured. This geometric property contains data on parallelism, straightness, squareness, and so on.

The communication unit 70 exchanges information with an external device connected to the adjustment amount estimation device 100 such as the worker terminal 60 and the coordinate measuring device M.

FIG. 2 is a diagram showing an example of a hardware configuration that specifically realizes the adjustment amount estimation device 100 shown in FIG.
Specifically, the information arithmetic unit 10 is, for example, a general-purpose computer. As shown in FIG. 2, the information arithmetic unit 10 includes a processor 101, a communication unit 102, a main storage unit 103 that temporarily stores information, an auxiliary storage unit 104 that permanently stores information, and information calculation. An internal bus 105 for exchanging data inside the device 10 is provided.
The processor 101 is, for example, a CPU (Central Processing Unit) and performs various logical operation processes.
The communication unit 102 is an interface for communicating with another device.
The main storage unit 103 includes, for example, a DRAM (Dynamic Random Access Memory) and a SRAM (Static Random Access Memory), and the auxiliary storage unit 104 includes, for example, a hard disk drive (HDD) and a solid state drive (SSD).
For example, the data storage unit 20 of the adjustment amount estimation device 100 is realized by the main storage unit 103 or the auxiliary storage unit 104 of the information calculation device 10. The arithmetic unit 40 is realized by the processor 101 executing a program stored in the main storage unit 103 or the auxiliary storage unit 104. The communication unit 70 is realized by the communication unit 102. Communication between the data storage unit 20, the data acquisition unit 41, and the calculation unit 40 is realized by an internal bus 105 that connects them.

Hereinafter, with reference to FIG. 3, the flow of processing for estimating the adjustment amount of the length, height, thickness, etc. of the plurality of support members C for supporting the table P12, the column P13, etc., using the machine tool P will be described. explain.
The plurality of support members C that support the table P12, the column P13, and the like of the machine tool P are not shown in FIG. 3 for easy understanding. However, the support member C is provided in a slider mechanism arranged between the upper surface of the bed P11 and the table P12 and between the bed P11 and the column P13, and the table P12 and the column P13 are connected to the plurality of connection points P21. It is supported in ~ P28. These support members C are, for example, spacers, washers, etc. whose length, height, thickness, etc. can be adjusted in minute units.
The support material C is an example of the adjusting member according to the claim.
The adjusting member may be a precision screw type adjusting mechanism.

The machine tool P includes a bed P11 having a guide surface Sx in the x direction and a guide surface Sy in the y direction, a table P12 movable on the bed P11, a column P13 having a guide surface Sz in the z direction, and a column P13 in the z direction. It includes a movable z-axis base P14 and a head P15 fixed to the tip of the z-axis base P14.
The table P12 is provided on the guide surface Sx of the bed P11 and is a table that can move on the bed P11 in the x direction. The column P13 is provided on the guide surface Sy of the bed P11, can move on the bed P11 in the y direction, and has a guide surface Sz in the z direction on the side surface. The z-axis base P14 is in contact with the guide surface Sz on the column P13. The head P15 processes an workpiece.

As described above, the machining position using the machine tool P is determined by the table P12 in the x direction, the column P13 in the y direction, and the z-axis base P14 in the z direction. Therefore, the processing accuracy of the work piece is affected by the geometric error of the guide surfaces Sx and Sy of the bed P11 and the guide surface Sz of the column P13.

In order to maintain the machining accuracy of the workpiece by the machine tool P within the specified range, the operator adjusts the inclinations of the guide surfaces Sx and Sy of the bed P11 and the guide surfaces Sz of the column P13.
Hereinafter, a method of horizontally adjusting the guide surface Sx, which is the upper surface of the bed P11, will be described using the adjustment amount estimation device 100 with reference to FIGS. 3 and 4.

FIG. 4 shows an example of connection points P21 to P24 on the guide surface Sx of the bed P11 of the machine tool P shown in FIG. 3 and connection points P25 to P28 on the guide surface Sy of the bed P11. .. The height of the connection points P25 to 28 in the z direction is the support member C arranged so as to be sandwiched between the bed P11 and the table P12 or between the bed P11 and the column P13 at these connection points P25 to 28. It can be adjusted according to the dimensions of. Hereinafter, in the case where the flat plate spacer R is used as an example of the support material C, the minimum unit in which the dimensions of the table P12 or the column P13 can be changed in the z direction will be described as L.
FIG. 5A is an explanatory view illustrating a spacer R having a thickness of L, which is the smallest unit. FIG. 5B is an explanatory diagram illustrating one spacer R1 having a thickness of 4 L, which is four times the minimum unit L. FIG. 5C is an explanatory diagram illustrating an example in which four spacers R having a thickness of the minimum unit L are stacked to form a spacer R2 having a thickness of 4 L as a whole. By arranging the spacers R, R1 and R2 illustrated in FIGS. 5A to 5C between the bed P11 and the table P12 or between the bed P11 and the column P13, the dimensions of the bed P11 and the column P13 in the z direction. The height in the z direction at the connection points P21 to P28 can be changed. The means for changing the height in the z direction is not limited to the illustrated flat spacers R, R1, R2 and the like.

As described above, the height of the connection points P21 to P28 in the z direction is L by using the support material C having a thickness that is an integral multiple of L, or by using a plurality of support materials C having a thickness of L. It can be changed one by one. The inclination of the upper surface of the table P12 can be adjusted by individually changing the thickness of the support member C at the four connection points P21 to P24. Further, the inclination of the guide surface Sz of the column P13 can be adjusted by individually changing the thickness of the support member C at the four points of the connection points P25 to P28.

Hereinafter, the overall flow of estimating the adjustment amount of the support member C that supports the table P12 of the machine tool P by using the adjustment amount estimation device 100 will be described.
The work flow shown by the broken line on the left side of FIG. 6 is a flowchart of the machining work using the machine tool P, and the processing flow shown by the broken line on the right side is the adjustment amount estimation process using the adjustment amount estimation device 100. It is a flowchart of. Of the information commonly used in the processing work and the adjustment amount estimation process, the flow of the corresponding information is indicated by a left-pointing or right-pointing arrow.

The worker performs machining of the guide surface of the bed P11 and the guide surface of the column P13 in order to smooth the movement of the table P12 with respect to the bed P11 and the movement of the column P13 with respect to the bed P11. In addition, the operator also performs machining on the upper surface of the table P12 in order to process the workpiece on a flat surface (step S11). These machining are, for example, grinding.

After that, the operator measures the coordinates of a plurality of points on the surfaces of the machined bed P11, the table P12, and the column P13 by using the coordinate measuring device M in order to confirm the result of the machining. Perform the three-dimensional measurement (step S12).
In this step, the components of the machine tool P, the bed P11, the table P12, and the column P13, are individually measured three-dimensionally. The reason why the individual measurements are performed in this way is that the components of the machine tool P have not been combined yet.
Step S12 is an example of the coordinate measurement step, the coordinate acquisition step, or the pre-adjustment measurement result acquisition step in the claim.

Next, the measurement result collecting unit 46 transmits the three-dimensional measurement result data, which is the result of the measurement in step S12 performed by the operator, from the coordinate measuring device M via the communication unit 70 for the subsequent processing. Collect (step S21). Further, the measurement result collecting unit 46 stores and stores the collected data in the three-dimensional measurement result storage unit 22.

After the measurement result collection unit 46 completes the collection of the three-dimensional measurement results for all of the bed P11, the table P12 and the column P13, the geometric error calculation unit 43 after assembling the table P12, the bed P11 and the column P13. The calculation for predicting the geometrical error of is performed (step S22).
The geometric error calculated here is, for example, the deviation of the postures of the guide surface of the bed P11, the guide surface of the column P13, and the upper surface of the table P12, that is, the inclination calculated as an angle. The three-dimensional measurement result data measured by the coordinate measuring device M does not include the inclination of these surfaces. Therefore, the geometric error calculation unit 43 calculates the angle by calculating the ratio of the difference in the z-coordinate to the difference in the x-coordinate and the y-coordinate between the plurality of points included in the three-dimensional measurement result data, for example. calculate. Then, based on the geometric error calculated here, the displacement of the component after assembly from each reference position is predicted and calculated.
Step S22 is an example of the displacement calculation step or the geometric error calculation step in the claim.

Based on the displacement from each reference position predicted and calculated by the prediction calculation of the geometric error after assembly in step S22, the adjustment amount indicating unit 45 instructs the operator to adjust the height of the connection points P21 to P28. (Step S23). The adjustment amount is instructed, for example, by the adjustment amount estimation device 100 issuing a command to the worker terminal 60 and displaying the adjustment amount data on the display unit 61. This instruction is given by numerically indicating the difference in height from the current value for each connection point.
For example, in the case of an instruction of the adjustment amount regarding the table P12, the adjustment amount estimation device 100 displays "P21: 0.0 mm, P22: +0.1 mm, P23: +0.1 mm, P24: +0.2 mm" on the display unit 61. Display it. As a result, the operator makes the thickness of the support material C at the connection point P21 the same as the reference value L with respect to the reference height, and makes the thickness of the support material C at the connection points P22 and P23 L + 0.1 mm. Then, if the thickness of the support material C at the connection point P24 is L + 0.2 mm, it is understood that the inclination of the table P12 can be brought close to the target value.
Step S23 is an example of the adjustment amount output step in the claim.

Returning to the processing work in the broken line on the left side of FIG. 6, the worker performs the adjustment work according to the instruction in step S23, that is, based on the adjustment amount data displayed on the display unit 61 of the worker terminal 60 ( Step S13). For example, the operator reads the display of the display unit 61 described above, leaves the height of the connection point P21 as the reference value L, sets P22 and P23 to L + 0.1 mm, and sets P24 to L + 0.2 mm in step S14 described later. Assemble.

The operator carries out the assembly work of each part after the completion of the three-dimensional measurement (step S12) before assembly (step S14), and then the geometry of the connection points P21 to 28 for the machine tool P after assembly. The measurement of the scientific error is carried out (step S15).
The measurement result collection unit 46 collects the geometric error measurement result data acquired as a result of the measurement in step S15 (step S24). Specifically, the measurement result collecting unit 46 has three dimensions of the guide surface of the bed P11, the guide surface of the column P13, and the upper surface of the table P12 after changing the thickness of the support material C of the connection points P21 to P28 from L. Collect coordinates. As a result, the processing of the adjustment amount estimation device 100 is completed.
The measurement result collecting unit 46 stores and stores the collected geometric error measurement result data in the adjusted measurement result storage unit 24. As will be described later, the correction term stored in the correction term storage unit 25 can be corrected by the geometric error measurement result data stored in the adjusted measurement result storage unit 24.

The calculation unit 40 determines whether or not the measured geometric error is within the specified range (step S16).
If the measured geometric error is within the specified range (step S16: YES), the operator finishes all the work and completes the adjustment (step S17). If it is not within the specified range (step S16: NO), the adjustment according to the adjustment amount instructed by the adjustment amount indicator 45 has not been performed. Therefore, the process returns to the adjustment work (step S13) and the operator adjusts. The adjustment work with the adjustment amount instructed by the amount indicating unit 45 is performed again. In addition, the number of times of returning from step S16 to step S13 may be limited in consideration of the case where the measured geometric error does not fall within the specified range even if the adjustment is made according to the instructed adjustment amount. Even in such a case, based on the geometric error measurement result data stored in the adjusted measurement result storage unit 24, the corrected correction term is used from the next time onward, so that the adjustment is made according to the instructed adjustment amount. If so, the geometrical error will be within the specified range.

As described above, according to the adjustment amount estimation device 100, by executing steps S11 to S12 in order, the operator can obtain the adjustment amount before the assembly work (step S14) (step S13). , S23).
On the other hand, since the required adjustment amount is not known in advance by the conventional method, after assembling once, the position of the head P15 on the table P12 of the machine tool P is fixed, and only the table P12 is translated on the guide surface. , The amount of change in the perpendicular direction must be measured and the height of the connection points P21 to P24 must be adjusted.

Hereinafter, the details of each step described in FIG. 6 will be described with reference to mathematical formulas as appropriate.

FIG. 7 is a detailed flowchart of the three-dimensional measurement result collection step (step S21) of FIG.
The data acquisition unit 41 includes a set of coordinates that are measurement result information acquired by the three-dimensional measurement (step S12), coordinates of measurement points measured by the coordinate data measurement function of the machine tool, and measurement input by the operator. Acquire the resulting coordinates and the like (step S31).

Next, the data conversion unit 42 acquires the coordinates of the measurement points via the data acquisition unit 41, and also refers to the measurement position master storage unit 21, and the information of the measurement points stored in the measurement position master storage unit 21. And the acquired coordinates are linked.
The information stored in the measurement position master storage unit 21 is not limited to the above-mentioned examples, that is, the type of parts, the type of measurement points, the position of measurement points on data, the coordinate values in design, and the like. Measurement position master information Any format may be used as long as the measured coordinate data can be distinguished from the coordinate data of which point to be measured and can be linked with the acquired coordinate information.

By associating the coordinates acquired by the data conversion unit 42 via the data acquisition unit 41 with the information of the measurement points stored in the measurement position master storage unit 21, the coordinates measured by the three-dimensional measuring instrument M and the design The three-dimensional coordinates are converted into a data format having a one-to-one correspondence (step S32).
The data conversion unit 42 further associates the information stored in the measurement position master storage unit 21 with the serial number of the part, and stores the converted coordinate information in the three-dimensional measurement result storage unit 22.
Step S32 is an example of the coordinate data conversion step in the claim.

When using only the general CMM, if the data format output for each part, the reference point for measurement, or the surface is different, only manual measurement can be performed by the operator, and the coordinate values in only one direction. That is, data about parts, data formats, measurement reference points, reference positions or reference planes may only be available for unknown information. However, even in such a case, according to the adjustment amount estimation device 100, by performing the data conversion process (step S32), the information including the data format, the measurement reference point, and the reference plane data can be obtained. Can be stored.

FIG. 8 is a detailed flowchart of the geometric error calculation step (step S22) after assembly.
The geometric error calculation unit 43 acquires the correction term, which is a parameter stored in advance in the correction term storage unit 25, and accumulates the correction term from the three-dimensional measurement result storage unit 22 by collecting the three-dimensional measurement results (step S21). Acquire the three-dimensional measurement information of each part of the machine tool P. When the geometric error calculation unit 43 acquires the correction term from the correction term storage unit 25, the geometric error calculation unit 43 uses the geometric error measurement result data accumulated in the adjusted measurement result storage unit 24 to perform the correction term. You may modify it. Then, the geometric error calculation unit 43 calculates the entire geometric error when these parts are assembled into the machine tool P from the geometric errors of the individual parts (step S71).
For example, if the angle in the x direction is taken as the geometric error and the bed P11 and the table P12 are taken as the parts, the geometry is geometric when the allowable value of the bed P11 is ± 1 ° and the allowable value of the table P12 is ± 2 °. The target error calculation unit 43 simply adds the lower limit value and the upper limit value, respectively, and sets the geometric error of the assembled bed P11 and table P12 to ± 3 °. However, this is only an example of the calculation of the geometric error by the geometric error calculation unit 43. Actually, the geometric error of the combination of all the parts is calculated in consideration of the type of parts, the combination method, the type of geometric error to be calculated, the direction, and the like.
After the calculation of the geometric error is completed, the adjustment amount calculation unit 44 calculates the adjustment amount (step S72). Specifically, since the geometric error calculated in step S71 includes an upper limit value and a lower limit value, the adjustment amount calculation unit 44 calculates, for example, the average value of the upper limit value and the lower limit value. Then, when the average value is between the upper limit value and the lower limit value of the design value, the adjustment amount calculation unit 44 sets the average value and the upper limit value and the lower limit value of the design value. The difference between the average value and the average value is calculated to obtain the adjustment amount. If this average value does not fall between the upper and lower limits of the design value, the difference between this average value and the upper or lower limit of the design value, whichever is closer to the average value. Is calculated to obtain the adjustment amount. This is to keep the adjustment amount as small as possible. However, this is an example of a method for calculating the adjustment amount. For example, the adjustment amount calculation unit 44 calculates the difference between the average value of the upper limit value and the lower limit value of the geometric error and the average value of the upper limit value and the lower limit value of the design value in all cases. It may be adjusted as an amount. Further, the adjustment amount calculation unit 44 stores the calculated adjustment amount information in the adjustment amount storage unit 23.
Step S72 is an example of the adjustment amount calculation step in the claim.

FIG. 9 is a more detailed flowchart in which the steps of FIG. 8 are subdivided.
Steps S81 to S84 are included in step S71, and steps S85 to S87 are included in step S72.
First, the geometric error calculation unit 43 acquires the three-dimensional information of each part necessary for the calculation of the geometric error after assembly (step S81).
Subsequently, the geometric error calculation unit 43 unifies the xyz direction and the reference datum plane of the three-dimensional information of each component, and executes the three-dimensional information of the component, that is, the conversion of the coordinates (step S82).
After that, the geometric error calculation unit 43 calculates the amount of change in the coordinates between the measurement points before and after assembly by using the three-dimensional coordinates of each part converted in the step of converting the three-dimensional coordinates (step S82). (Step S83).
The geometric error calculation unit 43 applies the correction value stored in the correction term storage unit 25 to the change amount obtained by calculating the change amount of the coordinates of each measurement point (step S83), and applies the correction value stored in the correction term storage unit 25 to step S83. The coordinates of each measurement point calculated in step 1 are corrected (step S84).
Next, in order to suppress the amount of change estimated in steps S83 and S84 to the specified value or less, the adjustment amount of the guide surface of the bed P11, the column P13, etc. is searched at multiple points at as many measurement points as possible. The value that minimizes the amount of change is found, and the adjustment amount is calculated using this as the estimated value of the adjustment amount (step S85).
The estimated value of the adjusted amount obtained in step S85 and the estimated value of the measured value of the measured point after assembly at that time are stored in the adjusted amount storage unit 23 (step S86).
It is determined whether or not the calculation of the change amount and the necessary adjustment amount between the measurement points in all the directions to be predicted including x, y and z is completed (step S87), and if it is completed (step S87). : YES), the process is completed, and if it is not completed (step S87: NO), the process returns to the conversion of the three-dimensional information (step S82), and the calculation in another direction is performed.

Hereinafter, the procedure for applying the methods described so far will be described with reference to FIG.
Figure 10 shows an example of the arrangement of the measurement points _a 0 _~ by the three-dimensional measuring device M on the table P12 after assembly work _{_{_{a n, b 0 ~ b n}}} , c 0 ~ c n, d 0 ~ d n It is a figure. In particular, an example of a calculation procedure will be described in a case where the amount of change in z before and after assembly is estimated in advance and the amount of adjustment of the height of the connection point with the guide surface of the table P12 and the column P13 is estimated in advance. To do.

As shown in FIG. 10, the measurement points _{_{_{_{a 0 ~ a n, b 0}}}} ~ b n, c 0 ~ c n, d 0 ~ d n , for each respective group of a and b, c and d, a straight line It is in.
Therefore, measuring points are arranged along the x-direction _{_{_{a 0 ~ a n, b 0}}} x -coordinate of the ~ _{b n} is determined by the inherent four connection points P21 ~ P24 in FIG. Further, the y-coordinates of the measurement points c ₀ to c _n and d ₀ to d _n arranged along the y direction are obtained by the connection points P25 to P28 between the guide surface in the y direction of the bed P11 and the column P13. ..

Next, when the 0 in the z direction of the displacement at the point a ₀ on the machined table P12 in step S11, z direction deviation distant points a _n from point a ₀ is calculated as follows ..

(Deviation in the z direction at the point a _n) = {(as the reference datum of the table bottom xy plane, z coordinates of the points a _n in the three-dimensional measuring result of the table) + (the reference datum in the x-direction guide surface of the bed and the average of the z-coordinate of the connection point 4 points in a _n in a three-dimensional measuring result of the guide surface of the x-axis direction of the bed)} - {(as the reference datum of the table bottom xy plane, the three tables order z coordinates of the points a ₀ of the original measurement) - (as a reference datum in the x direction guide surface of the bed, z of the connection points 4 points at a ₀ in the three-dimensional measuring result of the guide surface of the x-axis direction of the bed Coordinate average)}

Since the points b _{0 ~} b _n are arranged along the x-axis direction, for the points b _n, by the same method as calculating at point a _n, can be calculated deviation of the z-direction.

Further, z direction deviation at point c _n is calculated as follows.
(Deviation in the z direction at the point c _n) = {(as the reference datum of the table bottom xy plane, z coordinates of the points c _n of a three-dimensional measurement result table) + (the reference datum in the x-direction guide surface of the bed and the average of the z-coordinate of the connection point 4 points in c _n of a three-dimensional measuring result of the guide surface of the y-axis direction of the bed)} - {(as the reference datum of the table bottom xy plane, the three tables order Original measurement result point c ₀ z coordinate)-(z of 4 connection points at a ₀ in the 3D measurement result of the guide surface in the y-axis direction of the bed with the x-direction guide surface of the bed as the reference datum) Coordinate average)}

Since the points d ₀ to d _n are also arranged along the y-axis direction, the deviation of the points d _n in the z direction can be calculated by the same method as the calculation at the point b _n .

After the above calculation of the deviation in the z direction is completed, the adjustment amount calculation unit 44 corrects the calculation of the coordinates of each measurement point (step S83) (step S84). As described above, the correction is performed by adding the correction amount to the calculated deviation in the z direction at each measurement point.

After that, the calculation of the correction amount required to reduce the change amount of each measured value to the specified value or less is performed (step S85). Therefore, a specific method for calculating the correction amount will be described with reference to FIG.
FIG. 11 is a diagram showing changes in the coordinates of each point when the height of the connection point with the guide surface is adjusted. The broken line rectangle is a view of the connection point of the bed P11 and its upper surface in the y-axis direction before tilting, and the solid line rectangle is a view of the connection point of the bed P11 and its upper surface in the y-axis direction after tilting by an angle θ. It is a figure seen in.
As shown in FIG. 11, around the connection point s _1, consider the case where lifting the x-direction of one side of the bed P11 in the z-direction upward. At this time, the coordinates of the connection point s ₁ do not change before and after tilting the bed P11, and the connection point s ₂ is moved by t to be located at s ' ₂ . Since the triangle is an isosceles triangle that these three connection points _s 1, _{s 2} and s' ₂ and vertex connection points _{x_s} 2 the x-coordinate of _{x_s} 1, _{s 2} and x-coordinate of _{s 1,} a When the _n x coordinate of the x_a _n, the inclination angle theta, the following relationship holds from the law of cosines.
t ² = | x_s _2- x_s ₁ | ² + | x_s _2- x_s ₁ | ² -2 | x_s _2- x_s ₁ | ² x cos θ
When the above equation is transformed with respect to θ, it becomes as follows.
cosθ = (2 | x_s _2- x_s ₁ | ^2- t ² ) / 2 | x_s _2- x_s ₁ | ²
Next, using a gradient theta, variation in the height a _n of a point on the top of the table P12, i.e., when determining the change amount Δz in the z-coordinate before and after tilting the table P12, as follows.
_{_{Δz = | x_a n -x_s 1 |}} × sinθ
Will be.

In the calculation of the adjustment amount (step S85), in order to make the estimated value of the adjustment amount less than the specified value, the adjustment amount of the connection points P21 to P24 is comprehensively changed under the following objective functions and constraints to be optimal. Perform a multipoint search to find the value.
Here, Δzmax_a, Δzmax_b, Δzmax_c, Δzmax_d is the maximum value of the absolute values _{_{_{of, a n, b n, c}}} n, the z direction in the _{d n} _{_{_{deviation, t 1, t 2, t}}} 3, t 4 Is the adjustment amount of the connection point between the table and the guide surface in the x-axis direction of the bed.
Objective function: Minimize (Δzmax_a + Δzmax_b + Δzmax_c + Δzmax_d)
Variables: t ₁ , t ₂ , t ₃ , t ₄
Constraints: t ₁ ≧ 0, t ₂ ≧ 0, t ₃ ≧ 0, t ₄ ≧ 0, where t ₁ , t ₂ , t ₃ , t ₄ are integer multiples of t (t is a unit adjustment amount)
Minimize is a minimization function.

T ₁ to t ₄ obtained by the above processing are used as estimated values of the adjustment amount, and these values are stored in the adjustment amount storage unit 23 (step S86).

If it is determined that all the processes have been completed (step S87: YES), the calculation is completed, otherwise (step S87: NO), the process returns to the conversion of three-dimensional information (step S82).

FIG. 12 is a detailed flowchart of the adjustment amount instruction (step S23) and the measurement result collection (step S24) shown in FIG.
The data acquisition unit 41 is calculated by the calculation of the geometric error after assembly (step S22) and is held in the adjustment amount storage unit 23 after the assembly work of the product to be executed in the assembly work (step S14). The coordinate data of each connection point is acquired (step S91).

The adjustment amount indicating unit 45 acquires the information of the estimated value of the adjustment amount of each connection point after the assembly work via the data acquisition unit 41, transmits the instruction information to the worker terminal 60, and displays it on the display unit 61. By doing so, the operator is instructed on the adjustment amount (step S92). The operator performs the adjustment work of the table P12 with the estimated value of the adjustment amount of each connection point displayed on the display unit 61.
After performing the adjustment work (step S13), the assembly work (step S14), and the measurement of the geometric error (step S15) shown in FIG. 6, the worker operates the input unit 62 of the worker terminal 60. , Enter the adjustment amount and measurement result after assembly.
The measurement result collection unit 46 collects the adjusted measurement result information (step S93). Further, the measurement result collecting unit 46 stores the collected information in the adjusted measurement result storage unit 24.

The machine tool for which the inclination of the table P12 has been adjusted as described above is not limited to the machine tool P, but is another type of machine tool having two or more translational axes orthogonal to each other and positioning the tool. There may be. It may also be another type of machine, device, instrument, device or the like that requires precise adjustment of surface tilt.
Further, the device for measuring the three-dimensional shape of the object to be measured is not limited to the coordinate measuring device M. For example, it may be an on-machine measurement unit attached to a machine tool. Further, the three-dimensional shape of the object to be measured may be calculated from the information obtained by the operator operating the dial gauge.

(Second Embodiment)
In the adjustment amount estimation device 100 according to the first embodiment, as a result of making adjustments using the estimated adjustment amount, thermal deformation of each part, elastic deformation due to its own weight, etc., and parts not measured three-dimensionally Even if an error occurs due to the influence of a geometric error or the like, the process ends when the adjustment is completed. Then, the adjusted measurement result is stored in the adjusted measurement result storage unit 24, and can be used at the time of acquiring the correction term at the time of the next and subsequent adjustments.
On the other hand, the adjustment amount estimation device 700 according to the second embodiment acquires the adjusted geometric error by the time the processing is completed, and analyzes this by machine learning as described later. Calculate the correction term and use it for the next and subsequent adjustments. When the adjustment is performed using only the adjustment amount estimation device 100 according to the first embodiment, it is not possible to calculate the error of the part that has not been measured in three dimensions and the surface that cannot be measured in three dimensions. When the influence of various parts and surfaces is large, for example, a change in the processing method of an outsourced part, a change in a component part, or the like may cause a large difference between the estimated adjustment amount and the actual adjustment amount. Even if this difference is constant after the next adjustment, it is necessary to consider the possibility that the difference that has occurred is a mistake in three-dimensional measurement or thermal deformation, so the correction amount is determined if a certain number of times is not continued. Can not do it. By calculating the correction term using machine learning with the adjustment amount estimation device 700, the difference between the estimated adjustment amount and the actual adjustment amount at the time of the next adjustment can be reduced, and the heat of each component can be reduced. The amount of adjustment can be estimated more quickly in response to errors caused by deformation, elastic deformation due to its own weight, geometrical errors of parts that have not been measured three-dimensionally, and the like.
Hereinafter, only the portion different from the adjustment amount estimation device 100 will be described.

FIG. 13 is a block diagram showing the configuration of the adjustment amount estimation device 700.
The adjustment amount estimation device 700 includes a machine learning unit 50 including a neural network that outputs an adjustment amount.

As shown in FIG. 14, the adjustment amount estimation device 700 measures the geometric error after the adjustment work (step S13) and the assembly work (step S14) even after the worker's work is completed (step S15). ) Is collected (step S124), and the geometric error correction term is calculated based on this data (step S125).

FIG. 15 is a flowchart showing the details of the calculation of the geometric error correction term (step S125) using the adjustment amount estimation device 700.

The data acquisition unit 41 receives the three-dimensional measurement result A of the component from the three-dimensional measurement result storage unit 22, the adjustment amount storage unit 23, and the adjusted measurement result storage unit 24, and the adjustment amount estimation device 700 from the three-dimensional measurement result A. Each information of the geometric error B predicted and calculated in the above, the estimated adjustment amount C, the measurement result D of the geometric error after the actual assembly work is performed, and the adjustment amount E is acquired (step S1301). Since the geometric error B is calculated based on the three-dimensional measurement result A, it is not specified in FIG. Further, since the adjustment amount E may be calculated from the measurement result D of the geometric error, it is not specified in FIG. 15, but the measurement result collection unit 46 adjusts the adjustment amount E together with the measurement result D of the geometric error. The measurement result D and the adjustment amount E may be obtained from the post-adjustment measurement result storage unit 24 by accumulating the measurement result storage unit 24.
Step S1301 is an example of the adjusted measurement result acquisition step in the claim.
The machine learning unit 50 uses the three-dimensional measurement result A, the geometric error B predicted and calculated, and the estimated adjustment amount C as input information for machine learning, and the measurement result of the geometric error after the actual assembly work is performed. Supervised learning is performed with D and the adjustment amount E after actually performing the assembly work as outputs (step S1302). Since the geometric error B and the adjustment amount C are calculated from the three-dimensional measurement result A as described above, the machine learning unit 50 may use only the three-dimensional measurement result A as input information for machine learning. Further, as will be described later, the value acquired by the machine learning unit 50 may be only the adjustment amount E, and there is no problem even if the measurement result D of the geometric error cannot be acquired. Therefore, the machine learning unit 50 uses only the adjustment amount E. Supervised learning may be performed as output information of machine learning.

The machine learning unit 50 receives each information via the data acquisition unit 41, and estimates the three-dimensional measurement result A', the predicted geometric error B', which is the result of the adjustment executed in advance. The information of the adjustment amount C', the measurement result D'of the geometrical error after the actual assembly work, and the adjustment amount E'after the actual assembly work are summarized for each product and stored in the data storage unit. I remember it in 20.

The adjustment amount calculation unit 44 of the adjustment amount estimation device 700 inputs the three-dimensional measurement result A to the machine learning unit 50, and instructs the adjustment amount based on the information of the adjustment amount E acquired from the machine learning unit 50. ..
Acquisition of the adjustment amount E using the machine learning unit 50 after learning is an example of the estimation step in the claim.

According to the adjustment amount estimation device 700, the error actually generated can be fed back and the estimation result can be corrected. Therefore, the accuracy of the adjustment amount estimation can be improved by repeatedly using the adjustment amount estimation device 700. it can.

(Third Embodiment)
The adjustment

amount estimation devices

100 and 700 are adjustment amount estimation devices for machine tools, but the subject of the present disclosure is not limited to machine tools.
The configuration of the adjustment amount estimation device according to the third embodiment is the same as the adjustment amount estimation device 100 shown in FIG. 1 or the adjustment amount estimation device 700 shown in FIG. 13, but the geometric error is small. It is a device for a measuring device having a surface that is required to be used.
The process executed by the adjustment amount estimation device according to the present embodiment is the same as the process executed by the adjustment amount estimation device 100 or the adjustment amount estimation device 700, but as illustrated in the broken line on the left side of FIG. The difference is that the work performed by the operator is not the processing work but the assembly of the measuring device. Further, it is assumed that this measuring device is assembled only once, and another measuring device is not assembled later. Therefore, as shown in FIG. 21, the measurement result in step S15 is not collected by the adjustment amount estimation device.

The method described in the above embodiment can be applied to various devices by writing to a storage medium such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory as a program that can be executed by a computer. is there. A computer that realizes the present disclosure reads a program stored in a storage medium, and the operation is controlled by the program to execute the above-described processing. It is also possible to apply the method described in the above embodiment by storing the program in a storage on the Internet and downloading the program.

It should be noted that the present disclosure allows various embodiments and modifications without departing from the broad spirit and scope of the present disclosure. Moreover, the above-described embodiment is for explaining this disclosure, and does not limit the scope of the present disclosure. That is, the scope of the present disclosure is indicated not by the embodiment but by the claims. And various modifications made within the scope of the claims and within the equivalent meaning of disclosure are considered to be within the scope of this disclosure.

This application is based on Japanese Patent Application No. 2019-109883 filed on June 12, 2019. The specification, claims, and the entire drawing of Japanese Patent Application No. 2019-109883 shall be incorporated into this specification as a reference.

10 ... Information calculation device, 20 ... Data storage unit, 21 ... Measurement position master storage unit, 22 ... Three-dimensional measurement result storage unit, 23 ... Adjustment amount storage unit, 24 ... Adjusted measurement result storage unit, 25 ... Correction term storage Unit, 30 ... Data acquisition unit, 40 ... Calculation unit, 41 ... Data acquisition unit, 42 ... Data conversion unit, 43 ... Geometric error calculation unit, 44 ... Adjustment amount calculation unit, 45 ... Adjustment amount indication unit, 46 ... Measurement result collection unit, 50 ... Machine learning unit, 60 ... Worker terminal, 61 ... Display unit, 62 ... Input unit, 70 ... Communication unit, 100 ... Adjustment amount estimation device, 101 ... Processor, 102 ... Communication unit, 103 ... Main memory, 104 ... Auxiliary storage, 105 ... Internal bus, 700 ... Adjustment amount estimation device, C ... Support material, M ... Three-dimensional measuring instrument, P ... Machine, P11 ... Bed, P12 ... Table, P13 ... Column , P14 ... base, P15 ... head, P21 to P28 ... connection points, R, R1, R2 ... spacers, Sx, Sy, Sz ... guide surfaces.

Claims

A coordinate measuring unit that measures the coordinates of points on a surface included in machine components,
A geometric error calculation unit that calculates a geometric error that is an error from a reference value of the geometric characteristics of the shape, orientation, or position of the surface based on the coordinates measured by the coordinate measurement unit is provided.
Before assembling the machine, the geometric error calculation unit determines the displacement of the component from the reference position of the surface of the component after assembling the machine, based on the geometric error before assembling the component. Predictive calculation,
The geometric error calculation unit calculates the adjustment amount of the adjustment member included in the machine that changes the geometric characteristic of the surface from the predicted and calculated displacement.
Adjustment amount estimation device.
A coordinate storage unit that stores the coordinates measured by the coordinate measurement unit, and
A coordinate acquisition unit that acquires the coordinates stored in the coordinate storage unit, and
A measurement position master storage unit that stores measurement position information including design coordinates of the machine, identification information of the component, and measurement point identification information including information on coordinates, dimensions, or accuracy of the measurement point. ,
A coordinate data conversion unit that associates coordinates acquired from the coordinate acquisition unit with the measurement position information with reference to the measurement position master storage unit is provided.
The adjustment amount estimation device according to claim 1.
An adjustment amount output unit for outputting the calculated adjustment amount is provided.
The adjustment amount estimation device according to claim 1 or 2.
A pre-adjustment measurement result acquisition unit that acquires the coordinates of the component before adjustment of the machine,
An adjusted measurement result acquisition unit that acquires the coordinates of the component after adjustment of the machine,
It includes a machine learning unit that inputs the coordinates of the component before the adjustment, the coordinates of the component after the adjustment, and the adjustment amount, and learns by using the predicted value of the adjustment amount as an output.
The adjustment amount estimation device according to any one of claims 1 to 3.
A coordinate measurement step that measures the coordinates of a point on a surface contained in a machine component,
A geometric error calculation step that calculates a geometric error that is an error from a reference value of the geometric characteristics of the surface based on the coordinates measured in the coordinate measurement step, and
Before assembling the machine, a displacement calculation step of predicting and calculating the displacement of the component from the reference position of the surface of the component after the assembly of the machine based on the geometric error calculated in the geometric error calculation step. When,
The adjustment amount calculation step of calculating the adjustment amount of the adjustment member provided in the machine and changing the geometric characteristic of the surface from the displacement predicted and calculated in the displacement calculation step is included.
Adjustment amount estimation method.
The coordinate acquisition step for acquiring the coordinates and
The coordinates acquired in the coordinate acquisition step are information including the design coordinates of the machine, the identification information of the component, and the identification information of the measurement point including the coordinates, dimensions or accuracy of the measurement point. Including the coordinate data conversion step associated with the measurement position information,
The adjustment amount estimation method according to claim 5.
Includes an adjustment amount output step that outputs the calculated adjustment amount.
The adjustment amount estimation method according to claim 5 or 6.
The pre-adjustment measurement result acquisition step for acquiring the coordinates of the component before the adjustment of the machine, and
The post-adjustment measurement result acquisition step for acquiring the coordinates of the component after the adjustment of the machine, and
Before the adjustment of the machine, the machine learning unit which input the coordinates of the component before the adjustment, the coordinates of the component after the adjustment and the adjustment amount, and learns by using the predicted value of the adjustment amount as an output. Including an estimation step of inputting the coordinates of the component.
The adjustment amount estimation method according to any one of claims 5 to 7.
An adjustment amount estimation program that causes a computer to execute the step of the method according to any one of claims 5 to 8.