WO2022249870A1 - Dispositif de traitement d'informations et machine-outil - Google Patents

Dispositif de traitement d'informations et machine-outil Download PDF

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Publication number
WO2022249870A1
WO2022249870A1 PCT/JP2022/019667 JP2022019667W WO2022249870A1 WO 2022249870 A1 WO2022249870 A1 WO 2022249870A1 JP 2022019667 W JP2022019667 W JP 2022019667W WO 2022249870 A1 WO2022249870 A1 WO 2022249870A1
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Prior art keywords
value
time
measurement
information processing
coordinate
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PCT/JP2022/019667
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English (en)
Japanese (ja)
Inventor
智明 山田
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Dmg森精機株式会社
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Publication of WO2022249870A1 publication Critical patent/WO2022249870A1/fr

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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
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4063—Monitoring general control system

Definitions

  • the present invention relates to measurement technology for machine tools and the like.
  • Machine tools include devices that cut workpieces into desired shapes and devices that create workpieces by laminating metal powder.
  • Machine tools for cutting include a turning center that processes the workpiece by applying a cutting tool to the rotating workpiece, and a machining center that processes the workpiece by applying a rotating tool to the workpiece. These functions are combined. There are multi-tasking machines equipped with
  • the tool is fixed to the tool holder such as the spindle or tool post.
  • a machine tool processes a workpiece while exchanging tools and moving a tool holder according to a machining program prepared in advance (see Patent Documents 1 and 2).
  • a measuring device (measuring head) can be attached to the spindle instead of a tool.
  • the measuring device is equipped with a probe, and measures the distance to a work as a measuring object directly under the measuring device.
  • the machine tool measures each part of the work while changing the relative positions of the measuring device and the work, and reproduces the three-dimensional shape of the work based on a set of measured values for each part of the work (see Patent Documents 3 and 4).
  • JP-A-10-143216 Japanese Unexamined Patent Application Publication No. 2017-21472 Japanese Patent No. 5283563 International Publication No. 2005/065884
  • the relative positional relationship between the measuring device and the workpiece changes at high speed.
  • To reproduce the three-dimensional shape of a workpiece it is necessary to accurately associate the position information, which is the coordinate values of each point on the workpiece, with the measured values.
  • position time the time when the workpiece position information is obtained
  • measurement time the time when the measured value is obtained
  • the measured value V(t1) at the measurement time t1 and the position information P(t1+ ⁇ t) at the position time t1+ ⁇ t slightly later than the measurement time t1 are combined, the measured value V(t1) is the original measurement point. will be regarded as measurements at different points.
  • An information processing apparatus includes a first receiving unit that receives a measured value indicating a distance to an object to be measured and a first time value indicating acquisition timing of the measured value from a measuring device of a machine; a second receiving unit for receiving a coordinate value indicating the position of the measuring device and a second time value indicating acquisition timing of the coordinate value from the numerical control unit; and a measured value based on a difference between the first time value and the second time value. and an adjusting unit that specifies the measured value and the coordinate value at the same time by correcting both or one of the coordinate values.
  • a machine tool in one aspect of the present invention is connected to a pulse generator.
  • This machine tool includes a measuring device, a tool holding section for holding the tool or the measuring device, and a machining control section for machining a workpiece.
  • the pulse generator periodically transmits a pulse signal to the machining controller.
  • the measuring device transmits a measurement value indicating the distance from the measuring device to the workpiece and a timing signal indicating measurement timing.
  • the machining control unit transmits a coordinate value indicating the position of the tool holding unit and a count signal indicating the number of pulse signals received until the coordinate value is obtained.
  • the present invention it becomes easier to improve the measurement accuracy of the measurement object in a machine tool or the like.
  • FIG. 1 is an external view of a machine tool
  • FIG. FIG. 2 is a conceptual diagram for explaining a method of acquiring measurement values and position information in this embodiment
  • It is a figure which shows the more concrete structure about a pulse generator, a measuring device, an information processing apparatus, and a process control part.
  • It is a figure which shows an example of a structure of a pulse generator, a measuring device, an information processing device, and a process control part.
  • 4 is a timing chart when position information P is transmitted from a processing control unit; 4 is a time chart showing the relationship between a measurement timing signal MS and a position acquisition signal GP;
  • 1 is a hardware configuration diagram of a machine tool, a pulse generator, and an information processing device;
  • FIG. 3 is a functional block diagram of an information processing device;
  • FIG. 4 is a timing chart showing transmission timings of measured values and position information;
  • 4 is a data structure diagram of position information history in the first embodiment.
  • FIG. 4 is a data structure diagram of measurement history in the first embodiment.
  • FIG. 4 is a schematic diagram for explaining a method of adjusting measured values and position information in the first embodiment;
  • FIG. 11 is a data structure diagram of position information history in the second embodiment.
  • FIG. 11 is a schematic diagram for explaining a method of adjusting measured values and position information in the second embodiment;
  • first embodiment and the second embodiment based on the periodicity of the timing of acquiring the position information.
  • first embodiment and the second embodiment are collectively referred to or when they are not distinguished from each other, they are referred to as "the present embodiment".
  • FIG. 1 is an external view of a machine tool 100.
  • the machine tool 100 in this embodiment is a vertical machining center.
  • a machine tool 100 has a bed 102 and a column 104 installed on the bed 102 .
  • a spindle head 106 is attached to the column 104 .
  • the spindle head 106 is movable in the Z-axis direction (vertical direction).
  • a spindle 108 is attached to the spindle head 106 .
  • a spindle 108 is attached to the spindle head 106 so as to be rotatable about the Z axis.
  • a tool (not shown) is attached to the tip of the spindle 108 .
  • a measuring device 112 (measuring head) can also be attached to the spindle 108 .
  • the bed 102 is equipped with a saddle 110 movable in the Y direction.
  • a table 114 movable in the X direction is installed on the saddle 110 .
  • a workpiece W to be processed and measured is placed on the table 114 .
  • the machine tool 100 moves the saddle 110 and the table 114 in the XY directions using a machining control unit (described later), thereby changing the relative position between the workpiece W and the measuring device 112, in other words, the measurement point of the workpiece W.
  • the machining control unit changes the distance between the workpiece W and the spindle 108 by vertically moving the spindle head 106 .
  • the measuring device 112 periodically measures the distance from the measuring device 112 to the workpiece W, and transmits a measured value V indicating the distance to the information processing device (described later).
  • the information processing device periodically accesses the machining control unit of the machine tool 100 and acquires the position information P that the machining control unit commands the saddle 110 and the like.
  • the position information P here is a set of X coordinate values, Y coordinate values and Z coordinate values.
  • the information processing device recognizes the measurement point of the workpiece W based on the X coordinate value and the Y coordinate value. Also, the information processing device recognizes the height of the work W from the Z coordinate value and the measured value V.
  • the measuring device 112 performs distance measurement every 6 milliseconds and continuously transmits the obtained measurement value V to the measuring device. Further, the information processing device accesses the machine tool 100 every 4 milliseconds and acquires the set position information P.
  • FIG. 2 is a conceptual diagram for explaining a method of acquiring measurement values and position information in this embodiment.
  • the pulse generator 116 is a timing generator that periodically generates pulse signals.
  • the pulse generator 116 in this embodiment simultaneously transmits a pulse signal to the measuring device 112 and the machining controller 118 every microsecond.
  • the machining control unit 118 is a numerical control device that controls the saddle 110 , the table 114 , the spindle head 106 and the like in the machine tool 100 .
  • a pulse signal transmitted from the pulse generator 116 is received by the measuring device 112 and the machining control unit 118 . Since the pulse signals are transmitted via a dedicated line, the measuring device 112 and the processing control unit 118 transmit the pulse signals at substantially the same timing while ensuring simultaneity that can be regarded as the same at least in units of microseconds. receive.
  • the measuring device 112 has a counter value CM as a first time value.
  • the counter value CM becomes information indicating the measurement time (described later).
  • the measuring device 112 counts up the counter value CM each time it receives a pulse signal.
  • the counter value CM indicates the number of times the measuring device 112 has received the pulse signal.
  • the machining control unit 118 has a counter value CN as a second time value.
  • the counter value CN becomes information indicating position time (described later).
  • the machining control unit 118 counts up the counter value CN each time it receives a pulse signal.
  • the counter value CN indicates the number of times the machining control unit 118 has received the pulse signal.
  • the measuring device 112 and the machining control unit 118 independently count up the counter value CM and the counter value CN, respectively. It counts up at the same timing.
  • the measuring device 112 measures the distance to the work W every 6 milliseconds.
  • the measurement device 112 transmits the counter value CM at the time of measurement, that is, the counter value CM indicating the measurement time (hereinafter referred to as “measurement time value CM”) together with the measurement value V to the information processing device 120 .
  • the machining control unit 118 sets the Y coordinate of the saddle 110 , the X coordinate of the table 114 , and the Z coordinate of the spindle head 106 .
  • the information processing device 120 acquires the position information P set by the processing control unit 118 every 4 milliseconds.
  • the information processing device 120 determines that the counter value CN at the time of acquisition of the position information P, that is, the counter value CN indicating the position time (hereinafter referred to as "position time value CN”) is also the position coordinates P (XYZ coordinate values). ).
  • the information processing device 120 periodically acquires the measured value V and the measured time value CM.
  • the information processing device 120 also periodically acquires the position information P and the position time value CN.
  • the information processing device 120 calculates the position information P at the measurement time by adjusting the measurement value V and the position information P, which are obtained asynchronously, based on the measurement time value CM and the position time value CN. Such processing is called “time adjustment”). The details of the time adjustment will be described later with reference to FIG. 9 onwards.
  • FIG. 3 is a diagram showing more specific configurations of the pulse generator 116, the measuring device 112, the information processing device 120, and the machining control section 118.
  • the measuring device 112 periodically measures the distance to the work W as described above.
  • the measurement device 112 periodically asserts a "measurement timing signal MS". Distance measurement is performed when the measurement timing signal MS is asserted, and the measurement value V is transmitted to the information processing device 120 together with the measurement time value CM.
  • the measuring device 112 transmits the measured value V and the measured time value CM to the pulse generator 116 when the measurement timing signal MS is asserted, and the pulse generator 116 transmits the measured value V and the measured time value CM to the information processing device. 120. That is, the measurement device 112 may directly transmit the measured value V to the information processing device 120 or may transmit it to the information processing device 120 via the pulse generation device 116 .
  • the machining control unit 118 is connected to a first axis linear scale 180, a second axis linear scale 182 and a third axis linear scale 184.
  • the first axis linear scale 180 measures the X coordinate value.
  • a Y-coordinate value is measured by the second-axis linear scale 182 .
  • a Z-coordinate value is measured by the third-axis linear scale 184 .
  • the information processing device 120 acquires the position measurement value CN together with the position coordinates P (X coordinate value, Y coordinate value and Z coordinate value) by accessing the latch program executed in the processing control unit 118 .
  • FIG. 4 is a diagram showing an example of the configuration of the pulse generator 116, the measuring device 112, the information processing device 120, and the machining control section 118.
  • the first axis motor 186 is a motor that moves the table 114 in the X-axis direction.
  • the machining control unit 118 instructs the servo module 192 on the X-axis movement amount of the table 114 .
  • the servo module 192 rotates the first axis motor 186 according to the instructed amount of movement.
  • the amount of rotation of the first axis motor 186 is measured by the encoder of the first axis linear scale 180 .
  • the servo module 192 acquires a count value indicating the X-axis movement amount from the encoder of the first-axis linear scale 180 .
  • the machining control unit 118 acquires the X coordinate value of the table 114 based on the count value acquired from the servo module 192 .
  • the second axis motor 188 is a motor that moves the saddle 110 in the Y-axis direction.
  • the machining control unit 118 instructs the servo module 194 on the amount of Y-axis movement of the saddle 110 .
  • the servo module 194 rotates the second axis motor 188 according to the instructed amount of movement.
  • the amount of rotation of the second axis motor 188 is measured by the encoder of the second axis linear scale 182 .
  • the servo module 194 acquires a count value indicating the Y-axis movement amount from the encoder of the second-axis linear scale 182 .
  • the machining control unit 118 acquires the Y coordinate value of the saddle 110 based on the count value acquired from the servo module 194 .
  • the third axis motor 190 is a motor that moves the spindle head 106 in the Z-axis direction.
  • the machining control unit 118 instructs the servo module 196 about the Z-axis movement amount of the third-axis motor 190 .
  • the servo module 196 rotates the third axis motor 190 according to the instructed amount of movement.
  • the amount of rotation of the third axis motor 190 is measured by the encoder of the third axis linear scale 184 .
  • the servo module 196 acquires a count value indicating the Z-axis movement amount from the encoder of the third axis motor 190 .
  • the machining control unit 118 acquires the Z coordinate value of the spindle head 106 based on the count value acquired from the servo module 196 .
  • the processing control unit 118 acquires the position information P (X coordinate value, Y coordinate value and Z coordinate value) at the timing of receiving the "position acquisition signal GP" from the information processing device 120, and processes the position information P. Send to device 120 . Further, when acquiring the position information P, the processing control unit 118 transmits the position measurement value CN to the information processing device 120 from the dummy signal line. The information processing device 120 periodically transmits a position acquisition signal GP to the processing control unit 118 , and the processing control unit 118 acquires position information P and transmits it to the information processing device 120 . The position time value CN is transmitted to the information processing device 120 via the pulse generator 116 via the signal line.
  • the dummy axis linear scale counter 198 is an encoder of a linear scale that is not used when measuring the measured value V among the linear scales provided in the machine tool 100 .
  • a linear scale encoder on the redundant servo module may be used.
  • the linear scale signal line corresponding to the substage may be used as a dummy signal line.
  • the measurement device 112 transmits the measurement value V to the information processing device 120 together with the measurement time value CM.
  • the measuring device 112 may transmit the measured value V to the pulse generator 116 , and the pulse generator 116 may transmit the measured value V and the measurement time value CM to the information processing device 120 .
  • FIG. 5 is a timing chart when the position information P is transmitted from the processing control unit 118.
  • the measurement device 112 periodically asserts the measurement timing signal MS.
  • the measurement device 112 obtains the measurement V when the measurement timing signal MS is asserted.
  • the information processor 120 first sends a reset signal Z to the dummy axis linear scale 198 .
  • a reset signal Z is an initialization signal for resetting the count of the position time value CN in the machining control unit 118 .
  • a pulse signal A and a pulse signal B shifted by half a cycle are transmitted from the pulse generator 116 to the processing control unit 118 .
  • position time value CN of processing control unit 118 is counted up.
  • the processing control unit 118 transmits the position time value CN to the information processing device 120 as signal D in FIG.
  • FIG. 6 is a time chart showing the relationship between the measurement timing signal MS and the position acquisition signal GP.
  • the machining control unit 118 controls the first axis motor 186 and the like to move the table 114, saddle 110 and spindle head 106 in the specified direction by the specified distance.
  • the information processing device 120 periodically transmits a position acquisition signal GP. After the position acquisition signal GP is transmitted, the information processing device 120 receives the position information P from the processing control unit 118 together with the position time value CN.
  • metrology device 112 periodically asserts measurement timing signal MS. When the measurement timing signal MS is asserted, the measurement device 112 performs a distance measurement to obtain a measurement value V, and transmits the measurement value V to the information processing device 120 together with the measurement time value CM.
  • FIG. 7 is a hardware configuration diagram of machine tool 100 , pulse generator 116 , and information processor 120 .
  • the machine tool 100 includes an operation controller 122 , a machining controller 118 (numerical controller), a machining device 124 , a tool changer 126 and a tool storage 128 .
  • Machining device 124 corresponds to the mechanical configuration of machine tool 100 including bed 102, column 104, saddle 110, table 114, spindle head 106, and the like.
  • a machining control unit 118 functioning as a numerical controller transmits a control signal to the machining device 124 according to a machining program.
  • the machining device 124 moves the spindle head 106 , the saddle 110 , the table 114 and the spindle head 106 according to instructions from the machining control unit 118 to machine the workpiece.
  • the operation control device 122 includes an operation panel (not shown) that provides user interface functions to the operator.
  • the operator controls the processing control section 118 via the operation control device 122 .
  • the tool storage section 128 stores tools.
  • the tool changer 126 corresponds to a so-called ATC (Automatic Tool Changer).
  • the tool exchange unit 126 takes out a tool from the tool storage unit 128 according to an exchange instruction from the machining control unit 118, and exchanges the tool on the spindle 108 with the taken out tool.
  • the tool changer 126 can attach/detach the measuring device 112 to/from the spindle 108 instead of the tool.
  • the pulse generator 116 is connected to both the machining control unit 118 and the measuring device 112, and transmits pulse signals at regular intervals. As described above, the pulse generator 116 in this embodiment transmits pulse signals at a high frequency of 1 microsecond.
  • Information processing device 120 periodically receives measurement value V and measurement time value CM from measurement device 112 .
  • the information processing device 120 also periodically receives the position coordinate P and the position time value CN from the processing control unit 118 .
  • the information processing device 120 may be configured as part of the operation control device 122 .
  • the information processing device 120 may be a general laptop PC (Personal Computer) or a tablet computer.
  • Machine tool 100 may incorporate both or one of pulse generator 116 and information processor 120 .
  • FIG. 8 is a functional block diagram of the information processing device 120.
  • Each component of the information processing device 120 includes computing units such as a CPU (Central Processing Unit) and various computer processors, storage devices such as memory and storage, hardware including wired or wireless communication lines connecting them, and storage devices. , and implemented by software that supplies processing instructions to the computing unit.
  • a computer program may consist of a device driver, an operating system, various application programs located in their higher layers, and a library that provides common functions to these programs.
  • Each block described below represents a functional block rather than a hardware configuration.
  • operation control device 122 and the processing control unit 118 also include hardware including computing units such as processors, storage devices such as memories and storages, and wired or wireless communication lines connecting them, and hardware stored in the storage devices to the computing units.
  • software or programs that supply processing instructions may be implemented on an operating system separate from the information processing apparatus 120 .
  • Information processing device 120 includes user interface processing unit 130 , data processing unit 132 , communication unit 134 and data storage unit 136 .
  • the user interface processing unit 130 is in charge of user interface processing such as image display and audio output, in addition to receiving operations from the operator.
  • the communication unit 134 is in charge of communication with external devices such as the processing control unit 118 and the processing device 124 .
  • the data processing unit 132 executes various processes based on data acquired by the communication unit 134 and the user interface processing unit 130 and data stored in the data storage unit 136 .
  • Data processing unit 132 also functions as an interface for user interface processing unit 130 , communication unit 134 and data storage unit 136 .
  • the data storage unit 136 stores various programs and setting data.
  • User interface processing section 130 includes an input section 138 and an output section 140 .
  • the input unit 138 receives input from the user via hard devices such as a touch panel, mouse, and keyboard.
  • the output unit 140 provides various information to the user through image display or audio output.
  • Communication unit 134 includes a receiving unit 144 that receives data from an external device and a transmitting unit 142 that transmits data to the external device.
  • Receiver 144 includes first receiver 146 and second receiver 148 .
  • the first receiver 146 periodically receives the measured value V together with the measured time value CM from the measuring device 112 .
  • the second receiving unit 148 periodically receives the position information P together with the position time value CN from the processing control unit 118 .
  • the transmission unit 142 periodically transmits the position acquisition signal GP to the processing control unit 118, and the second reception unit 148 receives the position information P returned from the processing control unit 118 in response to the position acquisition signal GP. and the position time value CN.
  • the data processing unit 132 includes an adjusting unit 150 and a shape reproducing unit 152.
  • the adjustment unit 150 calculates position information P at the measurement time based on the measurement time value CM and the position time value CN.
  • the shape reproducing unit 152 generates three-dimensional data of the work W by reproducing the surface shape of the work W by a known method based on the position coordinate P and the measured value V after time adjustment.
  • FIG. 9 is a timing chart showing transmission timings of measured values and position information.
  • the pulse generator 116 transmits pulse signals to the machining controller 118 and the measuring device 112 .
  • First receiving section 146 of information processing device 120 receives measurement value V(M1) and measurement time value CM (hereinafter referred to as “measurement time value CM(M1)”).
  • the measuring device 112 measures the distance to the work W again.
  • the data number at the time of measurement at this time is assumed to be M2.
  • the measurement time value CM(M2) is "6200".
  • the measuring device 112 measures the distance to the workpiece W every 6 milliseconds, but the timing of measurement may fluctuate by several microseconds due to fluctuations in the processing load of the measuring device 112 or the like.
  • the measurement device 112 transmits the measurement value V(M2) and the measurement time value CM(M2) to the information processing device 120 .
  • the information processing device 120 periodically accesses the processing control unit 118 and acquires the position coordinates P from the processing control unit 118 .
  • the measurement time value CN 223, that is, the position coordinate P(N1) when the processing control unit 118 receives the 223rd pulse signal is 148 receives with the position time value CN(N1).
  • FIG. 10 is a data structure diagram of the location information history 160 in the first embodiment.
  • the position information history 160 is stored in the data storage unit 136 of the information processing device 120 .
  • the position information history 160 indicates the position information P and the position time value CN that the second receiving unit 148 periodically acquires from the processing control unit 118 .
  • the position information P includes an X coordinate value, a Y coordinate value and a Z coordinate value.
  • FIG. 11 is a data structure diagram of the measurement history 170 in the first embodiment.
  • the measurement history 170 is stored in the data storage section 136 of the information processing device 120 .
  • the measurement history 170 indicates the measurement value V and the measurement time value CM periodically received by the first receiving unit 146 from the measuring device 112 .
  • the measured value V indicates the distance from the tip position of the measuring device 112 to the surface of the workpiece W, as described above.
  • FIG. 12 is a schematic diagram for explaining a method of adjusting measured values and position information in the first embodiment.
  • the horizontal axis indicates time, and the vertical axis indicates the X coordinate value as a representative of the position information P.
  • FIG. 12 the measurement time and position time usually do not match.
  • the position coordinate P (assumed value) at the measurement time is calculated by a linear interpolation formula to time-adjust the position coordinate P.
  • FIG. In FIG. 12, a method of obtaining the position coordinates, particularly the X coordinate value and the Y coordinate value, when the measuring device 112 performs the measurement from the position time value will be described.
  • the coordinate values (XY coordinates) at the time of measurement by the measuring device 112 are calculated from the measurement time value and one or more position time values by a method described later.
  • the X coordinate value (assumed value) at the measurement time value CM(M1) is calculated.
  • the X coordinate value (assumed value) at the measurement time value CM(M2) is calculated.
  • the X coordinate value at the measurement time value CM(M2) can be obtained by linear interpolation based on X(N2) and X(N3) at the other position time values CN.
  • X(N2) and X(N3) of the position time value CN(N2) and the position time value CN(N3) before and after the measurement time value CM(M2) are obtained.
  • X(N2) and X(N3) are connected by a straight line. This straight line is a linear function type interpolation formula that obtains the X-coordinate value with the time as a variable.
  • interpolation formula (N2, N3) the interpolation formula obtained from the X coordinate values X(N2) and X(N3) of the position time values CN(N2) and CN(N3) will be referred to as "interpolation formula (N2, N3)".
  • the measurement time value CM(M2) for the variable t in the interpolation formula (N2, N3)
  • the X coordinate value at the measurement time value CM(M2) can be obtained.
  • the coordinate value at the measured time value can be calculated based on the measured time value and at least two position time values before and after the measured time value.
  • the Y-coordinate value and Z-coordinate value can also be calculated in a similar manner.
  • the position coordinate P at the measurement time value CM when the measurement value V was obtained can be reasonably obtained from neighboring data, so that the measurement time and the position time are not asynchronous.
  • the position coordinate P (measurement point) of the workpiece W and the measured value V can be matched.
  • the assumed value of the X coordinate value at time values CN and CM (200) can be obtained by linear interpolation based on the X coordinate values at other position time values CN or measurement time values CM.
  • the X coordinate value at an arbitrary time value eg, 200
  • the information processing apparatus 120 of the first embodiment acquires the position information P from the processing control unit 118 approximately every 4 milliseconds.
  • the timing at which the information processing device 120 acquires the position coordinates P from the processing control unit 118 may become unstable.
  • a part of the function of the communication unit 134 is configured as software that transmits a position acquisition request every 4 milliseconds, overhead is generated due to the periodical wait release (activation) of the software.
  • the time from when the position acquisition request reaches the processing control unit 118 via a wired cable such as Ethernet (registered trademark) until the processing control unit 118 completes reading the position information P from the built-in memory is measured in microseconds. When you look at it, it creates variations.
  • time adjustment when the position time value CN is not as periodic as in the first embodiment will be described.
  • FIG. 13 is a data structure diagram of the location information history 160 in the second embodiment.
  • the measurement history 170 is assumed to be the same as in the first embodiment.
  • FIG. 14 is a schematic diagram for explaining a method of adjusting measured values and position information in the second embodiment. Even if the acquisition timing of the position information P has almost no periodicity, the method of adjusting the time of the position information P is the same.
  • the pulse generator 116 transmits pulse signals to the machining controller 118 and the measuring device 112 synchronously and at regular intervals.
  • the measuring device 112 acquires the measured value V at its own pace and transmits it to the information processing device 120 together with the measured time value CM.
  • the measurement time value CM becomes a so-called time stamp, and the information processing device 120 can accurately recognize the timing when the measurement value V is actually obtained.
  • the information processing device 120 also receives the position information P together with the position time value CN from the processing control unit 118 at its own pace.
  • the position time value CN becomes a time stamp, and the information processing device 120 can accurately recognize the timing when the position information P is actually set.
  • the information processing device 120 can interpolate the position information P (coordinate values) at the measurement time based on the measurement time value CM and the position time value CN. can be aligned.
  • the position coordinates of the measuring device 112 at the time of measurement can be obtained with high accuracy even for a work having a complicated structure and shape.
  • the machine tool 100 in this embodiment has been described as a machining center.
  • the machine tool 100 is applicable not only to a machining center, but also to a turning center or a multitasking machine.
  • the assumed value of the position information P at the measurement time is obtained by a linear interpolation formula based on the position information P at the position time closest to the measurement time and at the position time closest to the measurement time.
  • a correction method for time adjustment methods other than the linear interpolation method are also conceivable.
  • the adjustment unit 150 may calculate a linear regression equation from a plurality of pieces of position information by the method of least squares, and calculate the position information P at the measurement time based on this linear regression equation.
  • the adjustment unit 150 may calculate the measured value V at the position time instead of calculating the position information P at the measurement time. For example, in the case of FIG. 12, based on the measured value V(M1) and the measured value V(M2), the intermediate measured value V(N1) may be calculated by a linear interpolation formula.
  • P(N2) be the X coordinate value at position time value CN(N2)
  • V(N2) be the measured value
  • P(M2) be the X coordinate value at measurement time value CM(M2)
  • V(M2) be the measured value.
  • the measured value V(N2) and the X coordinate value P(M2) are estimates calculated by the algorithm described above.
  • the measured value V(5000) can be calculated based on the measured value V(N2) and the measured value V(M2).
  • the time change rate d6 of the measured value V is calculated based on the difference between the position time value CN(N2) and the measurement time value CM(M2), that is, ⁇ CM(M2)-CN(N2) ⁇
  • V(5000) is calculated based on the difference between the position time value CN(N2) and the measurement time value CM(M2), that is, ⁇ CM(M2)-CN(N2) ⁇ .
  • the information processing device 120 acquires the three types of position information P (X, Y, Z) as well as the position time value CN from the processing control unit 118 .
  • the position time value CN may be received from an unused signal line among the plurality of signal lines of processing control unit 118 .
  • the rotation angle of spindle 108 may not be necessary when metrology device 112 is used. Therefore, when measuring the workpiece W by the measuring device 112, if the transmission and reception of the rotation angle is unnecessary, the information processing device 120 transmits the position time A value CN may be obtained. Acquiring the position time value CN via an existing and unused signal line makes it easier to apply the present invention to the existing machine tool 100 as well.
  • the information processing device 120 periodically accesses the processing control unit 118 and acquires the position information P that the processing control unit 118 designates to the processing device 124 by, so to speak, a polling method.
  • the processing control unit 118 may periodically transmit the position information P to the information processing device 120 in the same manner as the measuring device 112 .
  • the information processing device 120 may periodically access the measuring device 112 and acquire the measured value V detected by the measuring device 112 by polling.
  • the measurement method by the pulse generator 116 and the information processing device 120 can be applied to other than machine tools.
  • the measuring device 112 may be mounted on the robot, and the information processing device 120 may recognize the shape of the obstacle by acquiring both the positional information of the robot and the measured value indicating the distance from the robot to the obstacle. .
  • the object formed by the work W is arbitrary.
  • each part of the workpiece W is measured by the measuring device 112, and the shape reproducing section 152 reproduces a three-dimensional image of the teeth of the gear using computer graphics. Precise time adjustment is especially important when forming complex shaped objects such as gears.
  • pulse signals are transmitted from the pulse generator 116 to both the measuring device 112 and the machining control unit 118 .
  • the measurement time value CM (count value) stored inside the measuring device 112 is incremented.
  • the position time value CN (count value) stored inside the processing control unit 118 is counted up every time the processing control unit 118 receives a pulse signal.
  • the pulse generator 116 may transmit the pulse signal only to the processing control section 118.
  • the measuring device 112 periodically and self-exciting asserts the measurement timing signal MS as in the present embodiment.
  • the measuring device 112 performs measurement when the measurement timing signal MS is asserted, and transmits the measured value V to the information processing device 120 .
  • the measurement device 112 also transmits the measurement timing signal MS to the pulse generator 116 when asserted.
  • the pulse generator 116 instead of the measuring device 112 manages the measurement time value CM (count value).
  • a counter incorporated in the pulse generator 116 counts up the measurement time value CM each time a pulse signal is transmitted, and when the measurement timing signal MS is received from the measurement device 112, the measurement time value CM at that time is sent to the information processing device. 120. Since the measurement timing signal MS is asserted every 6 milliseconds, the pulse generator 116 will transmit the measurement time value CM to the information processing device 120 approximately every 6 milliseconds.
  • the adjustment unit 150 of the information processing device 120 receives the measured value V from the measuring device 112 and receives the measured time value CM from the pulse generator 116 .
  • the information processing device 120 also receives the position information P and the position time value CN from the processing control unit 118 . After that, the adjustment unit 150 may adjust the time based on the measurement time value CM and the position time value CN in the same manner as in the present embodiment.
  • the shape reproduction unit 152 of the information processing device 120 may further include a "point cloud data generation unit".
  • the point cloud data generator generates point cloud data based on the measured value V at the measurement time and the position coordinates of the measuring device 112 .
  • the point cloud data generation unit calculates the three-dimensional coordinates of the measurement point of the workpiece W based on the measured value V indicating the height of the workpiece W at the measurement time t1 and the XY coordinate values of the measuring device 112 at that time.
  • a value (XYZ) is obtained and expressed as a dot (bright point) in three-dimensional space.
  • Point cloud data of the workpiece W is generated from a set of dots obtained from a large number of measurement points.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Machine Tool Sensing Apparatuses (AREA)

Abstract

L'invention concerne un dispositif de traitement d'informations qui comprend : une première unité de réception qui reçoit, d'un dispositif de mesure, une valeur de mesure indiquant la distance par rapport à un objet de mesure ; une seconde unité de réception qui reçoit, d'une unité de commande d'usinage, des valeurs de coordonnées indiquant la position du dispositif de mesure et une valeur de temps de position indiquant un temps d'acquisition des valeurs de coordonnées ; et une unité de réglage qui corrige, sur la base de la différence entre la valeur de temps de position et une valeur de temps de mesure indiquant un temps de la mesure, la valeur de mesure et/ou les valeurs de coordonnées pour identifier, de ce fait, une valeur de mesure et des valeurs de coordonnées au même temps d'horloge.
PCT/JP2022/019667 2021-05-24 2022-05-09 Dispositif de traitement d'informations et machine-outil WO2022249870A1 (fr)

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Citations (5)

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Publication number Priority date Publication date Assignee Title
JP2009279722A (ja) * 2008-05-23 2009-12-03 Fanuc Ltd 数値制御装置と機上計測装置を有する工作機械
JP2010194660A (ja) * 2009-02-24 2010-09-09 Mori Seiki Co Ltd 工作機械における工作物測定装置およびその方法
JP2011218498A (ja) * 2010-04-12 2011-11-04 Mori Seiki Co Ltd 工作機械における被加工物計測装置およびその方法
US20140157610A1 (en) * 2012-12-08 2014-06-12 Grale Technologies High Speed Metrology with Numerically Controlled Machines
JP2019219725A (ja) * 2018-06-15 2019-12-26 ファナック株式会社 同期装置、同期方法及び同期プログラム

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Publication number Priority date Publication date Assignee Title
JP2009279722A (ja) * 2008-05-23 2009-12-03 Fanuc Ltd 数値制御装置と機上計測装置を有する工作機械
JP2010194660A (ja) * 2009-02-24 2010-09-09 Mori Seiki Co Ltd 工作機械における工作物測定装置およびその方法
JP2011218498A (ja) * 2010-04-12 2011-11-04 Mori Seiki Co Ltd 工作機械における被加工物計測装置およびその方法
US20140157610A1 (en) * 2012-12-08 2014-06-12 Grale Technologies High Speed Metrology with Numerically Controlled Machines
JP2019219725A (ja) * 2018-06-15 2019-12-26 ファナック株式会社 同期装置、同期方法及び同期プログラム

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