Cutting device

Patent metadata

Field	Value
Publication number	US-10259087-B2
Application number	US-201715709545-A
Country	US
Kind code	B2
Filing date	Sep 20, 2017
Priority date	Sep 21, 2016
Publication date	Apr 16, 2019
Grant date	Apr 16, 2019

Abstract

A controller of a cutting device includes a first reference point detection processor detecting an actual position of a first reference point on a top surface of a first protrusion of a magazine, a second reference point detection processor detecting an actual position of a second reference point on a top surface of the second protrusion of the magazine, a sensor offset calculation processor calculating an offset of an actual position of a tool sensor of the magazine with respect to a designed position of the tool sensor based on the first reference point and the second reference point, a stocker offset calculation processor calculating an offset of an actual position of the stocker of the magazine with respect to a designed position of the stocker based on the first reference point and the second reference point, and a movement control processor controlling a movement mechanism based on the offset of the tool sensor and the offset of the stocker.

First claim

What is claimed is:

1. A cutting device, comprising:
a main body;
a cutting head including a grasper capable of grasping either a processing tool or a detection tool;
a magazine provided in the main body, the magazine including:
a magazine main body;
a stocker accommodating either the processing tool or the detection tool;
a tool sensor provided in the magazine main body, the tool sensor detecting either the processing tool or the detection tool that is grasped by the grasper; and
a first protrusion and a second protrusion provided on a top surface of the magazine main body;
a movement mechanism moving the grasper three-dimensionally with respect to the magazine; and
a controller controlling the movement mechanism; wherein the controller includes:
a first reference point detection processor controlling the movement mechanism such that the detection tool grasped by the grasper contacts the first protrusion, and detecting an actual position of a first reference point, which is a center point of a top surface of the first protrusion;
a second reference point detection processor controlling the movement mechanism such that the detection tool grasped by the grasper contacts the second protrusion, and detecting an actual position of a second reference point, which is a center point of a top surface of the second protrusion;
a sensor offset calculation processor calculating a sensor offset, which is a correction value on an actual position of the tool sensor with respect to a designed position of the tool sensor, based on the first reference point and the second reference point;
a stocker offset calculation processor calculating a stocker offset, which is a correction value on an actual position of the stocker with respect to a designed position of the stocker, based on the first reference point and the second reference point; and
a movement control processor controlling the movement mechanism based on the sensor offset and the stocker offset.

2. The cutting device according to claim 1 , wherein:
the first reference point is represented by a coordinate in an XYZ orthogonal coordinate system; and
the first reference point detection processor includes:
a first measurement point detection processor detecting a first measurement point, which is a point on an outer circumferential surface of the first protrusion;
a second measurement point detection processor detecting a second measurement point, which is a point on the outer circumferential surface of the first protrusion and has a Y coordinate same as a Y coordinate of the first measurement point and an X coordinate different from an X coordinate of the first measurement point;
a third measurement point detection processor detecting a third measurement point, which is a point on the outer circumferential surface of the first protrusion and has, as an X coordinate, an X coordinate of a median point between the X coordinate of the first measurement point and the X coordinate of the second measurement point;
a fourth measurement point detection processor detecting a fourth measurement point, which is a point on the outer circumferential surface of the first protrusion and has an X coordinate same as the X coordinate of the third measurement point and a Y coordinate different from a Y coordinate of the third measurement point;
a first reference point X calculation processor setting an X coordinate of a median point between the X coordinate of the first measurement point and the X coordinate of the second measurement point as the X coordinate of the first reference point;
a first reference point Y calculation processor setting a Y coordinate of a median point between the Y coordinate of the third measurement point and the Y coordinate of the fourth measurement point as the Y coordinate of the first reference point; and
a first reference point Z detection processor controlling the movement mechanism such that the detection tool grasped by the grasper contacts a position that is on the top surface of the first protrusion and has, as an X coordinate, the X coordinate of the first reference point and, as a Y coordinate, the Y coordinate of the first reference point, and detecting the Z coordinate of the first reference point.

3. The cutting device according to claim 1 , wherein:
the second reference point is represented by a coordinate in an XYZ orthogonal coordinate system; and
the second reference point detection processor includes:
a fifth measurement point detection processor detecting a fifth measurement point, which is a point on an outer circumferential surface of the second protrusion;
a sixth measurement point detection processor detecting a sixth measurement point, which is a point on the outer circumferential surface of the second protrusion and has a Y coordinate same as a Y coordinate of the fifth measurement point and an X coordinate different from an X coordinate of the fifth measurement point;
a seventh measurement point detection processor detecting a seventh measurement point, which is a point on the outer circumferential surface of the second protrusion and has, as an X coordinate, an X coordinate of a median point between the X coordinate of the fifth measurement point and the X coordinate of the sixth measurement point;
an eighth measurement point detection processor detecting an eighth measurement point, which is a point on the outer circumferential surface of the second protrusion and has an X coordinate same as the X coordinate of the seventh measurement point and a Y coordinate different from a Y coordinate of the seventh measurement point;
a second reference point X calculation processor setting an X coordinate of a median point between the X coordinate of the fifth measurement point and the X coordinate of the sixth measurement point as the X coordinate of the second reference point;
a second reference point Y calculation processor setting a Y coordinate of a median point between the Y coordinate of the seventh measurement point and the Y coordinate of the eighth measurement point as the Y coordinate of the second reference point; and
a second reference point Z detection processor controlling the movement mechanism such that the detection tool grasped by the grasper contacts a position that is on the top surface of the second protrusion and has, as an X coordinate, the X coordinate of the second reference point and, as a Y coordinate, the Y coordinate of the second reference point, and detecting the Z coordinate of the second reference point.

4. The cutting device according to claim 1 , wherein:
the first reference point and the second reference point are each represented by a coordinate in an XYZ orthogonal coordinate system;
the sensor offset includes a sensor X offset as a sensor offset in an X-axis direction, a sensor Y offset as a sensor offset in a Y-axis direction, and a sensor Z offset as a sensor offset in a Z-axis direction;
the controller includes a storage that stores a designed X coordinate and a designed Y coordinate of the first reference point and a designed Z coordinate of a top surface of the tool sensor; and
the sensor offset calculation processor includes:
a sensor X offset calculation processor calculating the sensor X offset by an expression represented by:
E 1 x=M _ P 1 x−DM _ P 1 x

where the sensor X offset is E 1 x , the X coordinate of the first reference point is M_P 1 x , and the designed X coordinate of the first reference point is DM_P 1 x;
a sensor Y offset calculation processor calculating the sensor Y offset by an expression represented by:
E 1 y=M _ P 1 y−DM _ P 1 y

where the sensor Y offset is E 1 y , the Y coordinate of the first reference point is M_P 1 y , and the designed Y coordinate of the first reference point is DM_P 1 y ; and
a sensor Z offset calculation

Assignees

• Roland Dg Corp

Inventors

• Ueda Jun
• Suyama Akihiro
• Sato Ryo

Classifications

• B23Q3/15506 Primary

  the tool being inserted in a tool holder directly from a storage device (without transfer device) · CPC title

• B23C1/002

  Gantry-type milling machines · CPC title

• B23Q11/0891

  arranged between the working area and the operator · CPC title

• B23Q17/2428

  for measuring existing positions of tools or workpieces · CPC title

• B23C1/06

  with one vertical working-spindle · CPC title