JP7650512B2 - Method and device for detecting inclination of insert, and device for grinding outer periphery of insert - Google Patents

Description

The present invention relates to a method for detecting the inclination of an insert, a device for detecting the inclination of an insert, and a device for grinding the outer periphery of an insert.

Conventionally, insert peripheral grinding devices grind the insert peripherally and, if necessary, perform land processing as an extension of peripheral grinding (see Patent Documents 1, 2, and 3). In addition, insert peripheral grinding devices obtain the amount of deviation of the center of the work material from the center of the B axis of the clamping part that clamps the work material on the peripheral side in order to grasp the position of the insert (work material).

A method for measuring the amount of deviation of the center of a workpiece material when the periphery of the workpiece material is an equilateral triangle will be described below.
20 and 21 show a state in which a workpiece W is clamped by the clamping portion which is the B axis, and are explanatory diagrams viewed from the B axis direction.

Figure 20 shows the state in which the workpiece material W is supported by the clamping section via a centering device (not shown). In this state, as shown in the figure, the workpiece material center Wo does not necessarily coincide with the center Bo of the B axis when clamped. Let us assume that the workpiece material center Wo is misaligned with the center Bo of the B axis when clamped. The rotation angle of the B axis at this time is set to 0°. In addition, the coordinates of the center Bo of the B axis are (X, Z), and the coordinates of the workpiece material center Wo are (0, 0). The workpiece material center Wo is the center of the material inscribed circle.

When measuring the amount of misalignment of the workpiece center, the clamping part, which is the B axis, is rotated at a rotation angle θ1 from the state shown in Figure 20, so that one of the outer peripheral side surfaces Wa of the workpiece material W is positioned along a virtual vertical plane, as shown in Figures 21 and 22 (a).

In this state, the displacement sensor contact P is brought into contact with the outer peripheral side surface Wa, and the displacement sensor acquires a measurement value M1 between the center Bo of the B axis and the outer peripheral side surface Wa. Here, the radius L of the material inscribed circle and the misalignment vector N from the center of the material inscribed circle to the center Bo of the B axis are defined.

At this time, the measurement value M1 becomes the X element when the radius L of the workpiece inscribed circle and the core deviation vector N are rotated by θ1, and can be expressed by the following equation.
M1 = L - (X element obtained by rotating N by θ1) ... (1)
Similarly, by rotating the clamping portion through a rotation angle θ2 (>θ1) from FIG. 21, the outer peripheral side surface Wb adjacent to the outer peripheral side surface Wa of the workpiece material W is positioned along a virtual vertical plane as shown in FIG. 22(b).

In this state, by bringing a contact P of the displacement sensor into contact with the outer peripheral side surface Wb, the displacement sensor acquires a measurement value M2 between the center Bo of the B axis and the outer peripheral side surface Wb.
At this time, the measurement value M2 becomes the X element when the radius L of the workpiece inscribed circle and the core deviation vector N are rotated by θ2, and can be expressed by the following equation.

M2 = L - (X element obtained by rotating N by θ2) ... (2)
Next, the clamping portion is rotated at a rotation angle θ3 (>θ2) from 21, so that the outer peripheral side surface Wc adjacent to the outer peripheral side surface Wb of the workpiece material W is positioned along a virtual vertical plane as shown in FIG. 22(c).

In this state, by bringing a contact P of the displacement sensor into contact with the outer circumferential side surface Wc, the displacement sensor acquires a measurement value M3 between the center Bo of the B axis and the outer circumferential side surface Wc.
At this time, the measurement value M3 becomes the X element when the radius L of the workpiece inscribed circle and the core deviation vector N are rotated by θ3, and can be expressed by the following equation.

M3 = L - (X element obtained by rotating N by θ3) ... (3)
In the simultaneous equations of the above formulas (1), (2), and (3), the unknowns are three variables, X, Z, and L. Therefore, by solving these simultaneous equations, the amount of misalignment X of the workpiece center in the X direction and the amount of misalignment Z of the workpiece center in the Z direction can be obtained.

The cutting wheel is located 180 degrees away from the contact of the displacement sensor. Therefore, after the amount of misalignment of the workpiece centers is determined, the amount of misalignment of the workpiece centers in the X direction is reversed 180 degrees, and the required cutting depth for machining is determined, and the cutting process is performed using the cutting wheel.

JP 2007-167960 A Japanese Patent Application Publication No. 4-223853 Japanese Unexamined Patent Publication No. 63-306863

As mentioned above, when the workpiece material has multiple outer peripheral side surfaces (hereafter referred to as "side surfaces") and is polygonal, the misalignment amount is measured by measuring only one point on each side surface. Therefore, although the amount of misalignment from the center of the B axis is obtained, it does not take into account the inclination of the workpiece material, which causes the following problems.

Currently, the machining allowance of a workpiece material is not constant depending on the shape and size of the workpiece material.
In Fig. 23(a), W1 is a workpiece material whose outer peripheral side surface Wa on the machining/grinding side is inclined with respect to the virtual vertical plane. W2 indicates the theoretical shape size of the workpiece material in the case where there is no inclination and the outer peripheral side surface Wa on the machining/grinding side is a virtual vertical plane. The machining allowance here is the area indicated by a. It can be seen that there is a margin for this machining allowance a. In this way, in a workpiece material with a large machining allowance, even if the workpiece material is inclined to a certain extent, there is a tolerance to the extent that machining can be performed vertically with respect to the design standard.

On the other hand, in the case of the workpiece material W3 with a small machining allowance a shown in FIG. 23(b), if there is an inclination with respect to the theoretical shape and size of the workpiece W4 based on the design criteria, there is no tolerance for machining. In other words, in such a case, the machining accuracy is affected, resulting in a defective product.

An object of the present invention is to provide an insert inclination detection method and an insert inclination detection device that can detect the inclination of an insert, which is a workpiece material.
Another object of the present invention is to provide an insert outer periphery grinding device that can suppress defective insert products caused by inclination of the workpiece material.

In order to solve the above problems, the inclination detection method of the insert of the present invention is a method for detecting the inclination of an insert by a clamping part that clamps an insert having a polygonal shape with multiple outer peripheral surfaces (hereinafter referred to as side surfaces) and two thickness side surfaces in the thickness direction, and an insert inclination detection device having a displacement sensor, and includes a first step of clamping the thickness side surface of the insert with the clamping part, a second step of acquiring the distance from the displacement sensor to the first measurement point and the second measurement point as a measurement value when two points separated in the extension direction of one of the multiple side surfaces are a first measurement point and a second measurement point on the side surface among the multiple side surfaces, at a pair of positions facing the side surface, using a displacement sensor that is oriented toward the first measurement point and the second measurement point, respectively, and a third step of detecting the inclination of the insert based on the measurement value at the first measurement point and the measurement value at the second measurement point (Claim 1).

According to the above method, it is possible to easily detect the inclination of the insert based on the measurement value at the first measurement point and the measurement value at the second measurement point. In addition, the inclination of the insert can be used as the B-axis correction amount when the machining allowance of the insert is small.

In the above method, the step of measuring the misalignment of the insert using the displacement sensor may be between the first step and the second step, or after the third step (Claim 2).

According to the above method, the inclination of the insert can be detected and the misalignment can be measured by a single displacement sensor, so that costs can be reduced compared to the case where multiple displacement sensors are used.
In addition, in the above method, the displacement sensor may be a single sensor that is movably arranged, and when obtaining the measurement values at the first measurement point and the second measurement point, the displacement sensor moves between the pair of positions, and when measuring the misalignment of the insert, the displacement sensor may be positioned at a misalignment measurement position to measure the misalignment (Claim 3).

According to the above method, the displacement sensor for measuring misalignment can also be used as a displacement sensor for detecting insert tilt, which makes it possible to reduce the cost of detecting insert tilt.

The insert tilt detection device of the present invention includes a clamping section that clamps the thickness side of an insert having multiple polygonal outer peripheral side surfaces (hereinafter referred to as side surfaces) and two thickness side surfaces in the thickness direction, and, when two points spaced apart in the extension direction of one of the multiple side surfaces of the insert clamped by the clamping section are set as a first measurement point and a second measurement point, a pair of displacement sensors are arranged at a pair of positions facing the side surface, oriented toward the first measurement point and the second measurement point, respectively, to obtain the distance to the first measurement point and the second measurement point as a measurement value, and a calculation section that calculates the tilt of the insert based on the measurement value at the first measurement point and the measurement value at the second measurement point (Claim 4).

According to the insert tilt detection device described above, the insert tilt can be easily detected based on the measurement value at the first measurement point and the measurement value at the second measurement point. In addition, the insert tilt can be used as the B-axis correction amount when the machining allowance of the insert is small.

In the insert inclination detection device, the displacement sensor may further measure misalignment of the insert, and the calculation unit may determine an amount of misalignment based on a result of the misalignment measurement by the displacement sensor (claim 5).
According to the above-mentioned insert inclination detection device, it is possible to detect both the inclination of the insert and the misalignment measurement.

In the above-mentioned insert tilt detection device, the displacement sensor may be configured as a single sensor, and may have a movement mechanism that moves the displacement sensor between the pair of positions when acquiring the measurement values at the first measurement point and the second measurement point, and positions the displacement sensor at a misalignment measurement position when measuring the misalignment of the insert (Claim 6).

With the above configuration, the displacement sensor for measuring misalignment can also be used as a displacement sensor for detecting insert tilt, making it possible to reduce the cost of detecting insert tilt.

In an insert outer circumference grinding device including a cutting wheel for grinding the outer peripheral side surface (hereinafter referred to as the side surface) of an insert and an insert inclination detection device according to any one of claims 4 to 6, it is preferable that the clamping unit is provided with a control unit for varying the rotational position of the insert and rotating the insert with the clamping unit to reduce the inclination of the insert calculated by the insert inclination detection device (claim 7).

According to the insert outer periphery grinding device, the inclination of the insert is reduced, so that the influence of the inclination of the insert on the machining accuracy can be reduced.
In the above-mentioned insert outer circumference grinding device, the insert has a plurality of outer peripheral side surfaces (hereinafter referred to as side surfaces) that are polygonal in shape, and is placed on the side surfaces to generally center the insert, and the device is provided with a mounting section that moves the mounting section to the clamping section, and it is preferable that the clamping section clamps the insert placed on the mounting section of the centering device (Claim 8).

The insert outer circumference grinding device detects the inclination of the insert after it has been roughly centered, and if there is any inclination of the insert, it reduces the inclination of the insert, thereby reducing the effect of the inclination of the insert on the machining accuracy.

According to the insert inclination detection method and insert inclination detection device of the present invention, it is possible to detect the inclination of the insert, which is a workpiece material.
Furthermore, the insert outer periphery grinding device of the present invention has the effect of suppressing defective insert products caused by inclination of the workpiece material.

1 is a schematic plan view of an insert outer periphery grinding device according to one embodiment of the present invention; 2 is an electrical block diagram of the insert outer periphery grinding device according to one embodiment of the present invention. FIG. 2 is an enlarged view of a main portion of the machining chamber of the insert outer periphery grinding device. FIG. 2 is an enlarged view of a main portion of the machining chamber of the insert outer periphery grinding device. FIG. 2 is a front view of a moving mechanism part of the insert outer periphery grinding device. FIG. 4 is a flowchart of the grinding process of the insert outer periphery grinding device. 4 is a flowchart of the measurement device. 4A to 4G are explanatory diagrams of the operation steps of the movement mechanism. 13 is an explanatory diagram of a standby state of a centering device in a machining process of an insert outer periphery grinding device. FIG. 13 is an explanatory diagram of the horizontal axis movement of the centering device in the machining process of the insert outer periphery grinding device. FIG. 1 is an explanatory diagram of the vertical axis movement of a centering device in the machining process of an insert outer periphery grinding device. FIG. 1 is an explanatory diagram of a process for placing a workpiece on a block of a centering device of an insert outer periphery grinding device. FIG. FIG. 11 is an explanatory diagram of a retraction process of a centering device of the insert outer periphery grinding device. FIG. 4 is an explanatory diagram of the B-axis rotation of the insert outer periphery grinding device. FIG. 13 is an explanatory diagram of a contact of the displacement sensor during one-point measurement. FIG. 13 is an explanatory diagram of a contact of the displacement sensor when performing two-point measurement. FIG. 1A is an explanatory diagram of a state in which the workpiece posture is stable when the workpiece material is grasped by a robot hand, and FIG. 1B and FIG. 1C are explanatory diagrams of a state in which the workpiece posture is unstable when the workpiece material is grasped by a robot hand. 10 is a flowchart of a grinding process of an insert outer periphery grinding device according to another embodiment. FIG. 13 is an explanatory diagram of two-point measurement of a diamond-shaped insert in another embodiment. FIG. 11 is an explanatory diagram of the amount of misalignment. FIG. 11 is an explanatory diagram for measuring the amount of misalignment. 6A to 6C are explanatory diagrams showing the measurement values of each side of an insert obtained in measuring the amount of misalignment. 13A and 13B are explanatory diagrams showing an example in which the machining allowance is large and an example in which the machining allowance is small, respectively. 13 is an explanatory diagram of an example in which a centering device is omitted in an insert outer periphery grinding device of another embodiment. FIG. 4(a) to 4(d) are explanatory views of the outer shape of the insert.

First Embodiment
Hereinafter, a first embodiment of an insert inclination detection method, an insert inclination detection device 19, and an insert outer periphery grinding device 10 according to the present invention will be described with reference to FIGS.

The inclination detection method, inclination detection device 19, and insert outer circumference grinding device 10 of this embodiment can be applied to inserts having polygonal shapes other than the rhombus in FIG. 25(c), such as the equilateral triangle in FIG. 25(a), the square in FIG. 25(b), and the parallelogram in FIG. 25(d). Below, we will explain the case where the insert (workpiece material W) is an equilateral triangle as a representative example of this applicable case.

<Overall composition>
As shown in Fig. 1, the insert outer periphery grinding device 10 is a numerically controlled grinding machine. The insert outer periphery grinding device 10 has a machine body 12 that is roughly divided into a processing chamber K at the center in the Y direction, a loader chamber R located in the opposite Y direction from the processing chamber K, and a control chamber T located in the Y direction. In this specification, the Y direction may be referred to as the left-right direction, the X direction as the front-rear direction, and the Z direction as the up-down direction.

The machining chamber K of the machine body 12 houses the work head 14 and a grinding wheel table 18 that grinds the insert held by the work head 14. The loader chamber R houses a supply/unloading section 16 that supplies inserts as workpieces to the work head 14 and unloads the processed inserts. The control chamber T houses a control panel 13. The inserts before machining are sometimes called workpiece material.

<Processing Room K>
The work head unit 14 has a mechanism cover case 15 fixed on a table (not shown). The outer surface of the mechanism cover case 15 is provided with a tailstock 20 and a headstock 21 that sandwich a pair of thickness side surfaces located in the thickness direction of the insert.

The tailstock 20 cooperates with the headstock 21 to clamp the insert by moving in the clamping direction relative to the headstock 21. The headstock 21 can rotate around its central axis, the B axis, and rotates the clamped insert. The tailstock 20 and the headstock 21 form a clamping section.

The table (not shown) of the work head unit 14 can rotate around the C axis, centered on the Z axis that passes vertically through the clamp center (center of the B axis) of the tailstock 20 and headstock 21. As shown in FIG. 1, a centering device 17 and an insert tilt detection device 19 are provided inside the mechanism cover case 15.

<Centering device 17>
As shown in Figures 9 to 15, the centering device 17 has a support member 30 that is fixed to the inner wall surface of the mechanism cover case 15 and extends in the vertical direction, and a moving arm 32. For ease of explanation, the opening and closing lid 27 shown in Figures 3 and 4 is omitted in Figures 9 to 15 in order to simplify the drawings.

The centering device 17 has a known structure and will be described briefly. The moving arm 32 is movable relative to the support member 30 along a vertical axis extending in the up-down direction and a horizontal axis extending in a direction perpendicular to the up-down direction and the B axis. That is, the centering device 17 has a drive source (not shown) such as an air cylinder that drives the moving arm 32 in the up-down direction. This allows the moving arm 32 to move between the lower limit position shown in Figures 9, 10, and 13 to 15 and the upper limit position shown in Figures 11 and 12.

The centering device 17 also has a drive source (not shown), such as an air cylinder, that drives the moving arm 32 in the vertical direction and in a direction perpendicular to the B axis. This allows the moving arm 32 to move in this direction between a stored position stored in the mechanism cover case 15 shown in Figures 9, 13, 14 and 15, and a protruding position protruding from the opening 15a of the mechanism cover case 15 shown in Figures 10 to 12. Hereinafter, the state in which the moving arm 32 is in the protruding position and at the upper limit position as shown in Figure 11 will be referred to as the set state.

As shown in FIG. 3, the opening 15a is provided with an opening/closing lid 27. When the moving arm 32 moves between the stored position and the extended position, the opening/closing lid 27 opens the opening 15a by an opening/closing drive mechanism (not shown). When the moving arm 32 is held in the stored position, the opening 15a is closed by the opening/closing drive mechanism (not shown) as shown in FIG. 4.

The tip of the moving arm 32 is in an upward L-shape, and a centering block 34 is detachably attached to the upper end of the moving arm 32 as a mounting part. A recess 35 is formed on the upper surface of the centering block 34. The recess 35 is formed with slopes having an inclination angle of 30 degrees in opposite directions to an imaginary vertical plane. In other words, the intersection angle between the two slopes is 60 degrees. The recess 35 is recessed according to the shape of the outer circumferential side of the workpiece material so that when the moving arm 32 is in the set state and the outer circumferential side of the workpiece material is placed in contact with both slopes, the center of the inscribed circle of the workpiece material is approximately aligned with the center of the B axis.

When the workpiece material is placed in the recess 35 on the centering block 34 as described above, the thickness side of the workpiece material can be positioned opposite each of the two stocks. For example, in the case of an insert (workpiece material) with an equilateral triangle shape, the recess 35 is recessed in a V shape. In the case of an insert with an n-sided (>3) polygon shape such as a square, the shape of the outer circumferential side is recessed in a shape that can be accepted. Note that being acceptable does not necessarily mean that the outer circumferential side of the insert (workpiece material W) matches the shape of the inner surface of the recess 35. This is because the outer circumferential side of the workpiece material W is not necessarily formed into an accurate flat surface, etc.

<Insert Inclination Detection Device 19>
5, the insert inclination detection device 19 has a displacement sensor 44 and a movement mechanism 39 that moves the displacement sensor 44 up and down. The movement mechanism 39 includes a vertically movable member 40 supported so as to be vertically movable relative to the inner wall surface of the mechanism cover case 15, a contact member 45 fixed to the upper end of the vertically movable member 40, and a vertically movable air cylinder 43 that drives the vertically movable member 40 in the vertical direction.

The displacement sensor 44 is fixed to the vertically movable member 40 via a mounting member 41 and a bracket. The displacement sensor 44 is of a contact type and has a contact P that can advance and retreat.
The lower surface of the abutting member 45 is connected to a rod 43a of a vertically movable air cylinder 43 fixed to the vertically movable member 40 and the inner wall surface of the mechanism cover case 15. This allows the vertically movable member 40 and the abutting member 45 to move vertically together.

Above the abutment member 45, a pair of guide members 46, 47 are fixed to the mechanism cover case 15 so as to be parallel to the B axis and spaced apart from each other. Between the guide members 46, 47, an origin stopper block 48 is arranged, which is guided parallel to the B axis by the guide members 46, 47.

The origin stopper block 48 is fixed integrally to the rod 50 of the stopper air cylinder 49 fixed to the mechanism cover case 15. By actuating the stopper air cylinder 49, the origin stopper block 48 can move between the interference position shown in FIG. 5 where the rod 50 is extended, and the non-interference position shown in FIG. 8(c) where the rod 50 is retracted.

When the origin stopper block 48 is located at the interference position, as shown in Figures 5 and 8(a), the abutment member 45 integral with the upwardly moved vertical member 40 interferes with the origin stopper block 48. At this time, the displacement sensor 44 is positioned so as to intersect with the center of the B axis as shown in Figure 8(a). In addition, the displacement sensor 44 is capable of performing a one-point measurement (misalignment measurement) described below at the origin position shown in Figure 8(a). The origin position corresponds to the misalignment measurement position.

Here, the origin position of the displacement sensor 44 is the position when the vertically movable member 40 is located at the origin position. The upper position of the displacement sensor 44 is the position when the vertically movable member 40, which will be described later, is located at the upper position. The lower position of the displacement sensor 44 is the position when the vertically movable member 40, which will be described later, is located at the lower position.

In addition, a position sensor 51 that detects the position of the abutment member 45 is fixed to the mechanism cover case 15. The detection function of the position sensor 51 will be described later. When the origin stopper block 48 is located in the non-interference position, the abutment member 45 that is integral with the upwardly moved vertically moving member 40 does not interfere with the origin stopper block 48.

As shown in FIG. 5, the upper movement stopper 52 and the lower movement stopper 53 are fixed to the mechanism cover case 15 so as to be located near the movement trajectory area of the vertical movement member 40. It is preferable that the upper movement stopper 52 and the lower movement stopper 53 are configured, for example, by a bolt or the like that screws into a fixing member or the like fixed to the inner wall surface of the mechanism cover case 15, so that the vertical position of the end portion that abuts against the vertical movement member 40 can be adjusted.

The upper movement stopper 52 is for determining the upper position of the vertical movement member 40 by abutting against the stopper abutment portion 40a provided on the vertical movement member 40. When the vertical movement member 40 is located in this upper position, the abutment member 45 is allowed to enter the area occupied by the origin stopper block 48 when it was located in the interference position. Note that Figures 8(a) to 8(g) are schematic diagrams, and the stopper abutment portion 40a, part of the lower end of the abutment member 45, and the guide member 47 are omitted. It should be understood that the shoulder portion of the vertical movement member 40 takes over the function of the omission of the stopper abutment portion 40a.

The lower end of the vertically movable member 40 comes into contact with the lower stopper 53 to determine the lower position of the vertically movable member 40. Note that the upper and lower positions are defined based on when the vertically movable member 40 is located at the origin position.

(Definition of the Position of the Displacement Sensor 44)
Here, the displacement sensor 44, which moves integrally with the vertically movable member 40, is said to be located at a first measurement position and a second measurement position when the vertically movable member 40 is located at a lower position and an upper position, respectively.

When the displacement sensor 44 is located at the first measurement position and the second measurement position, it is possible to measure the first measurement point and the second measurement point on the outer peripheral side surface of the insert clamped in the clamping portion. In other words, the upper and lower positions of the ends of the lower moving stopper 53 and the upper moving stopper 52 that abut against the vertical moving member 40 are adjusted in advance so that the vertical moving member 40 is located at the lower position and the upper position.

When the displacement sensor 44 is positioned at the first measurement position and the second measurement position, its contact P can protrude to the outside from a sensor opening 15b (see FIG. 15) provided through the inner wall of the mechanism cover case 15.

<Whetstone head 18>
The wheel head 18 is disposed so as to face the insert held between the tail stock 20 and the head stock 21, and is provided with a cutting wheel 22 attached to a wheel shaft (not shown). The cutting wheel 22 rotates around the wheel shaft.

As shown in FIG. 1, the grinding wheel head 18 is equipped with an X-Y slide mechanism (not shown) that moves in the X-axis direction (front and back) and the Y-axis direction (left and right) in a horizontal plane. The grinding wheel shaft can be moved in the X-axis direction and the Y-axis direction by this X-Y slide mechanism.

<Loader Room R>
1 includes a pallet stocker 23, a pallet transport device 24, an articulated robot 26, and a transport device (not shown). The pallet stocker 23 stores work pallets on which a plurality of inserts, which are work materials, are placed. The pallet transport device 24 transports a work pallet 25 from the pallet stocker 23.

The articulated robot 26 is controlled by the robot control device 28 shown in FIG. 2 to grasp the insert on the transported work pallet 25 with the robot hand and then place it in the recess 35 of the centering block 34 of the centering device 17. The articulated robot 26 also grasps the machined insert with the robot hand 26a (see FIG. 12) under the control of the robot control device 28 shown in FIG. 2, and then places it on the work pallet on the unloading device (not shown). The unloading device unloads the work pallet with the machined insert from the loader chamber R.

<Electrical configuration of the insert outer periphery grinding device 10>
Next, the electrical configuration of the insert outer periphery grinding device 10 will be described with reference to FIG.
The control panel 13 includes a power circuit and a control unit 13a (not shown). The control unit 13a includes, for example, a computer. In the following description, the control by the control unit 13a and the supply and stop of power supply to the motor of the power circuit are referred to as control or command by the control unit 13a.

The control unit 13a is electrically connected to the X-axis motor 58, the Y-axis motor 60, and the grindstone drive motor 62. The control unit 13a operates the X-Y slide mechanism (not shown) by controlling the X-axis motor 58 and the Y-axis motor 60. The control unit 13a also rotates the cutting grindstone 22 by controlling the grindstone drive motor 62.

The control unit 13a is electrically connected to the drive motor 64 for the tailstock 20 and headstock 21. The control unit 13a controls the tailstock 20 to clamp and hold the insert as a workpiece in cooperation with the headstock 21, and releases the clamped state. The control unit 13a controls the drive motor 64 to change the rotational position of the workpiece clamped in the clamping section.

The control unit 13a is electrically connected to a C-axis motor 66. The control unit 13a controls the C-axis motor 66 to rotate the table (not shown) of the work head unit 14 around the C-axis. The control unit 13a is electrically connected to the centering device 17, the pallet transport device 24, and the robot control device 28.

The centering device 17 is controlled by the control unit 13a to control the movement arm 32 between the lower limit position and the upper limit position, and to move between the stored position and the protruding position. The control unit 13a is also electrically connected to an opening/closing drive mechanism (not shown). The control unit 13a controls the opening/closing of the opening/closing lid 27 shown in Figures 3 and 4 by the opening/closing drive mechanism (not shown).

The control unit 13a is electrically connected to a measuring device 56. The measuring device 56 is electrically connected to the air cylinder 43 for vertical movement, the air cylinder 49 for the stopper, the position sensor 51, and the displacement sensor 44.

The measuring device 56 is equipped with a computer. The vertical movement air cylinder 43 and the stopper air cylinder 49 are driven by the control of the measuring device 56 based on commands from the control unit 13a. The displacement sensor 44 also measures the distance between the workpiece and the measuring device 56 based on the commands from the control unit 13a.

The position sensor 51 is a sensor that detects the vertical position of the contact member 45 when the contact member 45 contacts the origin stopper block 48, when the stopper contact portion 40a contacts the upper moving stopper 52, and when the lower end of the vertical moving member 40 contacts the lower moving stopper 53. Specifically, the position sensor 51 is composed of a distance sensor.

The side surface of the contact member 45 facing the position sensor 51 is formed in an inclined shape so that the distance from the position sensor 51 varies each time the vertical position of the contact member 45 changes. Note that the inclination is not depicted in Figures 5 and 8(a) to (g) because the illustrations are scaled down from the actual product.

When the abutment member 45 abuts against the origin stopper block 48, i.e., when it is located at the origin, the position sensor 51 outputs an origin position signal to the measurement device 56. When the stopper abutment portion 40a abuts against the upper movement stopper 52, the position sensor 51 outputs an upper position signal to the measurement device 56. When the lower end of the vertical movement member 40 abuts against the lower movement stopper 53, the position sensor 51 outputs a lower position signal to the measurement device 56. This allows the measurement device 56 to detect the upper position, origin position, and lower position of the displacement sensor 44.

The measuring device 56 also calculates the inclination of the workpiece (insert) based on the measurement values, which are the distances between the first and second measurement points on the workpiece input from the displacement sensor 44. The measuring device 56 outputs the calculation results to the control unit 13a. The measuring device 56 corresponds to a calculation unit that calculates the inclination of the insert.

(Operation of the embodiment)
The operation of the insert inclination detection device 19 and the insert outer periphery grinding device 10 configured as above will be described.

FIG. 6 is a flowchart of a numerical control program for grinding the insert (workpiece material) executed by the control unit 13a of the insert outer periphery grinding device 10.
(S10: Workloading)
In S10, work loading is performed. As shown in Fig. 1, the clamping portion is in a state of C-axis 0° facing the cutting wheel 22. In this state, specifically, under the control of the robot control device 28 based on a command from the control unit 13a, the articulated robot 26 shown in Fig. 1 grasps an insert from the work pallet 25 with the robot hand 26a (see Fig. 12) and transports it to the processing chamber K.

(S20: Centering device ON)
S20 is a process during which the insert is transported from the work pallet 25 to the machining chamber K. The control unit 13a controls the centering device 17 from the standby state shown in Fig. 9 to move the moving arm 32 in the order of Fig. 10 and Fig. 11 (Fig. 3). In the standby state of Fig. 9, the moving arm 32 is located at the lower limit position and the stored position.

In this step, before transitioning from the standby state in FIG. 9 to the state in FIG. 10, the opening/closing cover 27 shown in FIG. 3 is opened by the control of the control unit 13a by an opening/closing drive mechanism (not shown). As shown in FIG. 10, the moving arm 32 is moved to the protruding position under the control of the control unit 13a. In the next step, FIG. 11, the moving arm 32 is moved to the upper limit position under the control of the control unit 13a.

As shown in Figures 11 and 3, when the moving arm 32 is in the upper limit position, it is in a set state. In this set state, the center of the B axis of the headstock 21 is positioned so as to pass through the recess 35 of the centering block 34.

(S30)
12, under the control of the robot control device 28, the robot hand 26a of the articulated robot 26 places the workpiece material W in the recess 35 of the centering block 34. For this reason, in this embodiment, one corner of the triangular workpiece material W is disposed facing downward, and one outer peripheral side surface facing the displacement sensor 44 is disposed at an angle of approximately 30 degrees downward with respect to a virtual vertical plane disposed parallel to the B axis.

(S40)
In S40, under the control of the control unit 13a, the tailstock 20 advances in the clamping direction relative to the headstock 21, thereby clamping the workpiece material W in cooperation with the headstock 21. Also, under the control of the robot control device 28, the robot hand 26a of the articulated robot 26 retreats into the loader chamber R.

Furthermore, under the control of the control unit 13a, the moving arm 32 of the centering device 17 moves to the lower limit position, and then moves to the storage position as shown in Figure 13. After this, the opening/closing cover 27 shown in Figure 4 closes the opening 15a by controlling the opening/closing drive mechanism (not shown) by the control unit 13a.

As shown in FIG. 14, the control unit 13a controls the drive motor 64 of the headstock 21 to rotate the workpiece material W held in the clamping section by 30 degrees to the + side around the B axis. As a result, one outer peripheral side surface of the workpiece material W that faces the displacement sensor 44 is positioned so as to be included in the virtual vertical plane.

(S50: Tilt measurement)
In S50, the control unit 13a instructs the measuring device 56 to be turned on (activated), and the measuring device 56 performs a tilt measurement process in accordance with the shape of the outer peripheral side surface of the workpiece material.

The tilt measurement process performed by the measurement device 56 will be described below with reference to the flowchart in FIG. 7 and FIGS.
(S51)
In S51, the measuring device 56 controls the air cylinder 43 for vertical movement to move the vertically movable member 40 downward from the state in which the displacement sensor 44 shown in FIG. 8(a) is located at the origin position to a lower position in which the vertically movable member 40 abuts against the downward movement stopper 53 shown in FIG. 8(b).

(S52)
In S52, in the state shown in FIG. 8(b), the measuring device 56 protrudes the contact P of the displacement sensor 44 outside the mechanism cover case 15 and abuts it against the outer peripheral side surface of the work material W facing the displacement sensor 44, as shown in FIGS. 15 and 16.

At this time, the portion of the outer circumferential side surface that the contact P abuts corresponds to the first measurement point Q1. Here, the displacement sensor 44 is disposed so as to be oriented toward the first measurement point Q1.
In FIG. 16, the contact P in contact with the first measurement point Q1 is also labeled P1 to distinguish it from the contacts in contact with the other measurement points.

The stroke amount of the contact P when it comes into contact with the outer peripheral side surface of the workpiece material W corresponds to the distance between the displacement sensor 44 and the first measurement point Q1 and is the measurement value Md. The displacement sensor 44 outputs the acquired measurement value Md at the first measurement point Q1 to the measuring device 56, and returns the contact P to the position before the measurement is completed.

(S53)
In S53, as shown in FIG. 8C, the measuring device 56 controls the stopper air cylinder 49 to position the origin stopper block 48 at a non-interference position.

(S54)
In S54, the measuring device 56 controls the vertical movement air cylinder 43 to move the vertically movable member 40 upward to an upper position where it abuts against the upward movement stopper 52, as shown in FIG. 8(d).

(S55)
In S55, in the state shown in FIG. 8(d), the measuring device 56 protrudes the contact P of the displacement sensor 44 outside the mechanism cover case 15 and abuts it against the outer peripheral side surface of the work material W facing the displacement sensor 44, as shown in FIG.

At this time, the portion of the outer circumferential side surface that the contact P abuts corresponds to the second measurement point Q2. Here, the displacement sensor 44 is disposed so as to be oriented toward the second measurement point Q2.
16, the contact P in contact with the second measurement point Q2 is also labeled with P2 to distinguish it from the contacts in contact with the other measurement points. The stroke amount of the contact P when the contact P comes into contact with the outer circumferential side surface of the workpiece material W corresponds to the separation distance between the displacement sensor 44 and the second measurement point Q2 and is the measurement value Mu.

The displacement sensor 44 outputs the acquired measurement value Mu at the second measurement point Q2 to the measurement device 56, and returns the contact P to the position before the measurement after the measurement is completed. The measurement device 56 calculates the inclination of the workpiece material W based on the measurement values Md and Mu at the first measurement point Q1 and the second measurement point Q2, respectively.

(Calculation of the inclination of the workpiece material W)
The inclination of the workpiece W is calculated using the following equation (4).
(Mu-Md)=J・tan(γ-θ)...(4)
Here, J is the distance between the upper and lower positions of the displacement sensor 44. θ is the angle of oblique intersection with the imaginary vertical plane E1 when the displacement sensor 44 moves between the upper and lower positions. γ is the inclination of the outer peripheral side surface to be measured of the workpiece material W with respect to the imaginary vertical plane E2. The imaginary vertical plane E1 and the imaginary vertical plane E2 are parallel. Furthermore, J and θ are known through calibration.

When the inclination γ is calculated based on the above-mentioned equation (4), the measuring device 56 outputs the inclination γ to the control unit 13a.
(S56)
In S56, the measuring device 56 controls the vertical movement air cylinder 43 to move the vertically movable member 40 downward to a lower position where it abuts against the downward movement stopper 53, as shown in FIG. 8(e).

(S57)
In S57, the measuring device 56 controls the stopper air cylinder 49 to position the origin stopper block 48 at the interference position, as shown in FIG. 8(f).

(S58)
In S58, the measuring device 56 controls the vertical movement air cylinder 43 to move the vertically movable member 40 upward to an upper position where it abuts against the upward movement stopper 52, as shown in Fig. 8(g). As a result, the vertically movable member 40 returns to a state in which the displacement sensor 44 is located at the origin position, as shown in Fig. 8(a).

(S60)
6, in order to eliminate the inclination γ (≠0) input from the measuring device 56, the control unit 13a controls and drives the drive motor 64 of the headstock 21. That is, if the inclination γ (≠0) of the work material W held in the clamping portion is inclined to the negative side about the B axis, the work material W is rotated by γ to the positive side. If the inclination γ (≠0) of the work material W held in the clamping portion is inclined to the positive side about the B axis, the work material W is rotated by γ to the negative side.

When the inclination γ is 0°, no rotation correction is performed around the B axis of the workpiece material W, and the rotational position of the workpiece material W is maintained. In this way, one outer peripheral side surface of the workpiece material W that faces the displacement sensor 44 is positioned so as to be included in the virtual vertical plane E2.

(S70: Measuring device ON, measuring misalignment)
In S70, the control unit 13a commands the measuring device 56 to be turned on (activated), and the measuring device 56 performs misalignment measurement processing in accordance with the shape of the outer circumferential side surface of the workpiece material. In the misalignment measurement, the displacement sensor 44 performs one-point measurement while being positioned at the origin position shown in Fig. 8(a). This misalignment measurement is performed in the same manner as the misalignment measurement described in the background art, as shown in Figs. 22(a) to 22(c).

As shown in Figures 22(a) to 22(c), the contactor P is brought into contact with the outer peripheral side surfaces Wa, Wb, and Wc of the workpiece material W, and the distances are measured as described in the background art. After measuring the distance for the outer peripheral side surface Wa, the control unit 13a controls and drives the drive motor 64 of the headstock 21 to position the outer peripheral side surfaces Wb and Wc of the workpiece material W so that they face the displacement sensor 44.

Therefore, in Figures 20 and 21, the contact P that protrudes outside the mechanism cover case 15 when the displacement sensor 44 is located at the origin position is also labeled P0. In Figure 16, Q0 is the portion of the outer peripheral side surface with which the contact P0 abuts.

The calculation of the amount of misalignment X of the work center in the X direction and the amount of misalignment Z of the work center in the Z direction is as explained in the background art, and this calculation is performed by the measuring device 56. When the calculation results of the amount of misalignment X of the work center in the X direction and the amount of misalignment Z of the work center in the Z direction are obtained, the measuring device 56 outputs the calculation results to the control unit 13a.

(S80: Outer periphery processing)
In S80, the control unit 13a performs peripheral machining on the outer peripheral side surface of the workpiece material W.

In this case, the controller 13a performs numerical control to rotate the cutting wheel 22 using the wheel drive motor 62, and to operate the X-Y slide mechanism (not shown) using the X-axis motor 58 and the Y-axis motor 60. This numerical control is performed based on the preset numerical control program.

In this embodiment, the numerical control program sets the machining allowance, which is the difference from the theoretical shape size of the design standard, based on the amount of misalignment X of the work center in the X direction and the amount of misalignment Z of the work center in the Z direction for the work material W when there is no inclination. In this embodiment, the theoretical shape size of the design standard is the theoretical shape size of a triangular insert.

This numerical control program grinds (machines) the outer peripheral side of the workpiece material W so that it matches the theoretical shape and size of the design criteria, thereby removing the above-mentioned machining allowance.

(S90)
When S80 is completed, the control unit 13a executes a single-point measurement similar to S70 on one side of the outer circumferential side surface of the workpiece material W. This single-point measurement is a measurement for confirming whether the size of the workpiece material W after processing in S80 is the theoretical shape size of the design standard. By measuring the distance between one side of the outer circumferential side surface of each workpiece material and the displacement sensor 44, it is possible to determine whether the size of the workpiece material W is the theoretical shape size of the design standard based on the measured distance and the amount of misalignment.

If the size of the workpiece material W after processing in S80 does not match the theoretical shape size of the design standard, the control unit 13a judges "NG" and returns to S80. If the size of the workpiece material W after processing in S80 matches the theoretical shape size of the design standard, the control unit 13a judges "OK" and proceeds to S95.

(S95)
In S95, grinding of the workpiece material W by the cutting wheel 22 is performed under the control of the control unit 13a.

(S100: Work unloading)
In S100, workpiece unloading is performed.
Next, the articulated robot 26 shown in Fig. 1 grips the machined workpiece material W with the robot hand 26a under the control of the robot control device 28 based on a command from the control panel 13. Thereafter, the control unit 13a moves the tail stock 20 in the counter-clamping direction to release the clamping of the workpiece material W by the clamping unit.

After this, under the control of the robot control device 28, the articulated robot 26 places the machined workpiece material W (insert) held by the robot hand 26a on a work pallet on a carrying device (not shown) in the loader chamber R. The carrying device carries the work pallet with the machined insert out of the loader chamber R.

(S110)
In S110, the control unit 13a checks whether there is a next workpiece material W to be machined by using a workpiece machining counter (not shown). If there is a next workpiece material, the process returns to S10. If there is no next workpiece material, the numerical control program for grinding the insert (workpiece material) is terminated.

This embodiment has the following features.
(1) The insert inclination detection method of this embodiment is a method for detecting an insert inclination by a clamping unit that clamps an insert having a polygonal shape with multiple side surfaces and two thickness side surfaces in the thickness direction, and an insert inclination detection device that has a displacement sensor. The insert inclination detection method has a first step of clamping a thickness side surface of a triangular insert (workpiece material W) having two thickness side surfaces. The detection method also has two points on one outer peripheral side surface of the workpiece material W that are separated in the extension direction of the outer peripheral side surface as a first measurement point Q1 and a second measurement point Q2. The detection method also has a second step of acquiring the distances from the displacement sensor 44 to the first measurement point Q1 and the second measurement point Q2 as measurement values by a displacement sensor 44 that is oriented and arranged at the first measurement point Q1 and the second measurement point Q2, respectively. The detection method also has a third step of detecting the inclination of the insert based on the measurement value at the first measurement point Q1 and the measurement value at the second measurement point Q2.

The insert tilt detection device 19 also has a clamping portion (tailstock 20, headstock 21) that clamps the thickness side surface of the triangular insert (workpiece material W) having two thickness side surfaces. The insert tilt detection device 19 also has a displacement sensor 44 that is oriented toward the first measurement point Q1 and the second measurement point Q2, respectively, and obtains the distance to the first measurement point Q1 and the second measurement point Q2 as a measurement value. The insert tilt detection device 19 also has a measurement device 56 (calculation unit) that calculates the insert tilt based on the measurement value at the first measurement point Q1 and the measurement value at the second measurement point Q2.

As a result, the method and insert tilt detection device 19 make it possible to easily detect the inclination of the insert based on the measurement values at both the first and second measurement points. In addition, the inclination of the insert can be used as a B-axis correction amount when the machining allowance of the insert is small.

(2) In the method for detecting the inclination of the insert according to the present embodiment, the step of measuring the misalignment of the insert using the displacement sensor 44 is performed after the third step.
In addition, in the insert inclination detection device of this embodiment, the displacement sensor further measures the misalignment of the insert, and the calculation unit determines the amount of misalignment based on the result of the misalignment measurement by the displacement sensor.

This makes it possible to both detect the inclination of the insert and measure misalignment.
(3) In the insert inclination detection method and insert inclination detection device 19 of this embodiment, the displacement sensor is a single movably mounted sensor that moves between a pair of positions to obtain measurement values at the first measurement point Q1 and the second measurement point Q2. Then, when measuring the misalignment of the insert, the sensor is positioned at the misalignment measurement position to measure the misalignment.

As a result, the displacement sensor for measuring misalignment can be used as a displacement sensor for detecting insert tilt, making it possible to reduce the cost of detecting insert tilt.

(4) In the insert tilt detection method and insert tilt detection device 19 of this embodiment, the displacement sensor 44 is a single sensor. In addition, the insert tilt detection method and insert tilt detection device 19 measure the separation distance at the first measurement point Q1 and the second measurement point Q2 by using the movement mechanism 39 to move the displacement sensor 44.

As a result, the insert tilt detection method and insert tilt detection device can detect the insert tilt using a single displacement sensor, which reduces costs compared to using multiple displacement sensors.

(5) The insert outer periphery grinding device of this embodiment includes the cutting wheel 22 that grinds the outer periphery side surface of the insert, and the inclination detection device 19 for the insert.
The clamping portion (tailstock 20, headstock 21) of the insert outer periphery grinding device is adapted to vary the rotational position of the insert. Also, a control portion 13a is provided which rotates the insert at the clamping portion (tailstock 20, headstock 21) in order to reduce the inclination of the insert calculated by the insert inclination detection device 19.

Conventionally, if the insert is tilted, there is no tolerance for the degree to which machining can be performed, which affects the machining accuracy and results in defective products. However, according to this embodiment, the insert tilt is reduced or eliminated. As a result, the impact of insert tilt on machining accuracy can be reduced.

(6) The insert outer circumference grinding device 10 of this embodiment includes a mounting section (centering block 34) on which an insert having multiple triangular outer circumference side surfaces is placed, thereby generally centering the insert. The insert outer circumference grinding device 10 also includes a centering device 17 that moves the mounting section (centering block 34) to the clamping section (tailstock 20, headstock 21). The clamping section (tailstock 20, headstock 21) clamps the insert placed on the mounting section (centering block 34) of the centering device 17.

As a result, insert tilt detection is performed on the insert that has been roughly centered, and if there is any insert tilt, the insert tilt is reduced, thereby reducing the impact of insert tilt on machining accuracy.

As shown in FIG. 17(a), when both thickness side surfaces of the workpiece material W are parallel and flat, even when the workpiece material W is held by the robot hand 26a, both thickness side surfaces are parallel to the robot hand 26a. This makes it possible for the robot hand 26a to place the workpiece material W on the placement section (centering block 34) with a stable work posture.

On the other hand, as shown in Figures 17(b) and 17(c), in the case of a workpiece material W having a recess D on one of the thickness side surfaces, when the workpiece material W is grasped by the robot hand 26a, the thickness side surface is no longer parallel to the robot hand 26a. Even in such a state, the workpiece material W is placed on the mounting section (centering block 34) of the centering device, so that the workpiece posture becomes stable, and the workpiece can be clamped by the clamping section while maintaining this stable posture.

Second Embodiment
Next, a second embodiment of the insert inclination detection method, insert inclination detection device 19, and insert outer periphery grinding device 10 will be described with reference to Figures 6, 18, and 19. The insert inclination detection method, insert inclination detection device 19, and insert outer periphery grinding device 10 of this embodiment are intended for a diamond-shaped insert (workpiece material W) as shown in Figure 25(c). As shown in Figure 25(c), the diamond-shaped insert (workpiece material W) has a pair of corners having an angle of α (<90 degrees) and a pair of corners having an angle of β (>90 degrees).

<Differences in hardware configuration>
In the hardware configuration of the insert inclination detection device 19 and the insert outer periphery grinding device 10, what is different from the first embodiment is the shape of the recess 35 of the centering block 34.

The recess 35 in the first embodiment is formed by inclined surfaces having an inclination angle of 30 degrees on opposite sides to each other with respect to a virtual vertical plane. That is, the intersection angle between the two inclined surfaces is 60 degrees.
In contrast, the inner surface of the recess 35 in this embodiment is formed with inclined surfaces having an inclination angle of α/2 degrees on opposite sides with respect to the imaginary vertical plane E2 as an imaginary plane. That is, the recess 35 is formed in a V-shape by a pair of inclined surfaces arranged so that the intersection angle between the two inclined surfaces is α. The displacement sensor 44 in this embodiment corresponds to the first displacement sensor and the second displacement sensor.

Hereinafter, the same hardware configuration as in the first embodiment will be denoted by the same reference numerals, and detailed description thereof will be omitted.
<1. Differences in the flowchart of FIG. 6>
In the following description of the flowcharts, the steps of the same process as in the first embodiment are given the same step reference numbers and the description is omitted. For process steps including some or all different matters, the step reference numbers given in the first embodiment are followed by the letter "A." In this embodiment, the control unit 13a executes the process of each step according to the flowcharts in Figures 6 and 18, but the following steps are different from those in the first embodiment.

(S30A)
6, when the diamond-shaped workpiece W is placed in the recess 35 of the centering block 34, a pair of outer peripheral side surfaces that form a corner intersecting with each other at an angle of less than 90 degrees are placed downward in the recess 35. As a result, of the pair of outer peripheral side surfaces that enter the recess 35, one outer peripheral side surface Wd (see FIG. 19) on the displacement sensor 44 side faces downward.

(S40A)
In S40 of the first embodiment, the control unit 13a controls the drive motor 64 of the headstock 21 to rotate the workpiece material W held by the clamping portion by 30 degrees to the + side around the B axis.

In contrast, in the present embodiment, S40A rotates the diamond-shaped workpiece material W held in the clamping section in the + direction around the B axis by controlling the drive motor 64 of the headstock 21 by the control section 13a. This rotation positions the outer peripheral side surface Wd of the workpiece material W, which was facing downward on the displacement sensor 44 side, so that it is included in the imaginary vertical plane E2 (see FIG. 19).

<Flowchart of FIG. 18>
In S50 in Fig. 6, the measuring device 56 is turned on (activated), and the tilt measurement process by the measuring device 56 is executed according to a flowchart having steps S51, S52A, S58A, and S59 shown in Fig. 18, instead of the flowchart in Fig. 7. S51 is the same as in the first embodiment, so a description thereof will be omitted.

(S52A)
In S52A, the contact P of the displacement sensor 44 is caused to protrude outside the mechanism cover case 15 and is brought into contact with the outer peripheral side surface Wd of the workpiece material W that faces the displacement sensor 44.

The portion of the outer peripheral side surface where the contact P comes into contact corresponds to the first measurement point Q1. Here, the displacement sensor 44 is arranged to be oriented toward the first measurement point Q1. In FIG. 19, the contact P coming into contact with the first measurement point Q1 is also labeled P1 to distinguish it from contacts coming into contact with other measurement points.

The stroke amount of the contact P when it comes into contact with the outer peripheral side surface Wd of the workpiece material W corresponds to the distance between the displacement sensor 44 and the first measurement point Q1 and is the measurement value Md.

The displacement sensor 44 outputs the acquired measurement value Md at the first measurement point Q1 to the measurement device 56, and returns the contact P to the position before measurement after the measurement is completed.
(S58A)
In S58A, the measuring device 56 controls the air cylinder 43 for vertical movement to return the displacement sensor 44 to the origin position by abutting the abutment member 45 of the vertical movement member 40 against the origin stopper block 48 located at the interference position, as shown in Figure 8 (g).

(S59)
19, the measuring device 56 causes the contact P of the displacement sensor 44 to protrude outside the mechanism cover case 15 and abut against the outer circumferential side surface Wd of the workpiece material W that faces the displacement sensor 44. In this embodiment, when the displacement sensor 44 is located at the origin position, the contact P is set to abut against the upper part of the outer circumferential side surface Wd of the workpiece material W, as shown in FIG.

Here, the displacement sensor 44 is positioned so as to be oriented toward the second measurement point Q2. In FIG. 19, the contact P that is in contact with the second measurement point Q2 is also marked with the symbol P2 to distinguish it from contacts that are in contact with other measurement points. The second measurement point Q2 is also the origin position. The stroke amount of the contact P when it comes into contact with the outer peripheral side surface Wd of the workpiece material W corresponds to the separation distance between the displacement sensor 44 and the second measurement point Q2 and is the measurement value Mu.

The displacement sensor 44 outputs the acquired measurement value Mu at the second measurement point Q2 to the measurement device 56, and returns the contact P to the position before measurement after the measurement is completed.
The measuring device 56 as a calculation unit calculates the inclination γ of the workpiece material W based on the measurement values Md, Mu at the first measurement point Q1 and the second measurement point Q2, respectively. The calculation of the inclination γ of the workpiece material W is similar to that in the first embodiment.

2. Differences in the flowchart of FIG. 6 (S60A)
When the inclination γ of the workpiece material W is obtained, in S60A of Figure 6, in order to eliminate the inclination γ (≠ 0), the control unit 13a rotates the workpiece material W by γ to the + side or - side depending on whether the inclination γ (≠ 0) of the workpiece material W is inclined to the - side or + side around the B axis.

In this embodiment, the outer peripheral side surface Wd of the workpiece material W is positioned so as to be included in the imaginary vertical plane E2.
Furthermore, when the inclination γ is 0°, no rotation correction is made about the B axis of the workpiece material W, and the rotational position of the workpiece material W is maintained.

(S70A)
In S70A, the control unit 13a commands the measuring device 56 to be turned on (activated), and the measuring device 56 performs misalignment measurement processing in accordance with the shape of the outer circumferential side surface of the workpiece material. In the misalignment measurement of this embodiment, the displacement sensor 44 is positioned at the origin position shown in Fig. 8(a) and one-point measurement is performed, so that the contact comes into contact with the portion indicated by Q2 on the outer circumferential side surface Wd shown in Fig. 19.

Hereinafter, similarly to the first embodiment, the measurement device 56 calculates the amount of misalignment X of the workpiece center in the X direction and the amount of misalignment Z of the workpiece center in the Z direction.
When the calculation results, which are the amount of misalignment X of the workpiece center in the X direction and the amount of misalignment Z of the workpiece center in the Z direction, are obtained, the measuring device 56 outputs the calculation results to the control unit 13a.

(S80A and S90A)
In the first embodiment, S80 and S90 are the theoretical shape sizes of the design criteria for a triangular insert, but in the second embodiment, S80A and S90A are the theoretical shape sizes of a diamond insert. The rest of the second embodiment is the same as the first embodiment, so the description will be omitted.

In this embodiment, the effects (1) to (6) of the first embodiment are similarly achieved.
This embodiment can be modified as follows: This embodiment and the following modifications can be combined with each other to the extent that there is no technical contradiction.

- In the first embodiment, the lower position of the displacement sensor 44 is the first measurement position, and the upper position is the second measurement position, and Md and Mu are measured in this order. The measurement order is not limited to this order, and may be reversed.

- In the second embodiment, the lower position of the displacement sensor 44 is set as the first measurement position, and the origin position is set as the second measurement position, and Md and Mu are measured in this order. The measurement order is not limited to this order, and may be reversed.

In the first embodiment, instead of omitting S70 between S60 and S80 shown in FIG. 6, the misalignment measurement in S70 may be performed between S40 and S50.
Instead of omitting S70A between S60A and S80A shown in FIG. 6 of the second embodiment, misalignment measurement in S70A may be performed between S40A and S50.

- In the first and second embodiments, the insert outer circumference grinding device 10 is equipped with a centering device 17 in anticipation of a case in which a recess D is present on the thickness side of the workpiece material W, as shown in FIG. 17(b).

When the workpiece material W is to be machined with both thickness side surfaces that are parallel flat surfaces, the centering device 17 may be omitted (see FIG. 24). In this case, the robot hand 26a can hold the workpiece material W with the workpiece posture stabilized as shown in FIG. 17(a). For this reason, the robot hand 26a can insert the workpiece material W between the tailstock 20 and headstock 21, and then the workpiece material W can be clamped by the tailstock 20 and headstock 21.

In the above embodiment, a single displacement sensor 44 is used. However, a pair of displacement sensors may be used to measure the distance between the first measurement point and the second measurement point.
A displacement sensor for performing single point measurement may further be provided.

LIST OF SYMBOLS 10...Insert outer periphery grinding device 12...Machine body 13...Control panel 13a...Control unit 14...Work head unit 15...Mechanism cover case 15a...Opening 16...Supply and transport unit 17...Centering device 18...Grinding wheel head 19...Insert inclination detection device 20...Tail stock 21...Head stock 22...Cutting wheel 23...Pallet stocker 24...Pallet transport device 25...Work pallet 26...Articulated robot 26a...Robot hand 27...Opening and closing cover 30...Support member 32...Moving arm 34...Centering block 35...Recess 39...Moving mechanism unit 40...Up and down moving member 41...Mounting member 43...Air cylinder for up and down movement 43a...Rod 44...Displacement sensor (first displacement sensor, second displacement sensor)
44a: Contactor 45: Abutment member 46: Guide member 47: Guide member 48: Origin stopper block 49: Air cylinder 50: Rod 51: Position sensor 52: Upward movement stopper 53: Downward movement stopper 56: Measuring device Bo: Center D: Recess E1: Virtual vertical surface E2: Virtual vertical surface (virtual plane)
K... Machining chamber J... Distance between upper and lower positions of the displacement sensor 44 M1, M2, M3... Separation distance N... Center deviation vector P... Contact Q1... First measurement point Q2... Second measurement point R... Loader chamber T... Control chamber W... Workpiece material Wa... Outer peripheral side surface Wb... Outer peripheral side surface Wc... Outer peripheral side surface Wd... Outer peripheral side surface

Claims (8)

A method for detecting inclination of an insert using a clamping unit that clamps an insert having a plurality of outer peripheral surfaces (hereinafter referred to as side surfaces) forming a polygonal shape and having two thickness-side side surfaces in a thickness direction, and an insert inclination detection device having a displacement sensor,
A first step of clamping the thickness side surface of the insert with the clamping portion;
a second step of acquiring, as a measurement value, a distance between a first measurement point and a second measurement point on one side of the plurality of side surfaces, the first measurement point and the second measurement point, using a displacement sensor that is oriented toward the first measurement point and the second measurement point, respectively, at a pair of positions facing the side surface;
The method for detecting an inclination of an insert includes a third step of detecting an inclination of the insert based on the measurement value at the first measurement point and the measurement value at the second measurement point. The method for detecting the inclination of an insert according to claim 1, wherein the step of measuring the misalignment of the insert using the displacement sensor is between the first step and the second step, or after the third step. The displacement sensor is a single sensor that is movably provided,
The measurement values at the first measurement point and the second measurement point are obtained by moving the displacement sensor between the pair of positions;
3. The method for detecting an inclination of an insert according to claim 2, wherein the insert is positioned at a misalignment measurement position when measuring the misalignment of the insert. A clamping portion that clamps the thickness side surface of an insert having a plurality of outer peripheral side surfaces (hereinafter referred to as side surfaces) that are polygonal and two thickness side surfaces in a thickness direction;
In the insert held by the holding portion, when two points spaced apart in an extending direction of one of the side surfaces are defined as a first measurement point and a second measurement point,
a pair of displacement sensors disposed at a pair of positions facing the side surface, the displacement sensors being oriented toward the first measurement point and the second measurement point, respectively, and acquiring distances to the first measurement point and the second measurement point as measurement values;
An insert inclination detection device comprising a calculation unit that calculates the inclination of the insert based on the measurement value at the first measurement point and the measurement value at the second measurement point. The displacement sensor further measures the misalignment of the insert,
The insert inclination detection device according to claim 4 , wherein the calculation unit determines an amount of misalignment based on a result of the misalignment measurement by the displacement sensor. The displacement sensor is configured with a single sensor,
The insert inclination detection device of claim 5, further comprising a movement mechanism for moving the displacement sensor between the pair of positions when acquiring the measurement values at the first measurement point and the second measurement point, and for positioning the displacement sensor at a center misalignment measurement position when measuring the center misalignment of the insert. An insert outer periphery grinding device comprising a cutting wheel for grinding an outer peripheral side surface (hereinafter referred to as a side surface) of an insert and the insert inclination detection device according to any one of claims 4 to 6,
The clamping portion varies a rotational position of the insert;
An insert outer periphery grinding device comprising a control unit that rotates the insert in the clamping unit so as to reduce the inclination of the insert calculated by the insert inclination detection device. The insert has a plurality of polygonal outer peripheral side surfaces (hereinafter referred to as side surfaces) and is placed on the side surfaces to roughly center the insert. The centering device moves the placement unit to the clamping unit.
The insert outer periphery grinding device according to claim 7 , wherein the clamping portion clamps the insert placed on the placement portion of the centering device.

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