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  • 专利说明
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    • 专利摘要:

    公开号:ES2587767T9
    申请号:ES13723500.8T
    申请日:2013-05-16
    公开日:2016-11-18
    发明作者:Stefano PASSINI；Domenico Malpezzi
    申请人:Marposs SpA；
    IPC主号:
    专利说明:

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    DESCRIPTION
    Method for estimating the rotational speed of a tool mounted on a rotating spindle of a machine tool and such a machine tool
    Technical field
    The present invention relates to a method for estimating the rotational speed of a tool mounted on a rotating spindle of a machine tool.
    In particular, the present invention can be applied advantageously, but not exclusively, to the automatic measurement process of the tool executed by means of projected shadow vision systems, to which reference will be made specifically in the following specification without loss of generality .
    Prior art
    As is common knowledge, a numerical control machine tool includes a mechanical structure with a spindle that carries a tool for machining objects and rotates it, and an electronic control unit to precisely control spindle displacements along three or more axes of movement and the rotational speed of the tool.
    The tool of a machine tool has to be measured, also when it is rotating rapidly on its axis, to determine its effective dimensions once it is mounted on the spindle or to determine its wear after a few hours of work. With this purpose, machine tools are equipped with an automatic measurement system that allows measuring the geometric characteristics of the tool, including its dimensions, while rotating on its own axis. In that sense, the United States patent application published under US-A1-2002 / 118372 refers, for example, to the testing of a leading geometry of a rotary tool to monitor breakage and deterioration by means of a measuring beam .
    An automatic measurement system is known, which includes a projected shadow vision system comprising a defocused light source and a two-dimensional image sensor, for example a cCd sensor, located in front of, and at a distance from, the light source . When used, the tool to be measured must be placed, while rotating on its own axis, between the light source and the image sensor, in the last visual field, so that the image sensor can acquire images of the shadow of the tool. The geometric features of the tool are measured on the basis of the images acquired through the vision system.
    In order to carry out the desired measurements, the vision system has to acquire images of the tool, which is rotating on the axis of rotation, in different angular positions that are separated from each other by a certain angular step. The published international patent application with number WO-A1-92 / 21938 describes, for example, a measurement arrangement for determining the rotational speed of a rotating object on which a striped diffraction network is arranged, part of the network being illuminated , for example, by an LED. The light that passes through the network captures the image in a CCD matrix and reads it through an analog / digital converter. The signals read at a certain time are compared to the signals read at an earlier time, to obtain information on the speed of the rotating object. The speed range determinable with this agreement depends strictly on the structure of the network used. A similar measurement system is described, for example, in the German patent application published under number DE-A1-102004047506 and in the European patent application published under number EP-A1-2159779.
    The rotation period of the tool to be measured is normally shorter than the image acquisition period of the image sensor. Therefore, in order to obtain images of the rotary tool with the desired angular pitch, the vision system acquires images according to an acquisition period, so that the tool performs, between two consecutive acquisitions, a certain integer of complete revolutions plus a fraction of revolution equal to the desired angular pitch.
    In order to really obtain images in the desired angular positions, the rotational speed of the tool has to be known with high precision. In fact, it is possible to demonstrate that even 1 part over 10,000 differences between the nominal or known speed and the actual speed can lead to a large acquisition of errors, that is, by obtaining images in angular positions that are far from the desired angular positions .
    So far, two methods are essentially known to solve possible deviations from the value of the actual speed of the nominal. A first known method is to make a number of acquisitions that is enormously redundant compared to a minimum number of acquisitions. This first method is often not feasible, since it requires too much execution time compared to what is allowed to carry out the measurement cycle. The second known method is to use a speed or position sensor arranged, for example,
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    on the spindle, in such a way that real-time speed data is available, always updated and reliable. This second method, in many cases, is not performed because it is considered too invasive.
    Disclosure of the invention
    The object of the present invention is to provide a method for accurately determining the rotational speed of a tool mounted on a rotating spindle of a machine tool, such a method being free from the previously described drawbacks and, at the same time, being able to be easily implemented. and economic
    In accordance with the present invention, a method is provided for estimating the rotational speed of a tool mounted on a rotating spindle of a machine tool, a method for acquiring images of a tool and a machine tool, in accordance with what is claimed in the attached claims.
    Brief description of the drawings
    The present invention is now described with reference to the attached drawing sheets, given by way of non-limiting examples, in which:
    - Figure 1 shows a numerical control machine tool comprising a vision system that implements a method for estimating the rotational speed of a tool mounted on the rotating spindle of a machine tool, which method is provided together with the present invention; Y
    - Figure 2 is an extremely schematic and enlarged cross-sectional view of the tool of Figure 1, showing an example of the angular positions in which it is desired to acquire images of the tool according to temporal cadence that is calculated as a function of the estimated rotational speed by means of the method of the invention.
    Best mode for carrying out the invention
    A numerical control machine tool ("CN") is indicated generically in Figure 1 with reference 1, and comprises a spindle 2, on which a tool 3 is mounted, and a first electronic control unit 4, plasma the numerical control of the machine tool 1. The first electronic control unit 4 is capable of controlling the rotational speed of the spindle 2 and controlling the movements of the spindle 2 along at least one axis of travel, typically along the three Cartesian axes X, Y and Z through specialized actuators, known per se and therefore not illustrated.
    The start and stop of the movement of the spindle 2 along the displacement axes are normally controlled through the first control unit 4. However, the stop of the movements of the spindle 2 along the displacement axes It can also be controlled, in accordance with an alternative procedure, by an external unit through a specific input 5 of the first control unit 4, generally referred to as "skip input" or "skip input" in English. The first control unit 4 is also set to record the position of the spindle 2 along the displacement axes, for example as a function of the signal at the input 5. The first control unit 4 also includes a communication interface 6 , for example a port of an ethernet network.
    The machine tool 1 is provided with a visual system 7 adapted to measure the geometric characteristics, for example the dimensions, of a tool 3 while the machine tool 1 keeps the spindle 2 rotating on its own axis of rotation 2a. More specifically, the visual system 7 comprises a light source 8 and an image sensor 9, the latter being placed in front of, and at a certain distance from, the light source 8. The image sensor 9 is adapted to acquire images of the tool 3, more specifically images of the shadow of the tool 3 when the latter is placed between the light source 8 and the image sensor 9 by means of the movement of the spindle 2 along the displacement axes. The light source 8 and the image sensor 9 are mounted on a shared support frame 7a. The light source 8 generates an unfocused beam of light and the image sensor 9 includes, for example, a digital CCD sensor.
    The visual field of the image sensor 9 defines a measuring area for the tool 3. In fact, the tool 3 is measured by placing the rotary tool 3 in the visual field of the image sensor 9, acquiring images of the visual field and calculating, by For example, the dimensions of the tool 3 from the acquired images.
    In accordance with the present invention, the visual system 7 comprises a second electronic control unit 10 connected to the first control unit 4 to send controls and exchange data with the first control unit 4. More specifically, the second control unit 10 it comprises an output 11 connectable to the input 5 of the first control unit 4 and a communication port 12 connectable to the communication interface 6 of the first control unit 4. In Figure 1, the second control unit 10 is shown as physically integrated in the support frame 7a but, alternatively, it may be physically different from the support frame 7a.
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    The first and second control units 4 and 10 are programmed to implement a method for estimating the rotational speed of a tool mounted on a rotary spindle, which method is provided with the present invention and is described below.
    A range of preselected values VC of rotational speed, or preselected speed values VC is defined, which is substantially centered on a nominal value VN of rotational speed of spindle 2, or nominal speed value VN. A respective image acquisition period TA is determined for each of the preselected values VC such that it is equal to a multiple of a rotational period TR of the spindle 2 in accordance with that calculated for that preselected value VC and is compatible with the visual system 7, that is, compatible with the maximum image index (or "frame rate") of the image sensor 9. The nominal value VN is the selectable speed in the first control unit 4. For simplicity, the range of values of preselected velocities VC centered on the value of the nominal velocity VN is sometimes simply referred to as the first ICN range of values hereafter referred to herein. Assuming a nominal value of 10,000 rpm, the first ICN interval comprises, for example, all speed values between 9900 rpm and 10100 rpm with a step of 1 rpm.
    To control the first control unit 4, the spindle 2 is rotated to the nominal speed value VN and positioned in the visual field of the visual system 7. During such rotation, by means of the vision system 7, representative pairs of images are obtained of tool 3, images that, in each representative pair, are temporarily separated from each other by the period of acquisition of image TA corresponding to one of the preselected speed values VC. An estimated speed value VS, which is to be associated with the nominal speed value VN, is determined as that preselected speed value, selected from all the preselected speed values VC, to which the representative pair of images corresponding to more similar to each other based on a similarity rule. That is, for each representative pair of images, the respective value of a similarity index is calculated, which establishes the degree of similarity between two images, and the estimated speed value VS is represented by that preselected speed value with which corresponds the representative pair of images that are the most similar to each other based on a similarity rule.
    The similarity rule comprises, for example, the following process. For each image of each representative pair of images, a matrix A, B respective of real numbers is defined, each of the real numbers of the brightness of a respective pixel of the image being representative. For each representative pair of images, a matrix of difference C is obtained as the difference, element by element, of the two matrices A and B relative to the two images of the representative pair of images, and the value of a norm N of the difference matrix C. The estimated speed value VS is represented by the preselected speed value, selected from all the preselected speed values VC, corresponding to the representative pair of images that gives the minimum value of the norm N. The index similarity is then represented by norm N.
    The computation of the image acquisition period TA, of the matrix of the difference C and of the norm N and the estimation of the estimated speed value VS are executed, for example, by the second control unit 10.
    According to a further feature of the invention, the first and second control units 4 and 10 are established to implement a method for acquiring images of a tool mounted on a rotating spindle, which is based on said method for estimating the rotational speed of the tool, as described in this document below.
    The spindle 2 rotates at the nominal speed value VN and a real rotational speed value VE of the spindle 2 is determined. Images of the tool 3 are acquired through the vision system 7 in a temporal cadence TM which is calculated as a function of the real speed value VE and such that the tool 3 performs, between two consecutive acquisitions, an integer number of complete revolutions plus a fraction of revolution equal to a desired angular pitch p. So the acquired images show the tool 3, while it is rotating on the axis 2a, in different angular positions that are separated from each other by the angular pitch p. The images acquired in this way can then be used, for example, to measure the geometric characteristics of the tool 3.
    As an example, in Figure 2, which is an extremely schematic cross-sectional view perpendicular to axis 2a of tool 3, references 13 indicate some planes, belonging to a set of planes defined by axis 2a, which are angularly separated from each other by the angular pitch p (45 ° according to figure 2, to be considered as a non-limiting example). Therefore, the acquired images must show the tool 3 in the angular positions defined by the longitudinal planes 13. That is, the longitudinal planes 13 define the frame planes to acquire the images of the tool 3.
    According to the invention, the method for acquiring images of the tool 3 includes a calibration phase, for example a preliminary phase of calibration of the value of the rotational speed in order to provide, by means of the method for estimating the rotational speed previously described. , a first estimated speed value VS1
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    which is associated with the nominal speed value VN. The actual speed value VE is determined as a function of the first estimated speed value VS1.
    For example, the actual velocity value VE coincides with the first estimated velocity value VS1 or, according to a preferred embodiment of the invention, with a second estimated velocity value VS2 that is obtained by applying the method for estimating rotational velocity. at a second range of preselected speed values VC that is substantially centered on the first estimated speed value VS1, hereinafter referred to as the second ICS range of values, instead of the first ICN range of values. In other words, the previously described estimation method is applied, which is modified in such a way that the nominal speed value VN is replaced with the first estimated speed value VS1 and the first ICN interval of values is replaced with the second ICS interval of values.
    Typically, the second ICS interval of values is smaller than the first ICN interval of values and, advantageously, the preselected velocity values VC of the first ICS interval, can be spaced apart from each other in an amount smaller than that of the second ICN interval. According to an exemplary embodiment, while the first ICN interval mentioned above includes approximately 200 preselected VC speed values separated at 1 rpm between sf, the second ICS interval has approximately 40 preselected VC speed values separated at 0.5 rpm between sf.
    The calibration phase of the rotational speed value makes it possible to largely correct the error between the nominal speed value VN assigned to the spindle 2 by the first control unit 4 and the speed at which the tool 3 actually rotates. The phase of determination of the real VE speed value, which is carried out in the preferred embodiment of the invention, at the beginning of the image acquisition phase of the tool in different angular positions, applying the method to estimate the rotational speed at the second interval ICS values, allows to correct possible short-term speed variations.
    Advantageously, according to one of the possible options of the present invention, the second estimated speed value VS2 can be obtained without analyzing all the preselected speed values VC of the second ICS interval, in order to reduce the calculation time. More specifically, the procedure includes the determination of the acquisition period of TA images, the obtaining of the respective representative pair of images and the procedure of the similarity rule is carried out in groups of at least three preselected VC velocity values adjacent between sf and including two final values. The procedure is stopped when it is found that a certain group that includes certain preselected speed values VCc, for example a preselected speed value VC, different from the two final values of the group, to which the representative pair of images corresponding to more similar among sf in the group. The certain preselected speed value VCc, which may be the central value of the group, and in no case is it none of the lowest and highest preselected speed values VC of the group, defines the second estimated estimated speed value VS2. More specifically, the analysis of the second ICS interval, carried out in groups of three VC values at a time, stops when a group of three VC values is found, such that the principal of such three values has a minimum value of the N standard .
    For example, assuming that the second ICS interval comprises 2n + 1 velocity values, that the velocity values of the second ICS interval are provided with an index that assumes all the values of the series of natural numbers [-n, ..., -2, -1, 0, 1, 2, ..., n] where the index i = 0 identifies the central speed value that is equal to the first estimated speed value VS1, and that the analysis starts from the central value (i = 0), then the first group of preselected speed values is identified by the indices [-1, 0, 1]. The norm N is calculated for the three representative pairs of images identified by the indices i = [-1, 0, 1]: if the value of the norm N related to the index i = 0 is lower, then the values of the norm N for the other two indices (corresponding to the final values of the group), then the value of the norm N for the index i = 0 is a minimum and the central velocity value is the second estimated velocity value VS2 that is desired. Otherwise, the analysis continues with the second group of preselected velocity values identified by the indices i = [-2, - 1, 0]. If, even for the second group of preselected speed values, the minimum value of standard N does not correspond to the central value (index i = -1), the analysis continues with a third group of preselected speed values identified by the indices i = [0, 1, 2], and so on, for the entire analysis, in the worst case, all the values of the second ICS interval.
    Advantageously, the rotational speed value calibration phase is carried out by means of a plurality of nominal speed values VNj in order to obtain a corresponding plurality of estimated speed values VSj. Associating to each nominal speed value VNj the corresponding estimated speed value VSj obtained by means of the estimation method described above, a table of pairs of nominal and estimated speed values VNj and VSj is filled in, and can be recorded in a storage of internal data of the second control unit 10. Such a table is used to obtain the first estimated speed value VS1- during the phase of determining the actual VE speed value- using the nominal speed value VN as input.
    Variations are possible to what has been described and illustrated so far through simple non-limiting examples, for example with respect to the operation of obtaining the representative pairs of images of the
    tool 3. In order to counteract possible problems due to the images that could show a null or very small percentage of the tool 3, during the rotation of the spindle 2, sets of pairs of test images of the tool 3 are acquired by means of the vision system 7, more specifically corresponding to a set of test pairs for each period of acquisition of TA image to one of the preselected speed values 5 VC. In each set, different test pairs are spiced between each other by a fraction of the relative acquisition period of TA image, and the images of each test pair are separated from each other by said image acquisition period. Then, a reliability index can be assigned to each test pair, which is a code that depends, for example, on the percentage of the tool 3 that is actually visible in the relative image test pair. According to these different embodiments of the invention, each of the 10 representative pairs of images of the tool 3 are obtained from one of the test pairs of a set, for example by choosing one of the test pairs based on said reliability indices, or when defining a representative pair of images called accumulated, where each accumulated image can be calculated as a function, for example as a weighted average, of the images of the test pairs of a set - an image outside each test pair-, preferably taking into account relative reliability indices.
    The main advantage of the method for estimating the rotational speed of a tool mounted on a rotating spindle according to the present invention is to obtain speed values with a very low error rate through a fairly rapid process and without the need to modify the machine tool or add supplementary devices 20. Such an advantage is especially useful in a method for acquiring images of a tool mounted on a rotating spindle, during which the images of the tool are acquired in different angular positions, separated from each other by a certain angular step, in order to measure the characteristics. tool geometric.
    权利要求:
    Claims (13)
    [1]
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    1. Method for estimating the rotational speed of a tool (3) mounted on a rotating spindle (2) of a machine tool using a visual system (7) that acquires images of the tool (3) while it is rotating; The method comprising the steps of:
    - rotate the spindle (2) to a nominal speed value (VN);
    - position the tool (3) in the visual field of the visual system (7); Y
    - obtain, by means of said visual system (7), representative pairs of images of the tool (3); the method being characterized in that it includes the following steps:
    - defining a first interval (ICN) of preselected speed values (VC) of rotational speed that is substantially centered on the nominal speed value (VN) of rotational speed of the spindle (2);
    - for each of said preselected speed values (VC), determine a respective image acquisition period (TA) so that it is equal to a multiple of a rotational period (TR) of the spindle (2) as calculated for that preset speed value (VC) and compatible with said visual system (7), said images of the tool (3) being obtained by means of said visual system (7), in each representative pair, temporarily separated from each other by the period of image acquisition (TA) corresponding to one of said preselected speed values (VC); Y
    - determine an estimated speed value (VS) to be associated with said nominal speed value (VN) as that preselected speed value, selected from all preselected speed values (VC), to which the representative pair of images that are the most similar to each other based on a similarity rule.
    [2]
    2. Method according to claim 1, wherein said similarity rule includes the following processing steps:
    - for each image of each representative pair of images, define a matrix (A, B) of respective real numbers, each of the real numbers representing the brightness of a respective pixel of an image;
    - for each representative pair of images, obtain a difference matrix (C) as the difference of the two matrices (A, B) relative to the two images of the representative pair of images;
    - calculate a value of a respective standard (N) of the difference matrix (C); Y
    - select, as the estimated speed value (VS), that preselected speed value (VC) to which the minimum value of said norm (N) corresponds.
    [3]
    3. Method according to claim 1 or claim 2, wherein the step of obtaining, by means of said visual system (7), representative pairs of images of the tool (3) includes
    - acquire sets of pairs of test images of the tool (3) by means of the vision system (7), in each of said sets
    • the images of each of said test pairs being temporarily separated from each other by the image acquisition period (TA) corresponding to one of the relative preselected speed value (VC), and
    • the test pairs being temporarily separated from each other by a fraction of the same image acquisition period (TA), and
    - obtaining each of said representative pairs of images of the tool (3) from one of said sets of test pairs.
    [4]
    4. Method according to claim 3, in which a reliability index assigned to each test pair is assigned, depending on the reliability index of the percentage of the tool (3) that is actually visible in each image of the pair of proof.
    [5]
    5. Method according to claim 4, wherein each of said representative pairs of images of the tool (3) is obtained by choosing one of the test pairs of a set based on the reliability index.
    [6]
    6. Method according to claim 3 or claim 4, wherein each of said representative pairs of images of the tool (3) is obtained by defining a representative pair of accumulated images, the accumulated images being calculated as a function of the images of the test pairs of a set, an image of each test pair for each of the accumulated images.
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    [7]
    7. Method for acquiring images of a tool mounted on a rotating spindle of a machine tool; including the method the following stages:
    - rotate the spindle (2) to a nominal speed value (VN);
    - determine a real speed value (VE) of the rotational speed of the spindle (2); Y
    - Acquire, by means of a visual system (7), images of the tool (3) in a temporal cadence (TM) that is calculated as a function of the actual speed value (VE) and is such that the tool (3) it makes, between two consecutive acquisitions, one or more complete revolutions plus a fraction of revolution equal to a desired angular pitch (p) such that the acquired images show the tool (3) in different angular positions that are separated from each other by said angular pitch (p);
    the method being characterized in that it includes a calibration phase, in which a first estimated speed value (VS1), which is to be associated with said nominal speed value (VN), is obtained with the method according to one of claims 1 to 6, and wherein the actual speed value (VE) is determined as a function of said first estimated speed value (VS1).
    [8]
    8. Method according to claim 7, wherein said real speed value (VE) coincides with the first estimated speed value (VS1).
    [9]
    9. Method according to claim 7, wherein said real speed value (VE) coincides with a second estimated speed value (VS2) obtained with the method according to claim 1 or 2 which is modified in such a way that said nominal speed value (VN) is replaced with said first estimated speed value (VS1) and said first interval (ICN) of preselected speed values is replaced with a second interval (ICS) of preselected speed values that is centered substantially at the first estimated speed value (VS1).
    [10]
    10. Method according to claim 9, wherein said second interval (ICS) of preselected speed values is narrower than said first interval (ICN) of preselected speed values.
    [11]
    11. Method according to claim 9 or claim 10, wherein said second estimated speed value (VS2) is obtained with the method according to claim 1 or 2 modified in such a way that the procedure including the determination of the image acquisition period (TA), the acquisition of the representative pair of images and the processing of the similarity rule
    - it is carried out in groups of at least three preselected speed values (VC) adjacent to each other and including two final values, and
    - stops when a certain group among said groups is including a certain preselected speed value, which differs from said two final values of said certain group, to which corresponds a representative pair of images that are the most similar between them in said certain group,
    said certain preset speed value defining said second estimated speed value (VS2).
    [12]
    12. Machine tool that includes a spindle (2) on which a tool (3) is mounted, a first electronic control unit (4) that is adapted to control the rotational speed of the spindle (2), and a visual system ( 7) to acquire images of the tool (3) while turning; the machine tool (1) being characterized in that the visual system (7) includes a second electronic control unit (10) connected to communicate with the first control unit (4), and why the first (4) and second ( 10) control units are configured to implement the method for estimating the rotational speed of a tool according to one of claims 1 to 6.
    [13]
    13. Machine tool according to claim 12, wherein said first (4) and second (10) control units are configured to implement the method for acquiring images of a tool according to any of claims 7 to 11.
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    同族专利:
    公开号 | 公开日
    TW201408423A|2014-03-01|
    US20150092185A1|2015-04-02|
    EP2856180A1|2015-04-08|
    JP5981029B2|2016-08-31|
    WO2013174707A1|2013-11-28|
    ITBO20120289A1|2013-11-26|
    EP2856180B9|2016-10-05|
    KR20150015522A|2015-02-10|
    IN2014DN09438A|2015-07-17|
    TWI605904B|2017-11-21|
    JP2015517668A|2015-06-22|
    EP2856180B1|2016-05-25|
    ES2587767T3|2016-10-26|
    CN104335053A|2015-02-04|
    CA2874573C|2019-06-11|
    CN104335053B|2017-05-17|
    KR102017737B1|2019-09-03|
    CA2874573A1|2013-11-28|
    US9494614B2|2016-11-15|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ITBO20120289|2012-05-25|
    IT000289A|ITBO20120289A1|2012-05-25|2012-05-25|METHOD FOR ESTIMATING THE ROTATION SPEED OF A TOOL ASSEMBLED ON A ROTARY SPINDLE OF A TOOL MACHINE|
    PCT/EP2013/060127|WO2013174707A1|2012-05-25|2013-05-16|Method for estimating the rotational speed of a tool mounted on a rotating spindle of a machine tool and such a machine tool|
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