# US 12,377,507 B2 · Control device, industrial machine, and control method

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- Number: US 12,377,507 B2
- Document ID: US12377507B2
- Status: Granted
- Kind: B2
- Application number: 18/042,418
- Filed: 2021-09-10
- Published: 2023-11-02
- Granted: 2025-08-05
- Earliest claimed: 2020-09-16
- Assignees: Komatsu Ltd.
- Applicants: Komatsu Ltd.
- Inventors: Kenichi Bandoh; Mohammad Munzir
- Web page: https://patentgrep.com/patent/US12377507B2

## CPC

- B23Q 15/12: Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion
- B23Q 1/25: Movable or adjustable work or tool supports
- B23Q 17/2241: {Detection of contact between tool and workpiece}
- B23Q 17/2428: {for measuring existing positions of tools or workpieces}
- G05B 19/402: characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position (G05B19/19 takes precedence)
- G05B 2219/37198: Machine as measuring station, use tool or probe, in process incycle
- G05B 2219/37383: Tool length
- B23Q: DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING (tools of the kind used in lathes or boring machines B23B27/00); MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

A relative displacement specification unit specifies a relative displacement between a jig and a tool. A position determination unit determines whether the jig and the tool are respectively positioned at a jig calibration point and a tool calibration point. A displacement correction unit corrects the measurement values of the displacements of the jig and the tool. A contact determination unit determines whether the tool has come into contact with a workpiece based on a measurement value related to a deflection of the tool. A tool length correction unit corrects tool length data based on the relative displacement when the tool is determined to have come into contact with the workpiece. A control unit generates a control command for controlling the jig or tool based on the relative displacement, a shape of the workpiece, and tool length data indicating a length of the tool.

## Claims

### Claim 1

A control device of a machine having a jig which supports a workpiece and a tool which machines the workpiece, the control device comprising:
a relative displacement specification unit configured to specify a relative displacement between the jig and the tool based on measurement values of displacements of the jig and the tool;
a position determination unit configured to determine whether the jig and the tool are respectively positioned at a jig calibration point and a tool calibration point based on the measurement values of the displacements of the jig and the tool;
a displacement correction unit configured to correct the measurement values of the displacements of the jig and the tool based on a captured image of the jig calibration point and a captured image of the tool calibration point when the jig and the tool are determined as being respectively positioned at the jig calibration point and the tool calibration point;
a contact determination unit configured to determine whether the tool has come into contact with the workpiece based on a measurement value related to a deflection of the tool;
a tool length correction unit configured to correct tool length data indicating a length of the tool based on the relative displacement when the tool is determined to have come into contact with the workpiece; and
a control unit configured to generate a control command for controlling the jig or the tool based on the relative displacement, a shape of the workpiece, and the tool length data.

### Claim 2 (depends on 1)

The control device according to claim 1, further comprising
a stiffness calculation unit configured to calculate a stiffness of the tool based on a torque of the tool and the measurement value related to the deflection of the tool,
the contact determination unit determining that the tool has come into contact with the workpiece when a calculated value of the stiffness converges.

### Claim 3 (depends on 2)

The control device according to claim 2, further comprising
a model generation unit configured to generate a state model for calculating a state of the machine based on a measurement value and the control command related to the machine; and
an error specification unit configured to specify a control error by inputting the measurement value and the control command related to the machine into the state model.

### Claim 4 (depends on 3)

The control device according to claim 3, further comprising
a finished shape generation unit configured to generate three-dimensional data representing the shape of the workpiece machined by the control command based on the control error,
the control unit generating the control command based on target data representing a target shape.

### Claim 5 (depends on 1)

The control device according to claim 1, further comprising
a model generation unit configured to generate a state model for calculating a state of the machine based on a measurement value and the control command related to the machine; and
an error specification unit configured to specify a control error by inputting the measurement value and the control command related to the machine into the state model.

### Claim 6 (depends on 5)

The control device according to claim 5, further comprising
a finished shape generation unit configured to generate three-dimensional data representing the shape of the workpiece machined by the control command based on the control error,
the control unit generating the control command based on target data representing a target shape.

### Claim 7 (depends on 1)

An industrial machine comprising:
the jig configured to support the workpiece;
the tool configured to machine the workpiece; and
the control device according to claim 1.

### Claim 8 (depends on 2)

An industrial machine comprising:
the jig configured to support the workpiece;
the tool configured to machine the workpiece; and
the control device according to claim 2.

### Claim 9 (depends on 5)

An industrial machine comprising:
the jig configured to support the workpiece;
the tool configured to machine the workpiece; and
the control device according to claim 5.

### Claim 10 (depends on 6)

An industrial machine comprising:
the jig configured to support the workpiece;
the tool configured to machine the workpiece; and
the control device according to claim 6.

### Claim 11 (depends on 3)

An industrial machine comprising:
the jig configured to support the workpiece;
the tool configured to machine the workpiece; and
the control device according to claim 3.

### Claim 12 (depends on 4)

An industrial machine comprising:
the jig configured to support the workpiece;
the tool configured to machine the workpiece; and
the control device according to claim 4.

### Claim 13

A control method of a machine having a jig which supports a workpiece and a tool which machines the workpiece, the control method comprising the steps of:
specifying a relative displacement between the jig and the tool based on measurement values of displacements of the jig and the tool;
determining whether the jig and the tool are respectively positioned at a jig calibration point and a tool calibration point based on the measurement values of the displacements of the jig and the tool;
correcting the measurement values of the displacements of the jig and the tool based on a captured image of the jig calibration point and a captured image of the tool calibration point when the jig and the tool are determined as being respectively positioned at the jig calibration point and the tool calibration point;
determining whether the tool has come into contact with the workpiece based on a measurement value related to a deflection of the tool;
correcting tool length data indicating a length of the tool based on the relative displacement when the tool is determined to have come into contact with the workpiece; and
generating a control command for controlling the jig or the tool based on the relative displacement, a shape of the workpiece, and the tool length data.