Control device, industrial machine, and control method

A control device of a machine, the machine including a jig and a main shaft, the jig being configured to support a workpiece, the main shaft including a tool that machines the workpiece and a head that supports the tool, the control device comprising:

• a relative displacement-specifying 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 contact determination unit configured to determine whether the tool comes into contact with the workpiece based on a measurement value related to flexure of the main shaft;
• a tool data correction unit configured to correct tool data indicating a length of the tool based on the relative displacement when it is determined that the tool comes into contact with the workpiece;
• and
• a control unit configured to generate a control command useable to control the jig or the tool based on the relative displacement, a shape of the workpiece, and the tool data,
• the head being provided with
• a hinge member connecting a distal portion and a proximal portion of the head to each other, and
• a strain sensor provided to straddle a rotation axis of the hinge member, and
• the contact determination unit being configured to determine whether the tool comes into contact with the workpiece based on a measurement value of the strain sensor.

A control method of a machine, the machine including a jig and a main shaft, the jig being configured to support a workpiece, the main shaft including a tool that machines the workpiece, the control method comprising:

• 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 imaged by a camera supported by a support that does not come into contact with the machine when it is determined that the jig and the tool are respectively positioned at the jig calibration point and the tool calibration point;
• determining whether the tool comes into contact with the workpiece based on a measurement value related to flexure of the main shaft;
• correcting tool data indicating a length of the tool based on the relative displacement when it is determined that the tool comes into contact with the workpiece;
• and
• generating a control command useable to control the jig or the tool based on the relative displacement, a shape of the workpiece, and the tool data.

A control method of a machine, the machine including a jig and a main shaft, the jig being configured to support a workpiece, the main shaft including a tool that machines the workpiece and a head that supports the tool, the head being provided with a hinge member and a strain sensor, the hinge member connecting a distal portion and a proximal portion of the head to each other, the strain sensor being provided to straddle a rotation axis of the hinge member, the control method comprising:

• 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 tool comes into contact with the workpiece based on a measurement value of the strain sensor,
• correcting tool data indicating a length of the tool based on the relative displacement when it is determined that the tool comes into contact with the workpiece;
• and
• generating a control command useable to control the jig or the tool based on the relative displacement, a shape of the workpiece, and the tool data.