Cutting device

1. A cutting device, comprising:

a main body;

a cutting head including a grasper capable of grasping either a processing tool or a detection tool;

a magazine provided in the main body, the magazine including:

a magazine main body;

a stocker accommodating either the processing tool or the detection tool;

a tool sensor provided in the magazine main body, the tool sensor detecting either the processing tool or the detection tool that is grasped by the grasper; and

a first protrusion and a second protrusion provided on a top surface of the magazine main body;

a movement mechanism moving the grasper three-dimensionally with respect to the magazine; and

a controller controlling the movement mechanism; wherein the controller includes:

a first reference point detection processor controlling the movement mechanism such that the detection tool grasped by the grasper contacts the first protrusion, and detecting an actual position of a first reference point, which is a center point of a top surface of the first protrusion;

a second reference point detection processor controlling the movement mechanism such that the detection tool grasped by the grasper contacts the second protrusion, and detecting an actual position of a second reference point, which is a center point of a top surface of the second protrusion;

a sensor offset calculation processor calculating a sensor offset, which is a correction value on an actual position of the tool sensor with respect to a designed position of the tool sensor, based on the first reference point and the second reference point;

a stocker offset calculation processor calculating a stocker offset, which is a correction value on an actual position of the stocker with respect to a designed position of the stocker, based on the first reference point and the second reference point; and

a movement control processor controlling the movement mechanism based on the sensor offset and the stocker offset.

2. The cutting device according to claim 1 , wherein:

the first reference point is represented by a coordinate in an XYZ orthogonal coordinate system; and

the first reference point detection processor includes:

a first measurement point detection processor detecting a first measurement point, which is a point on an outer circumferential surface of the first protrusion;

a second measurement point detection processor detecting a second measurement point, which is a point on the outer circumferential surface of the first protrusion and has a Y coordinate same as a Y coordinate of the first measurement point and an X coordinate different from an X coordinate of the first measurement point;

a third measurement point detection processor detecting a third measurement point, which is a point on the outer circumferential surface of the first protrusion and has, as an X coordinate, an X coordinate of a median point between the X coordinate of the first measurement point and the X coordinate of the second measurement point;

a fourth measurement point detection processor detecting a fourth measurement point, which is a point on the outer circumferential surface of the first protrusion and has an X coordinate same as the X coordinate of the third measurement point and a Y coordinate different from a Y coordinate of the third measurement point;

a first reference point X calculation processor setting an X coordinate of a median point between the X coordinate of the first measurement point and the X coordinate of the second measurement point as the X coordinate of the first reference point;

a first reference point Y calculation processor setting a Y coordinate of a median point between the Y coordinate of the third measurement point and the Y coordinate of the fourth measurement point as the Y coordinate of the first reference point; and

a first reference point Z detection processor controlling the movement mechanism such that the detection tool grasped by the grasper contacts a position that is on the top surface of the first protrusion and has, as an X coordinate, the X coordinate of the first reference point and, as a Y coordinate, the Y coordinate of the first reference point, and detecting the Z coordinate of the first reference point.

3. The cutting device according to claim 1 , wherein:

the second reference point is represented by a coordinate in an XYZ orthogonal coordinate system; and

the second reference point detection processor includes:

a fifth measurement point detection processor detecting a fifth measurement point, which is a point on an outer circumferential surface of the second protrusion;

a sixth measurement point detection processor detecting a sixth measurement point, which is a point on the outer circumferential surface of the second protrusion and has a Y coordinate same as a Y coordinate of the fifth measurement point and an X coordinate different from an X coordinate of the fifth measurement point;

a seventh measurement point detection processor detecting a seventh measurement point, which is a point on the outer circumferential surface of the second protrusion and has, as an X coordinate, an X coordinate of a median point between the X coordinate of the fifth measurement point and the X coordinate of the sixth measurement point;

an eighth measurement point detection processor detecting an eighth measurement point, which is a point on the outer circumferential surface of the second protrusion and has an X coordinate same as the X coordinate of the seventh measurement point and a Y coordinate different from a Y coordinate of the seventh measurement point;

a second reference point X calculation processor setting an X coordinate of a median point between the X coordinate of the fifth measurement point and the X coordinate of the sixth measurement point as the X coordinate of the second reference point;

a second reference point Y calculation processor setting a Y coordinate of a median point between the Y coordinate of the seventh measurement point and the Y coordinate of the eighth measurement point as the Y coordinate of the second reference point; and

a second reference point Z detection processor controlling the movement mechanism such that the detection tool grasped by the grasper contacts a position that is on the top surface of the second protrusion and has, as an X coordinate, the X coordinate of the second reference point and, as a Y coordinate, the Y coordinate of the second reference point, and detecting the Z coordinate of the second reference point.

4. The cutting device according to claim 1 , wherein:

the first reference point and the second reference point are each represented by a coordinate in an XYZ orthogonal coordinate system;

the sensor offset includes a sensor X offset as a sensor offset in an X-axis direction, a sensor Y offset as a sensor offset in a Y-axis direction, and a sensor Z offset as a sensor offset in a Z-axis direction;

the controller includes a storage that stores a designed X coordinate and a designed Y coordinate of the first reference point and a designed Z coordinate of a top surface of the tool sensor; and

the sensor offset calculation processor includes:

a sensor X offset calculation processor calculating the sensor X offset by an expression represented by:

E 1 x=M _ P 1 x−DM _ P 1 x

where the sensor X offset is E 1 x , the X coordinate of the first reference point is M_P 1 x , and the designed X coordinate of the first reference point is DM_P 1 x;

a sensor Y offset calculation processor calculating the sensor Y offset by an expression represented by:

E 1 y=M _ P 1 y−DM _ P 1 y

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

a sensor Z offset calculation processor causing the grasper to contact the tool sensor from above the tool sensor to detect an actual Z coordinate of the tool sensor and calculating the sensor Z offset by an expression represented by:

E 1 z=TSz−DTSz

where the sensor Z offset is E 1 z , the actual Z coordinate of the tool sensor is TSz, and the designed Z coordinate of the tool sensor is DTSz.

5. The cutting device according to claim 4 , wherein:

the stocker offset includes a stocker X offset as a stocker offset in an X-axis direction, a stocker Y offset as a stocker offset in a Y-axis direction, and a stocker Z offset as a stocker offset in a Z-axis direction;

the storage stores a distance from the first reference point to the stocker and a designed X coordinate of the second reference point; and

the stocker offset calculation processor includes:

a stocker X offset calculation processor calculating the stocker X offset by an expression represented by:

E 2 x =( M _ P 1 x +(( M _ P 2 x−M _ P 1 x )/( DM _ P 2 x−DM _ P 1 x ))× D )−( DM _ P 1 x+D )

where the stocker X offset is E 2 x , the X coordinate of the second reference point is M_P 2 x , the designed X coordinate of the second reference point is DM_P 2 x , and the distance from the first reference point to the stocker is D;

a stocker Y offset calculation processor calculating the stocker Y offset by an expression represented by:

E 2 y =( M _P1 y +(( M _ P 2 y−M _ P 1 y )/( M _P2 x−M _P1 x ))× D )− DM _P1 y

where the stocker Y offset is E 2 y , and the Y coordinate of the second reference point is M_P 2 y ; and

a stocker Z offset calculation processor calculating the stocker Z offset by an expression represented by:

E 2 z =( M _ P 1 z +(( M _ P 2 z−M _ P 1 z )/( M _ P 2 x−M _ P 1 x ))× D )− DM _ P 1 z

where the stocker Z offset is E 2 z , and the Z coordinate of the second reference point is M_P 2 z.

6. The cutting device according to claim 1 , wherein:

the cutting head includes a spindle rotating the grasper about a rotation axis;

for the spindle, a rotation reference position, which is a reference position to rotate the grasper, is set;

the controller includes an eccentric offset calculation processor calculating an eccentric offset, which is a position difference between the detection tool grasped by the grasper when the spindle is rotated such that the rotation angle of the spindle is 0° with respect to the rotation reference position, and the detection tool grasped by the grasper when the spindle is rotated such that the rotation angle of the spindle is 180° with respect to the rotation reference position;

the sensor offset calculation processor calculates the sensor offset based on the eccentric offset; and

the stocker offset calculation processor calculates the stocker offset based on the eccentric offset.

7. The cutting device according to claim 6 , wherein:

the eccentric offset is represented by a coordinate in an XYZ orthogonal coordinate system;

the eccentric offset includes an eccentric X offset as an eccentric offset in an X-axis direction, and an eccentric Y offset as an eccentric offset in a Y-axis direction; and

the eccentric offset calculation processor includes:

a first spindle rotation processor rotating the spindle such that the rotation angle of the spindle is 0° with respect to the rotation reference position;

a first angle X detection processor detecting, when the rotation angle of the spindle is 0°, a first eccentric X coordinate, which is a point on an outer circumferential surface of the first protrusion and is an X coordinate of a ninth measurement point located at an end of the outer circumferential surface of the first protrusion in the X-axis direction;

a first angle Y detection processor detecting, when the rotation angle of the spindle is 0°, a first eccentric Y coordinate, which is a point on the outer circumferential surface of the first protrusion and is a Y coordinate of a tenth measurement point located at an end of the outer circumferential surface of the first protrusion in the Y-axis direction;

a second spindle rotation processor rotating the spindle such that the rotation angle of the spindle is 180° with respect to the rotation reference position;

a second angle X detection processor detecting, when the rotation angle of the spindle is 180°, a second eccentric X coordinate, which is the X coordinate of the ninth measurement point;

a second angle Y detection processor detecting, when the rotation angle of the spindle is 180°, a second eccentric Y coordinate, which is the Y coordinate of the tenth measurement point;

an eccentric X offset calculation processor setting a difference between the first eccentric X coordinate and the second eccentric X coordinate as the eccentric X offset; and

an eccentric Y offset calculation processor setting a difference between the first eccentric Y coordinate and the second eccentric Y coordinate as the eccentric Y offset.

8. The cutting device according to claim 1 , wherein the top surface of the first protrusion and the top surface of the second protrusion are at an equal level or a substantially equal level to each other.

9. The cutting device according to claim 1 , wherein:

the position of the magazine with respect to the main body is represented by an XYZ orthogonal coordinate system; and

the stocker, the tool sensor, the first protrusion and the second protrusion are arrayed in an X-axis direction.

10. The cutting device according to claim 1 , wherein the stocker is located between the first protrusion and the second protrusion as seen in a plan view.

11. The cutting device according to claim 1 , wherein the first protrusion and the second protrusion are circular or substantially circular as seen in a plan view.