CN101497168B - Numeric control apparatus and numeric control method - Google Patents
Numeric control apparatus and numeric control method Download PDFInfo
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- CN101497168B CN101497168B CN2009100098916A CN200910009891A CN101497168B CN 101497168 B CN101497168 B CN 101497168B CN 2009100098916 A CN2009100098916 A CN 2009100098916A CN 200910009891 A CN200910009891 A CN 200910009891A CN 101497168 B CN101497168 B CN 101497168B
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Abstract
The invention provides a numerical control device and a numerical control method for judging various forms such as installation, uninstallation and incomplete installation of the tool keeper at high precision. A pull rod provided on the main shaft comprises a clamp spring and keeps the tool keeper on the main shaft by the elasticity of the clamp spring. Loosening operating mechanism conquers the elasticity of the clamp spring for removing the keeping state of the tool keeper kept on the main shaft by the pull rod. A detection part detects the elasticity of the clamp spring acting for the loosening operating mechanism. A judging part judges whether normally installs the tool keeper, or incompletely installs the tool keeper, or not installs the tool keeper on the main shaft or not according to the elasticity detected by the detection part.
Description
Technical field
The present invention relates to a kind ofly tool retainer be remained in the lathe of the pull bar (drawbar) on the main shaft numerical control device and the numerical control method that the installment state to tool retainer detects having elastic force with clamp springs.
Background technology
In the past, lathe comprised pull bar and loosening operating mechanism.Pull bar can be arranged on the main shaft of lathe vertically movably.Pull bar remains on tool retainer on the main shaft with the elastic force of clamp springs.The elastic force that loosening operating mechanism overcomes clamp springs pushes pull bar down.By loosening operating mechanism pull bar is pushed down, the maintaining part of pull bar bottom becomes can open form, thereby maintained tool retainer is thrown off.After maintaining part is inserted on the top of the tool retainer that will change under the state that pull bar is pushed, end the pushing down of pull bar down.Pull bar moves towards the top by the effect of the elastic force (restoring force) of clamp springs.Therefore, maintaining part clips the top of tool retainer and it is drawn in, and tool retainer is kept.
Lathe is in case just can't normally process when failure appears in tool changing.For example, appear at the situation of tapping under the undressed state that goes out thread Pilot hole sometimes.In these cases, the problem that have the collision of tapping instrument and workpiece, the tapping instrument is fractureed.In order to tackle the problems referred to above, in for example Japan's special permission discloses 2004 No. 169869 communique, disclose and a kind ofly whether the control device that tool retainer is judged has been installed on to main shaft.This control device detects the shift position of pull bar with position sensor, and judges whether tool retainer being installed.
Because in the past control device is the installation, uninstalled of judging tool retainer by the position of detecting pull bar, therefore position sensor need be set.In control device in the past, in case the installation of position sensor produces error, just can produce error in the installation of judging tool retainer, when not installing, therefore, the shortcoming of existential poor reliability.
Control device in the past can only judge the installation of tool retainer and this two states is not installed, and exists when tool retainer to have carried out also can being judged as when installing the problem of having carried out installation with state completely with incomplete state.Especially when tool retainer has carried out installation with incomplete state, there is the different problem of the degree of depth of thread Pilot hole.When tool retainer has carried out installation with incomplete state, produce the gap between main shaft and the tool retainer, processing in tool tilt state under carry out, therefore, have the problem of aperture precision variation.
Summary of the invention
The object of the present invention is to provide and a kind ofly improve reliability, and can judge the installation of tool retainer accurately, install and not exclusively install the numerical control device and the numerical control method of the lathe of these various forms the judgement of tool retainer installment state.
Know, can use the power that acts on loosening operating mechanism to detect whether tool retainer has been installed on the spindle nose.In addition, also know,, also can judge the incomplete installation of tool retainer in the power of loosening operating mechanism by detection effect except the installation of tool retainer with not installing.
The numerical control device that is conceived to the technical scheme 1 of above-mentioned aspect is a kind of numerical control device of lathe, and described lathe comprises: the main shaft of rotatably being located at spindle nose; Have clamp springs, and tool retainer remained on pull bar on the described main shaft with the elastic force of this clamp springs; And the elastic force that overcomes described clamp springs removes the loosening operating mechanism that is remained on the hold mode of the described tool retainer on the described main shaft by described pull bar, and described numerical control device is provided with: the test section that at least a portion of the power that acts on described loosening operating mechanism is detected; And according to the detected power of the described test section judging part of described tool retainer of whether having judged on described main shaft normal mounting.
When loosening operating mechanism operation pull bar, the elastic force of clamp springs changes.On main shaft normal mounting (not exclusively install) during tool retainer, when by halves tool retainer being installed and when not having the erecting tools keeper (installing), power is to the effect form difference of loosening operating mechanism.
In the numerical control device of technique scheme 1, test section detects at least a portion of the power that acts on loosening operating mechanism.Judging part is according to the detected power of the test section tool retainer of whether having judged on described main shaft normal mounting or tool retainer has been installed by halves or has not been had the erecting tools keeper.Different when use detecting the position sensor that draw rod positions uses, can improve reliability to the judgement of tool retainer installment state.Numerical control device not only can be judged the installation of tool retainer accurately, not install, and also can judge incomplete installation accurately.
In the numerical control device of technical scheme 2, be on described main shaft not during the described tool retainer of normal mounting in described judgement section judges, the processing action of described lathe stops because of the effect that stops control part.
Therefore, numerical control device can prevent to process bad generation.When not having the erecting tools keeper, can not carry out the processing action of lathe.Therefore, numerical control device can prevent do not having ineffectually to carry out processing action under the state of instrument.Conversely speaking, numerical control device only in normal mounting carry out processing action under the state of tool retainer.
In the numerical control device of technical scheme 3, also comprise and be used to actuator that described spindle nose is moved, this actuator double as makes the driving mechanism of described loosening operating mechanism action, and described test section uses the load that acts on described actuator when described actuator moves described loosening operating mechanism to detect at least a portion of described power.
When actuator made the loosening operating mechanism action, masterpieces such as the elastic force of clamp springs were that load acts on the actuator.Therefore, if detect the load that acts on actuator, then can detect the power that acts on loosening operating mechanism simply.Because numerical control device can utilize existing actuator to detect the power that acts on loosening operating mechanism, but so simplified structure.
In the numerical control device of technical scheme 4, also comprise: be used to make actuator that described spindle nose moves and the driving mechanism that is used to make described loosening operating mechanism action, described test section uses the load that acts on described driving mechanism when described driving mechanism makes described loosening operating mechanism action to detect at least a portion of described power.
Numerical control device uses and acts on the load that makes the directly actuated driving mechanism of loosening operating mechanism, directly detects at least a portion of the power that acts on loosening operating mechanism.Therefore, numerical control device can utilize the driving mechanism of loosening operating mechanism to detect and exert oneself, therefore, but simplified structure, and accuracy of detection also becomes good.
In the numerical control device of technical scheme 5, described actuator is made of the servo motor that makes described spindle nose carry out lifting, and described test section uses the driving current value that described servo motor is driven to judge the size of described load.
This driving current value can be used at the current instruction value of servo motor and judge.Therefore, numerical control device can utilize the control system of servo motor to detect the power that acts on loosening operating mechanism, but simplified structure.
In the numerical control device of technical scheme 6, described lathe also comprises: the post that described spindle nose is liftably supported and be used to post driving mechanism that described post is moved along the direction that is perpendicular to one another in horizontal plane, described test section uses the load that acts on described post driving mechanism to detect at least a portion of described power.
Test section uses the load act on the post driving mechanism to detect power on the horizontal direction of elastic force of the clamp springs that acts on loosening operating mechanism.Exert oneself owing to detecting all the time in numerical control device is during the loosening operating mechanism effect, therefore can reduce to detect error.
The numerical control method of technical scheme 7 is numerical control methods of a kind of lathe, and described lathe comprises: the main shaft of rotatably being located at spindle nose; Have clamp springs, and tool retainer remained on pull bar on the described main shaft with the elastic force of this clamp springs; And the elastic force that overcomes described clamp springs removes the loosening operating mechanism that is remained on the hold mode of the described tool retainer on the described main shaft by described pull bar, and described numerical control method is provided with: the detection step that at least a portion of the power that acts on described loosening operating mechanism is detected; And according to the detected power of the described detection step determining step of described tool retainer of whether having judged on described main shaft normal mounting.
In detecting step, at least a portion of the power that acts on loosening operating mechanism is detected.In determining step, according to detecting the detected power of the step tool retainer of whether having judged on described main shaft normal mounting or tool retainer being installed by halves or not having be had the erecting tools keeper.Different with the method for the position sensor that uses the detection draw rod positions to use, can improve reliability to the judgement of tool retainer installment state.And, not only can judge the installation of tool retainer accurately, not install, also can judge the incomplete installation of tool retainer accurately.
Description of drawings
Fig. 1 is the vertical profile side view of the lathe of expression one embodiment of the invention.
Fig. 2 is the vertical profile side view of tool retainer main shaft and clamp springs part when being in installment state not.
Fig. 3 is the vertical profile side view of tool retainer main shaft and clamp springs part when being in installment state.
Fig. 4 is the side view that unclamps cam and unclamp drum segment.
Fig. 5 is the block diagram of expression electrical structure.
Fig. 6 is that the representational tool keeper is in not installation, normal mounting, the figure of the state of pull bar and releases pin when not exclusively installing.
Fig. 7 is the figure of the variation of the variation of height and position of expression spindle nose and driving current value.
Fig. 8 is the figure that the representational tool keeper is in not installation, normal mounting, the variation of driving current value when not exclusively installing.
Fig. 9 is the flow chart of expression control content.
Figure 10 is the figure of expression situation of elastic force effect when unclamping the inclined plane butt of cylinder and clamp springs.
Figure 11 is the figure of expression situation of elastic force effect when unclamping the vertical plane butt of cylinder and clamp springs.
That Figure 12 represents is the 2nd embodiment of the present invention, is the figure suitable with Fig. 4.
That Figure 13 represents is the 3rd embodiment of the present invention, is the block diagram of inferring the interference load torque.
The specific embodiment
Below with reference to Fig. 1 to Figure 11 the 1st embodiment of the present invention is described.As shown in Figure 1, lathe 1 comprises: post 2, frame 3, spindle nose 4 and tool storage room 6.Post 2 is erect and is arranged on the pedestal (not shown).Frame 3 is box-shaped hollow shells that level set and be fixed on post 2 fronts.Frame 3 portion within it has liftable spindle nose 4.On frame 3, be provided with the tool storage room 6 that can be rotated the location by storehouse brace table 5.
As depicted in figs. 1 and 2, spindle nose 4 within it portion have can rotate freely, along the main shaft 12 of vertical.Main shaft 12 links with the Spindle Motor 13 that is equipped on spindle nose 4 tops by shaft coupling 12a.Main shaft 12 rotates by the driving of Spindle Motor 13.
15 pairs of pull bars 14 of clamp springs are towards the top application of force.Pull bar 14 has folder tube (collet chuck) 16 at its leading section (bottom), and this folder tube 16 has a plurality of steel ball 16a etc.Pull bar 14 overcome clamp springs 15 elastic force and towards below move after, the steel ball 16a that is positioned at bottom sliding eye 12b enters spatial portion 12d from bottom sliding eye 12b.Consequently, the maintenance that lifts studs (pull stud) 17a to tool retainer 17 is disengaged.After pull bar 14 moved up from lower position, steel ball 16a entered bottom sliding eye 12b from spatial portion 12d, and therefore, folder tube 16 keeps lifting studs 17a.
Loosening operating mechanism 18 shown in Figure 1 pushes pull bar 14 down.In case loosening operating mechanism 18 is removed the racking down of pull bar 14, pull bar 14 just can carry out above-mentioned maintenance (clamping) by the elastic force of clamp springs 15.
Loosening operating mechanism 18 overcomes the elastic force of clamp springs 15, removes the clamp position of pull bar 14.Loosening operating mechanism 18 has: releases pin 19, unclamp handle 20, unclamp cam 21, unclamp cylinder 22 and as the Z axle motor 11 of driving mechanism.
Unclamping handle 20 is arranged on the spindle nose 4 swingably by fulcrum 23.Unclamping handle 20 is the parts that roughly are L word shape.The leading section of short branching portion 20a that unclamps handle 20 is two forked when overlooking.The leading section lower surface of branching portion 20a and releases pin 19 butts.For example on the right flank (among Fig. 1) of the long branching portion 20b that unclamps handle 20, be fixed with and unclamp cam 21 as plane cam.24 pairs on spring unclamps handle 20 towards the arrow A direction application of force.
As shown in Figure 4, unclamp cam 21 and have the inclined plane 21a of inclination and the vertical plane 21b that extends along vertical.
Unclamp on the motor frame that cylinder 22 is fixed on Z axle motor 11.Unclamp cylinder 22 and can distinguish relative sliding-contact with inclined plane 21a that unclamps cam 21 and vertical plane 21b.When unclamping cylinder 22 successively with inclined plane 21a and vertical plane 21b sliding-contact, unclamp handle 20 towards swing (advancing) in the opposite direction with arrow A side, releases pin 19 is pushed down.In case releases pin 19 is pushed down, and pull bar 14 just moves towards the below, the maintenance that lifts studs 17a that folder tube 16 is removed tool retainer 17.Instrument 40 is installed on the tool retainer 17.
Motor control part control Z axle motor 11 with control device 25 described later is so that spindle nose 4 moves with certain speed.When the load that acts on Z axle motor 11 is big, need bigger torque, therefore, the motor control part increases current instruction value (torque instruction value) and outputs it to servo amplifier 11a described later.When load diminished, required torque reduced, and therefore, the motor control part reduces current instruction value (torque instruction value) and outputs it to servo amplifier 11a.
Control device 25 comprises microcomputer, comprising: input/output interface 26; CPU28; ROM29; RAM30; Axle control loop 31,32,33,34,35; Servo amplifier 11a, 13a, 36a, 37a; Differentiator 11d, 13d, 36d, 37d; And current detector 11e, 13e, 36e, 37e.Servo amplifier 11a, 13a, 36a, 37a are connected with Z axle motor 11, Spindle Motor 13, X-axis motor 36, Y-axis motor 37 respectively.Axle control loop 35 is connected with Ku Mada 38.
Processing workbench (not shown) moves along X-direction, Y direction by the effect of X-axis motor 36, Y-axis motor 37.Tool storage room 6 rotates mobile by the effect of Ku Mada 38 positive and negatively.Z axle motor 11, Spindle Motor 13, X-axis motor 36, Y-axis motor 37 have encoder 11c, 13c, 36c, 37c respectively.
The move amount that axle control loop 31～34 receives from CPU28 is exported to servo amplifier 11a, 13a, 36a, 37a with current instruction value (torque instruction value).Servo amplifier 11a, 13a, 36a, 37a received current command value are exported to motor 11,13,36,37 with drive current.Axle control loop 31～34 carries out the FEEDBACK CONTROL of position from encoder 11c, 13c, 36c, 37c receiving position feedback signal.Differentiator 11d, 13d, 36d, 37d carry out differential and convert thereof into feedback speed signal the position feed back signal that receives from encoder 11c, 13c, 36c, 37c, and feedback speed signal is exported to a control loop 31～34.
Control device 25 is connected with the operation inputting part 41 with operated key etc. with display 39 as notifying operator.
Control device 25 as test section, judging part, stop control part and play a role.The control device 25 of this example uses the load that acts on Z axle motor 11 to come the elastic force of detection effect in the clamp springs 15 of loosening operating mechanism 18.
When effect is from the load of outside on Z axle motor 11, can produce velocity variations.Axle control loop 31～34 use location feedback signals, feedback speed signal come detection speed to change.Axle control loop 31～34 is controlled drive current in order to eliminate detected velocity variations.When FEEDBACK CONTROL, along with the increase of the load of Z axle motor 11, the driving current value of Z axle motor 11 also increases, and therefore, the driving current value that control device 25 usefulness loads are relevant detects elastic force.
Variation to the above-mentioned driving current value relevant with the tool changing action describes below.As depicted in figs. 1 and 2, under the state that tool retainer 17 has been installed, the axle center of releases pin 19 is positioned at height and position Ps.The variation of the driving current value of Z axle motor 11 and the Z axial coordinate of spindle nose 4 when the solid line of Fig. 7 has represented that tool retainer 17 is normally pulled down and has been installed.
Under the state that tool retainer 17 has been installed, when Z axle motor 11 drives, makes spindle nose 4 when the arrow U direction of Fig. 1 rises towards prescribed direction rotation, unclamp cam 21 and also rises, inclined plane 21a and unclamp cylinder 22 and collide.By unclamping cam 21 and unclamping cylinder 22 sliding-contacts, unclamp handle 20 overcome clamp springs 15 elastic force and towards swinging in the opposite direction with arrow A side.The handle 20 that unclamps after the swing pushes releases pin 19 down.
As shown in figure 10, the handle 20 that unclamps of pushing releases pin 19 is subjected to power Fc (restoring force of clamp springs 15) from clamp springs 15.Under the effect of power Fc, unclamp handle 20 with fulcrum 23 be fulcrum towards the arrow A direction application of force, unclamp cylinder 22 with power Ff pushing.As reaction force, unclamp cylinder 22 and unclamp handle 20 with power Fb pushing.Because the vertical stress component Fa of power Fb works as the power that spindle nose 4 is pushed down, so the load of Z axle motor 11 increases.The elastic force of spring 24 (restoring force) is compared with clamp springs 15 though the load of Z axle motor 11 is increased, and this elastic force is very little, can ignore.Therefore, can think that the load recruitment of Z axle motor 11 mainly is that elastic force by clamp springs 15 causes.
Driving current value increases (with reference to the part R1 among Fig. 7) along with the increase of load.
Along with unclamping handle 20 releases pin 19 is pushed down, pull bar 14 moves towards the below integratedly.Along with pull bar 14 moves towards the below, the steel ball 16a of folder tube 16 enters spatial portion 12d from the bottom sliding eye 12b of main shaft 12.In case steel ball 16a enters spatial portion 12d, just can be disengaged the maintenance that lifts studs 17a of tool retainer 17.As shown in figure 11, unclamp the vertical plane 21b of cam 21 and unclamp cylinder 22 sliding-contacts, unclamp cam 21 and unclamp cylinder 22 with power Fd pushing because of the elastic force effect of clamp springs 15.Unclamp the reaction force Fg that cam 21 is subjected to power Fd.Because power Fd, Fg are towards the horizontal direction effect, its vertical stress component becomes zero, and therefore, the load of Z axle motor 11 reduces (with reference to the part R2 among Fig. 7).
Spindle nose 4 rises to tool changing initial point (the tool changing origin position Zd among Fig. 7) and finishes rise (state of pull bar 14 is with reference to Fig. 3).Under this state, the tool retainer 17 that 6 pairs of tool storage rooms are installed on the main shaft 12 is kept, and main shaft 12 does not have erecting tools keeper 17.The shaft core position of releases pin 19 is position Pd (with reference to Fig. 3).The center of steel ball 16a is position Pd ' (with reference to Fig. 6 (a)).Afterwards, 25 pairs of tool storage rooms 6 of control device are controlled, so that the tool retainer 17 of expectation moves under tool retainer installing hole 12c.Unclamp the vertical plane 21b of cam 21 and unclamp cylinder 22 sliding-contacts.
Be positioned at spindle nose 4 under the state of tool changing origin position Zd, when Z axle motor 11 rotates in the opposite direction, when spindle nose 4 descends, unclamp cam 21 and move towards inclined plane 21a from vertical plane 21b, unclamp handle 20 and swing (retreating) towards the arrow A direction by the application of force effect of spring 24 with the contact position that unclamps cylinder 22.When spindle nose 4 continues to descend, unclamp cam 21 and unclamp cylinder 22 and separate.Releases pin 19 can not pushed towards the below owing to unclamp handle 20, so pull bar 14 moves up by the elastic force effect of clamp springs 15 and from lower position.Therefore, steel ball 16a enters bottom sliding eye 12b from spatial portion 12d, is kept lifting studs 17a.At this moment, the restoring force of clamp springs 15 increases as load and acts on the Z axle motor 11.Therefore, control device 25 is controlled to and makes driving current value increase (with reference to the part R3 among Fig. 7).
In case steel ball 16a normally keeps tool retainer 17, the axle center of releases pin 19 just can stop at above-mentioned height and position Ps (with reference to Fig. 2, Fig. 6 (b)) (center of steel ball 16a stops at height and position Ps ').In case tool retainer 17 is kept, the load that the restoring force of clamp springs 15 just is not re-used as Z axle motor 11 is worked, and driving current value also descends, and becomes the state (with reference to the part R4 among Fig. 7, Fig. 8 (b)) that roughly not have variation.
When accompanying smear metal etc. between the tool retainer 17 that will install and the tool retainer installing hole 12c, the installation of tool retainer 17 sometimes and not exclusively.When becoming incomplete installation, shown in Fig. 6 (c), the center of steel ball 16a can become height and position Pf ', and the height and position in the axle center of releases pin 19 becomes height and position Pf.After with incomplete state tool retainer 17 being installed, the load that the restoring force of clamp springs 15 is not re-used as Z axle motor 11 is worked, and driving current value descends, and becomes the state (with reference to Fig. 8 (c)) that roughly not have variation.
When the tool retainer 17 that will not install or tool retainer 17 when having dropped before replacing, the shaft core position of releases pin 19 becomes the height and position Pn (center of steel ball 16a becomes height and position Pn ') of Fig. 3 and Fig. 6 (a).After the shaft core position of releases pin 19 became height and position Pn, the load that the restoring force of clamp springs 15 is not re-used as Z axle motor 11 was worked, and driving current value descends, and became the state (with reference to Fig. 8 (a)) that roughly not have variation.
Control device 25 is discerned the height and position of spindle nose 4 all the time for tool changing.As Fig. 8 and shown in Figure 7, the height and position of spindle nose 4 is as the first reference position Zk1 during with assigned position between height and position Pf and height and position Ps of the shaft core position of releases pin 19.The height and position of spindle nose 4 is as the second reference position Zk2 during with assigned position between height and position Ps and height and position Pn of the axle center of releases pin 19.The determinating reference value of driving current value is made as Tk.
As shown in Figure 9, control device 25 is as test section, judging part with stop control part and play a role.Processing shown in Figure 9 is carried out by the CPU28 of control device 25.In step S1, judge whether spindle nose 4 begins to descend from tool changing origin position Zd.In step S2, obtain the height and position of driving current value and spindle nose 4.In step S3, judge whether spindle nose 4 has arrived the first reference position Zk1.If be judged as spindle nose 4 and arrived the first reference position Zk1 (if "Yes"), then shift towards step S4, judge whether driving current value equals determinating reference value Tk or less than determinating reference value Tk.If driving current value equals to decide a reference value Tk or less than determinating reference value Tk, then towards step S5 transfer, be judged as incomplete installation, in step S6, stop processing action.
In step S3, when the height and position that is judged as spindle nose 4 is not first reference value position Zk1, shift towards step S7, judge whether to arrive the second reference position Zk2.Being judged as when arriving the second reference position Zk2, in step S8, judge whether driving current value equals determinating reference value Tk or less than determinating reference value Tk.If driving current value equals determinating reference value Tk or less than determinating reference value Tk, then towards step S9 transfer, be judged as normal mounting.
In step S8, when being judged as driving current value (if "No"), shift and be not judged as installation towards step S10 above determinating reference value Tk, in step S11, stop processing action.
As mentioned above, in the present embodiment, loosening operating mechanism 18 with pull bar 14 when the clamping direction is operated, the elastic force of clamp springs 15 changes.As shown in Figure 8, the elastic force of clamp springs 15 to the effect form of loosening operating mechanism 18 on main shaft 12 normal mounting (Fig. 8 (b)) during tool retainer 17, (Fig. 8 (c)) and (Fig. 8 (a)) difference when not having the erecting tools keeper when by halves tool retainer being installed.
According to above-mentioned present embodiment, the elastic force that 25 pairs of control device act on the above-mentioned clamp springs 15 of loosening operating mechanism 18 detects.Control device 25 is according to the detected elastic force tool retainer 17 that judged whether on main shaft 12 normal mounting, not exclusively installed tool retainer 17 or do not have erecting tools keeper 17.Present embodiment is different when use detecting the position sensor that draw rod positions uses, and can improve the reliability to the judgement of tool retainer installment state.Present embodiment not only can be judged the installation of tool retainer 17 accurately, not install, and also can judge the incomplete installation of tool retainer 17 accurately.
According to present embodiment, be judged as tool retainer 17 when not exclusively being installed, the processing action of lathe stops.Therefore, can be in the incomplete installment state of tool retainer 17, be to carry out processing action under the incomplete installment state of instrument.Present embodiment can prevent to process bad generation.Be judged as when not having erecting tools keeper 17 at control device 25, processing action also stops.Present embodiment can prevent from the state that does not have tool retainer 17, promptly not have ineffectually to carry out processing action under the state of instrument.Conversely speaking, only in normal mounting carry out processing action under the state of tool retainer 17.
When loosening operating mechanism 18 action, the elastic force of clamp springs 15 acts on as load on the Z axle motor 11 of driving mechanism of double as loosening operating mechanism 18.Therefore, present embodiment can detect the elastic force of the clamp springs 15 that acts on the loosening operating mechanism 18 simply by finding out the load that acts on Z axle motor 11.
In the present embodiment that is conceived to aspect above-mentioned, Z axle motor 11 double as make actuator that spindle nose 4 moves and the driving mechanism that makes loosening operating mechanism 18 actions.Present embodiment acts on the load of Z axle motor 11 in the time of can using Z axle motor 11 to make loosening operating mechanism 18 actions, detect the elastic force of clamp springs 15.Because present embodiment can utilize the Z axle motor 11 of existing drive shaft head 4 usefulness to detect the elastic force of clamp springs 15, but therefore simplified structure.
According to present embodiment, spindle nose 4 carries out lifting by the effect as the Z axle motor 11 of actuator.Owing to constitute Z axle motor 11 with servo motor, so the big I of load uses the driving current value that servo motor is driven to judge.Therefore, can utilize the control system of servo motor to detect the elastic force of clamp springs 15, thus but present embodiment simplified structure.
In the present embodiment, the condition of judging the installment state of tool retainer is made as the time that spindle nose 4 arrives the first reference position Zk1 and the second reference position Zk2.But, because the rising or falling speed one of spindle nose 4 regularly, the time that arrives the first reference position Zk1 and the second reference position Zk2 from tool changing origin position Zd can be carried out computing, can be the time with the condition enactment of judging therefore.
Also can change (with reference to Tda, the Tdb of Fig. 7 and Fig. 8, the part of Tdc) by the decline that detects driving current value, use normal mounting that the height and position that detect spindle nose 4 when changing or detected time judges tool retainer 17, not exclusively install, install.
The present invention is not limited to the foregoing description, also can implement after changing as follows.
In the above-described embodiments, making the driving mechanism of loosening operating mechanism 18 actions is Z axle motors 11 that spindle nose 4 is moved.But, also can divide the driving mechanism that is arranged and makes the actuator that spindle nose moves and make the loosening operating mechanism action.In this case, test section acts on the load of driving mechanism in the time of also can using driving mechanism to make the loosening operating mechanism action, detects the elastic force (invention of technical scheme 4) of clamp springs.That is,, directly detect the elastic force of clamp springs with acting on the load that makes the directly actuated driving mechanism of loosening operating mechanism.Therefore, can utilize the driving mechanism of loosening operating mechanism to detect the elastic force of clamp springs, thereby but simplified structure, and accuracy of detection also can improve.
The cam surface that unclamps cam 21 also can comprise the first inclined plane 121a, the first vertical plane 121b, the second inclined plane 121c and the second vertical plane 121d as Figure 12 of expression the 2nd embodiment of the present invention.
In addition, also can be arranged on fixation side (Z axle motor 11 or post 2 sides), will unclamp cylinder 22 and be arranged on and unclamp handle 20 sides unclamping cam 21.Not exclusively install, when not installing, expression was not exclusively installed or uninstalled information shows (reporting) in as the display 39 of notifying operator being judged as tool retainer, also can output it to notifying operators such as buzzer, voice output.
Not only when the clamping that spindle nose 4 descends, though spindle nose 4 rise unclamp the time also can judge the installment state of tool retainer.Can judge that tool retainer is normal mounting, not exclusively installs, or does not install in previous tool changing.
The power that also elastic force of clamp springs can be acted on Z axle motor 11 is considered as disturbing, and will infer that current value that the interference load torque the obtains elastic force as clamp springs 15 detects.The estimation method of interference load torque is described below.
The Figure 13 that represents the 3rd embodiment of the present invention is the block diagram when inferring the interference load torque by the comparison acceleration.Figure 13 has only represented the part relevant with Z axle motor 11, is the figure of the part relevant with axle control loop 31 that only extracted Fig. 5.
In the present embodiment, the test section that the elastic force of the clamp springs that acts on loosening operating mechanism 18 is detected uses the drive current of Z axle motor to come the vertical stress component of detection effect in loosening operating mechanism 18, thereby detects elastic force.But, also can use the drive current of other motor to come the horizontal component of detection effect, thereby detect elastic force in loosening operating mechanism 18.For example, post 2 is constituted and can move along the left and right directions of Fig. 1, and the motor (X-axis motor 36 shown in Figure 5 or Y-axis motor 37) that post 2 is moved along left and right directions is set.Use the drive current of X-axis motor 36 or Y-axis motor 37 to come detection level component, thereby detect the elastic force of clamp springs.
When the clamping of tool retainer 17 or when unclamping, loosening operating mechanism 18 is produced counter-forces.In the loosening operating mechanism 18 of present embodiment, this counter-force tilts with respect to major axes orientation, and therefore, counter-force constitutes by the component of major axes orientation with the component of the direction of main shaft quadrature.In the present embodiment, be conceived to any in the above-mentioned component, when detecting clamping or when unclamping this component action direction on the driving current value of CD-ROM drive motor, distinguish the incomplete installation of tool retainer 17, install or install.
According to the structure difference of loosening operating mechanism 18, during clamping or the counter-force of unclamping time effect be on the major axes orientation sometimes.Do not produce above-mentioned component in this case, therefore, do the change of the driving current value of time spent CD-ROM drive motor, distinguish the incomplete installation of instrument, do not install or install by detecting above-mentioned counter-force.
" acting at least a portion of the power of described loosening operating mechanism " in the technical scheme of the present invention is equivalent to above-mentioned component or counter-force.
In the present embodiment, come clamping device keeper 17, cause the elastic force (application of force) of clamp springs 15 by above-mentioned counter-force with the elastic force of clamp springs 15.In addition, also can cylinder be installed on main shaft 12 and replace clamp springs 15, and pull bar 14 be moved towards the top with cylinder.When adopting cylinder, cause the application of force of cylinder by above-mentioned counter-force.Should be noted that " acting on ... power " in the technical scheme is not limited to the power that causes because of elastic force.
Claims (7)
1. a numerical control device is the numerical control device of lathe, and described lathe comprises:
Main shaft, this main shaft rotatably is located at spindle nose;
Pull bar, this pull bar has clamp springs, and with the elastic force of this clamp springs tool retainer is remained on the described main shaft; And
Loosening operating mechanism, this loosening operating mechanism overcomes the elastic force of described clamp springs and removes the hold mode that is remained on the described tool retainer on the described main shaft by described pull bar, and for described tool retainer being remained on the described main shaft and described pull bar is operated
Described numerical control device is characterised in that, is provided with:
Test section, when described loosening operating mechanism was operated for described tool retainer being remained on the described main shaft and to described pull bar, this test section detected at least a portion of the power that acts on described loosening operating mechanism; And
Judging part, whether this judging part does not install described tool retainer according to the detected power of the described test section described tool retainer of whether having judged on described main shaft normal mounting, and whether described tool retainer perhaps has been installed by halves.
2. numerical control device as claimed in claim 1 is characterized in that, is provided with to stop control part, and be on described main shaft not during the described tool retainer of normal mounting in described judgement section judges, the described control part that stops to stop the processing action of described lathe.
3. numerical control device as claimed in claim 1 or 2 is characterized in that, also comprises being used to actuator that described spindle nose is moved, and this actuator double as makes the driving mechanism of described loosening operating mechanism action,
Described test section uses the load that acts on described actuator when described actuator moves described loosening operating mechanism to detect at least a portion of described power.
4. numerical control device as claimed in claim 1 or 2 is characterized in that, also comprises:
Be used to make actuator that described spindle nose moves and
Be used to make the driving mechanism of described loosening operating mechanism action,
Described test section uses the load that acts on described driving mechanism when described driving mechanism moves described loosening operating mechanism to detect at least a portion of described power.
5. numerical control device as claimed in claim 3 is characterized in that,
Described actuator is the servo motor that makes described spindle nose carry out lifting,
Described test section uses the driving current value that described servo motor is driven to judge the size of described load.
6. numerical control device as claimed in claim 1 is characterized in that,
Described lathe also comprises: the post that described spindle nose is liftably supported and be used to post driving mechanism that described post is moved along the direction that is perpendicular to one another in horizontal plane,
Described test section uses the load that acts on described post driving mechanism to detect at least a portion of described power.
7. a numerical control method is the numerical control method of lathe, and described lathe comprises:
Main shaft, this main shaft rotatably is located at spindle nose;
Pull bar, this pull bar has clamp springs, and with the elastic force of this clamp springs tool retainer is remained on the described main shaft; And
Loosening operating mechanism, this loosening operating mechanism overcomes the elastic force of described clamp springs and removes the hold mode that is remained on the described tool retainer on the described main shaft by described pull bar, and for described tool retainer being remained on the described main shaft and described pull bar is operated
Described numerical control method is characterised in that, is provided with:
When described loosening operating mechanism is operated for described tool retainer being remained on the described main shaft and to described pull bar, the detection step that at least a portion of the power that acts on described loosening operating mechanism is detected; And
According to the detected power of the described detection step described tool retainer of whether having judged on described main shaft normal mounting, whether described tool retainer is not installed, whether the determining step of described tool retainer perhaps has been installed by halves.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008019161A JP5136091B2 (en) | 2008-01-30 | 2008-01-30 | Numerical controller |
| JP2008-019161 | 2008-01-30 | ||
| JP2008019161 | 2008-01-30 |
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| CN101497168A CN101497168A (en) | 2009-08-05 |
| CN101497168B true CN101497168B (en) | 2011-08-24 |
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| JP5298869B2 (en) * | 2009-01-15 | 2013-09-25 | 株式会社ジェイテクト | Rotating shaft device and tool holding state determination method in rotating shaft device |
| CN102922321B (en) * | 2012-10-30 | 2015-09-16 | 大族激光科技产业集团股份有限公司 | Gas folder opens foolproof method, system and gas folder control device |
| JP5734354B2 (en) * | 2013-06-26 | 2015-06-17 | ファナック株式会社 | Tool clamping device |
| JP5752229B2 (en) | 2013-12-27 | 2015-07-22 | ファナック株式会社 | Tool center of gravity position estimation device and machine tool |
| JP2015225617A (en) * | 2014-05-30 | 2015-12-14 | ブラザー工業株式会社 | Numerical value control device and control method |
| JP6617474B2 (en) * | 2015-08-31 | 2019-12-11 | ブラザー工業株式会社 | Numerical control device and control method |
| JP6484273B2 (en) | 2017-03-30 | 2019-03-13 | ファナック株式会社 | Machine Tools |
| JP2018205891A (en) * | 2017-05-31 | 2018-12-27 | ブラザー工業株式会社 | Numerical control device and attachment judging method |
| JP6828641B2 (en) * | 2017-08-31 | 2021-02-10 | ブラザー工業株式会社 | Numerical control device and mounting judgment standard setting method |
| JP6879254B2 (en) * | 2018-03-30 | 2021-06-02 | ブラザー工業株式会社 | Machine tools, control methods and computer programs |
| JP7024561B2 (en) * | 2018-03-30 | 2022-02-24 | ブラザー工業株式会社 | Machine tools, computer programs and control methods |
| JP7290500B2 (en) * | 2019-07-31 | 2023-06-13 | ファナック株式会社 | Tool mounting state estimation system and machine tool |
| CN110355704B (en) * | 2019-08-13 | 2024-02-20 | 襄阳精鑫电子设备制造有限公司 | Automatic self-locking clamp for sensing object by detecting current change of motor |
| JP7259645B2 (en) * | 2019-08-30 | 2023-04-18 | ブラザー工業株式会社 | Numerical controller and control method |
| JP7226301B2 (en) * | 2019-12-25 | 2023-02-21 | ブラザー工業株式会社 | Numerical controller, control method, and storage medium |
| JP7476745B2 (en) | 2020-09-30 | 2024-05-01 | ブラザー工業株式会社 | Numerical control device, control method, and storage medium |
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| CN101497168A (en) | 2009-08-05 |
| JP5136091B2 (en) | 2013-02-06 |
| JP2009178795A (en) | 2009-08-13 |
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