JP2004148478A - Work machining device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a work machining device which checks whether a work is normally delivered between main shafts, and detects the presence or absence of abnormal conditions about machining of the work. <P>SOLUTION: The work machining device 1 comprises: a pair of main shaft chucks 10a, 10b; and a servomotor (a drive unit) 23 linearly moving at least either first main shaft chuck or the second main shaft chuck in a direction Z1 between the chucks. The servomotor 23 is controlled by a controlling device 25 to move the main shaft to a specified moving position by operating a torque limiter. An actual moving position of the main shaft chuck is measured by 23, 24, 25. On the basis of the specified moving position and the actual moving position of the main shaft chuck, an abnormal condition detecting device 29 checks whether the work is normally delivered between the main shafts. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a work processing apparatus, and more particularly, to a work processing apparatus capable of detecting an abnormality related to transfer of a work between spindles.
[0002]
[Prior art]
In a workpiece processing apparatus having two opposing spindle chucks, when a work supported by a first spindle chuck is transferred to a second spindle chuck, the second spindle chuck is unclamped, and the first spindle chuck or The 2nd spindle chuck moves to just before the transfer position.
[0003]
The first spindle chuck is unclamped, and the work is pushed from the first spindle chuck to the second spindle chuck using a knockout cylinder or a spring, etc., generally incorporated in the first spindle chuck.
[0004]
Checking whether the work has been pushed into the second spindle chuck is generally performed by a limit switch or proximity switch built into the first spindle chuck or the second spindle chuck.
[0005]
When it is confirmed that the workpiece is properly pushed into the second spindle chuck, the second spindle chuck is clamped.
[0006]
[Problems to be solved by the invention]
As described above, when the workpiece is transferred from the first spindle chuck to the second spindle chuck, the driving device is controlled by the control device to move the first spindle chuck or the second spindle chuck to a predetermined target position. After the first spindle chuck is unclamped, the work of the first spindle chuck is pushed into the second spindle chuck with a knockout cylinder or spring.
[0007]
However, in general, proximity switches and limit switches are used to confirm the push-in of the workpiece with a knockout cylinder or a spring.However, since such sensors are not high-precision, high-precision workpiece push-in detection is not possible. Can not.
[0008]
With the installation of the proximity switch and the limit switch and the installation of the knockout cylinder, the configuration of the entire work processing apparatus becomes complicated, and the installation space is expanded. In addition, failure points such as sensors, cylinders, and solenoid valves are increased, and maintainability is deteriorated.
[0009]
In addition, the use of a high-precision sensor increases the accuracy, but the cost is increased due to the high cost.
[0010]
When such a delivery error exceeds a predetermined allowable range, various inconveniences may be caused in machining the work.
[0011]
For example, the work is pushed in while small foreign matters such as cutting chips are inserted into the second spindle chuck, and the accidental operation is within the error of the limit switch, so that the pushing operation ends normally and the support of the work on the second spindle is incomplete. And deteriorates the machining accuracy of the work. Further, depending on the shape of the work to be processed, the work may fall off from the second spindle chuck during the processing.
[0012]
For this reason, it is desirable to provide a low-cost function that can detect the presence or absence of an abnormality based on such a press-in error of the work at low cost, simplify the work processing apparatus, and improve maintainability.
[0013]
[Means for Solving the Problems]
The present invention provides a first spindle chuck that supports a work, a second spindle chuck that is disposed to face the first spindle chuck, and that receives and supports the work supported by the first spindle chuck; Controlling a driving device for moving at least one of a first spindle chuck and the second spindle chuck in a direction opposite to the first spindle chuck and the second spindle chuck, and controlling the driving device to A controller for moving at least one of the first spindle chuck and the second spindle chuck to a predetermined moving position by the driving device, and measuring an actual moving position of the spindle chuck moved by the driving device; Actual position of the spindle chuck moved by the driving device sent from the moving position measuring device. A position deviation between the movement position and a predetermined movement position sent from the control device is determined, a continuous time during which the position deviation is out of a predetermined limit boundary allowable range is measured, and the second time is determined based on the continuous time. A workpiece processing apparatus, comprising: an abnormality detection device that determines whether there is an abnormality in delivery of the work between the first spindle chuck and the second spindle chuck.
[0014]
The abnormality detection device controls the driving device to move at least one of the first spindle chuck and the second spindle chuck to a predetermined moving position by using the driving device, and moves the driving device by the driving device. When the actual movement position of the spindle chuck to be moved falls within the in-position width, a positional deviation between the actual movement position of the spindle chuck moved by the driving device at each time and a predetermined movement position is obtained. Measuring a continuous time during which the positional deviation is out of a predetermined limit boundary allowable range, and determining whether the continuous time is up or not, by determining whether the work is located between the first spindle chuck and the second spindle chuck. It is preferable to determine whether or not there is an abnormality with respect to the delivery.
[0015]
The control device is configured to, when the drive device moves at least one of the first spindle chuck and the second spindle chuck to a predetermined movement position in order to push the work into the second spindle chuck, It is preferable to control the driving device so that the driving torque of the device does not exceed a predetermined torque.
[0016]
The predetermined torque can be determined as necessary, and is preferably determined, for example, in a range where the work processing device, the work, and the like are not damaged.
[0017]
Controlling the driving device so that the driving torque of the servo motor does not exceed a predetermined torque is called a torque limiter.
[0018]
The position deviation indicates a difference between the actual movement position of the spindle chuck and a predetermined movement position commanded by the control device. In addition, the limit boundary allowable range is defined as having a limit boundary value on the positive side and a negative side with respect to the regular work length, and being sandwiched between the limit boundary value on the positive side and the limit boundary value on the negative side. This range is called a limit boundary allowable range.
[0019]
The limit limit value on the positive side is set to a value for determining whether the work is longer than usual or a foreign substance has entered. As the limit boundary value on the negative side, a value for determining whether the work is shorter than usual or there is no work is set. However, by setting the negative limit boundary value to 0, it may not be determined whether the work is shorter than usual or there is no work.
[0020]
The in-position indicates that the servo motor has reached within a certain width of the position commanded by the control device, and the in-position width is the width. When the servo motor is commanded from the control device and enters within the in-position width, the control device moves to the next command.
[0021]
The first spindle chuck has a first spindle stopper surface against which one end of the work is pressed when supporting the work, and the second spindle chuck is configured to support the work other than the work when supporting the work. An end portion has a second spindle stopper surface against which the predetermined movement position is such that at least one of the first spindle chuck and the second spindle chuck is moved to a predetermined movement position by the driving device. In such a case, it is preferable that the distance between the first spindle stopper surface and the second spindle stopper surface is set at a position that is shorter than the length of the work.
[0022]
An alarm is generated when a positional deviation between the actual movement position of the spindle chuck moved by the drive device determined by the abnormality detection device and a predetermined movement position sent from the control device reaches an excessive error detection width. Further comprising: an alarm of a servo system that generates an error, an excessive error detection width switch capable of adjusting the excessive error, and an in-position width switch capable of adjusting the in-position width. The apparatus is in a state of waiting until the actual stop position of the spindle chuck moved by the driving device falls within the in-position width, so that the next command cannot be executed, and the predetermined movement is performed. The driving device is controlled based on a command, and at least one of the first spindle chuck and the second spindle chuck is controlled. If the movement of the first spindle chuck or the second spindle chuck is stopped by the workpiece before the movement to the predetermined movement position is completed, the excessive error detection width switcher outputs the excessive error detection width. The in-position width switch expands the in-position width and interrupts the transfer of the work between the first spindle chuck and the second spindle chuck. It is preferable not to do so.
[0023]
If the control is performed as usual in the transfer of the work, the control device sets the predetermined moving position to a position where the distance between the first main spindle stopper surface and the second main spindle stopper surface is shorter than the normal length of the work. Therefore, before the first spindle chuck or the second spindle chuck completes the movement to the predetermined movement position, the end of the work hits the second spindle stopper surface, and the movement is interrupted. There is a difference in the movement position of, and usually a servo alarm such as an excessive error is generated. By increasing the value for detecting the excessive error alarm, the excessive error alarm will not be generated. This width is called the excessive error detection width.
[0024]
Increase the excessive error detection width and prevent the servo system alarm such as excessive error from occurring even if the end of the work hits the stopper surface of the 2nd spindle before the movement to the specified movement position is completed. .
[0025]
By widening the excessive error detection width, even before the movement to the predetermined movement position is completed, the end of the workpiece hits the second spindle stopper surface and stops moving, so that the servo system alarm such as excessive error does not occur. The control unit is in a wait state until the actual stop position is within the in-position width, and the control unit cannot execute the next command. In the case of the control device used for the work processing device, the in-position width is set to an optimum value for the work processing. If the stop position falls within the in-position width, the control device can execute the next command even if the stop position falls within the in-position width, even if the movement stops.
[0026]
The position deviation is obtained by a difference between the predetermined movement position and the actual movement position, and the abnormality detection device determines that the position deviation is on the positive side with respect to a predetermined limit boundary allowable range. The first spindle chuck and the second spindle chuck may be used because the work supported by the first spindle chuck is longer than usual or foreign matter is mixed between the second spindle chuck and the work. When it is determined that there is an abnormality with respect to delivery of the work to and from the chuck, and when the positional deviation is out of the negative side with respect to a predetermined limit boundary allowable range, the first spindle chuck is supported. The work between the first spindle chuck and the second spindle chuck may be due to the work being shorter than normal or because there is no work in the first spindle chuck. It is preferable to determine that have abnormalities regarding delivery.
[0027]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0028]
First embodiment
1 to 4 are views showing a first embodiment of the present invention. FIG. 1 is a schematic diagram showing a partial configuration of a work processing apparatus. FIG. 2 is a diagram illustrating a relationship between a movement amount commanded by a control signal and time. FIG. 3 is a diagram showing the relationship between the position deviation, the limit boundary value, and the limit boundary allowable range. FIG. 4 is a flowchart illustrating a process of confirming whether there is an abnormality related to the transfer of the work.
[0029]
As shown in FIG. 1, a workpiece processing apparatus 1 according to the present embodiment is a chucker machine, and includes a first spindle chuck 10a and a second spindle chuck 10b arranged at positions facing each other. The workpiece W is supported by the first spindle chuck 10a by a loader or the like which does not exist. The first spindle chuck 10a rotates, and the workpiece W is cut by a tool (not shown) and a slide for driving the tool (not shown).
[0030]
The workpiece W that has been cut by the first spindle chuck is transferred to the second spindle chuck 10b, and the second spindle chuck supports the workpiece W. This mechanism will be described later.
[0031]
The second spindle chuck 10b rotates, and the workpiece W is cut by a tool (not shown) and a slide for driving the tool (not shown). The work W that has been cut by the second spindle chuck is discharged by an unloader or the like (not shown).
[0032]
Hereinafter, a mechanism for transferring the work W from the first spindle chuck to the second spindle chuck will be described.
[0033]
The workpiece processing apparatus 1 includes a first spindle chuck 10a and a second spindle chuck 10b arranged at positions facing each other, and a servo motor 23 for moving the first spindle in the Z1 direction from the ball screw 15 via the first spindle slide 12. A control device 25 for controlling the servomotor 23; and an abnormality detection device 29 connected to the control device 25.
[0034]
The first spindle chuck 10a and the second spindle chuck 10b have chuck stoppers 11a and 11b, respectively, and the corresponding reference surface of the two reference surfaces of the work W hits the chuck stoppers 11a and 11b of the respective spindle chucks. Are supported by the spindle chucks 10a and 10b. In particular, the second spindle chuck 10b receives and supports the work W supported by the first spindle chuck 10a, as described later.
[0035]
The ball screw 15 is connected to the servomotor 23 and is provided so as to linearly extend from the servomotor 23 toward the second spindle chuck 10b.
[0036]
The servomotor 23 rotates the ball screw 15 based on a control signal sent from the control device 25 via the servo amplifier 24 to rotate the first spindle chuck 10a to the first spindle chuck 10a and the second spindle chuck 10b. Is moved in the Z1 direction, which is the direction opposite to.
[0037]
The control device 25 controls the servomotor 23 to move the first spindle chuck 10a toward the second spindle chuck 10b by a predetermined movement position 1 by the servomotor 23. That is, the control device 25 can send a control signal for moving the first spindle chuck 10 a along the ball screw 15 by the predetermined movement position 1 to the servomotor 23 via the servo amplifier 24.
[0038]
When the first spindle chuck 10a is moved by the predetermined movement position 1 by the servo motor 23, the predetermined movement position l is between the stopper surface 11a of the first spindle chuck 10a and the stopper surface 11b of the second spindle chuck 10b. Is set to be shorter than the normal length of the work W.
[0039]
When the first spindle chuck 10a is moved by the predetermined moving position 1 by the servo motor 23, the control device 25 controls the servo using the current limit switch 43 so that the driving torque of the servo motor 23 does not exceed the predetermined driving torque. The motor 23 is controlled.
[0040]
Here, in the current limit switch 43, the movement of the first spindle chuck 10a supporting one end of the work W to the predetermined movement position 1 is driven by the current limit switch 43, and the reference surface of the other end of the work W is moved. A driving torque that does not cause damage to the work processing apparatus 1 or the work W even when pressed against the second spindle chuck stopper surface 11b is selected. Such a state in which the driving torque is limited is referred to as a state in which the torque limiter is working.
[0041]
With the torque limiter operating, before the first spindle chuck 10a supporting one end of the work W is completely moved to the predetermined movement position l, the reference surface at the other end of the work W is moved to the second spindle chuck stopper. When the movement is stopped by being pressed against the surface 11b ((3) in FIG. 2), usually, since the first spindle chuck has not reached the predetermined movement position, an alarm of the servo system such as an excessive error is generated, and the controller 25 The following command cannot be issued from. In order to solve this, the excessive error detection width is widened by the excessive error detection width switching unit 41 so that the servo system alarm is not generated.
[0042]
If a servo system alarm is generated, the servo system alarm detection is given priority, and the proper push-in operation by the torque limiter 45 and the control for proper push-in confirmation by the abnormality detection device 29 cannot be performed. For this reason, make sure that no servo-related alarms occur.
[0043]
Normally, if the position deviation Δl is smaller than the in-position width, it is considered that the machine position has reached the command position, and the controller 25 executes the next command. The normal in-position width is set to a small value to increase the machining accuracy ((1) in Fig. 2), but with this setting, if the movement stops because the workpiece W is pushed in, the in-position width is reduced. The next command cannot be issued from the control unit 25 because it has not been entered. The in-position width is widened by the in-position width changer 42 ((2) in Fig. 2) so that the movement command from the controller to the specified movement position is not interrupted.
[0044]
In a state where the torque limiter is working, before the movement of the first spindle chuck 10a supporting one end of the work W to the predetermined movement position is completed, the reference surface of the other end of the work W is moved to the second spindle chuck 10b. When it is pressed against the stopper surface 11b, the excessive error detection width and in-position width are set to several times the positive limit boundary value of the limit boundary allowable range.
[0045]
The torque limiter 45 sets the set values of the excessive error detection width and the in-position width according to the NC program to the set values when the first spindle chuck 10a supporting one end of the workpiece W moves to the predetermined movement position l, or The setting value is changed to a set value when cutting the work W supported by the first spindle chuck 10a and the second spindle chuck 10b other than the above.
[0046]
The control device 25 determines the actual position (spindle chuck moving position) l ″ of the first spindle chuck 10a at each time t based on the actual shaft rotation of the ball screw 15 obtained at each time t from the servomotor 23. It is to be calculated.
[0047]
When the first spindle chuck 10a supporting one end of the work W moves to a predetermined movement position on the second spindle chuck 10b side and enters the in-position width, the abnormality detector 29 operates.
[0048]
The abnormality detection device 29 includes a position deviation reader 29a, a position deviation comparator 29b, and a position deviation abnormality detector 29c, and relates to the transfer of the work W between the first spindle chuck 10a and the second spindle chuck 10b. The presence or absence of an abnormality is detected.
[0049]
That is, the position deviation reader 29a calculates the actual spindle position l ″ and the predetermined movement position l at each time t from the predetermined movement position l sent from the control device 25 and the actual movement position l ″ of the spindle chuck. Is calculated. Specifically, the position deviation Δl is obtained from a value obtained based on the following equation (1).
[0050]
Position deviation Δl = predetermined moving position l−actual spindle position l ″ (1)
The position deviation comparator 29b determines whether or not the position deviation Δl calculated by the position deviation reader 29a is out of the limit boundary allowable range. In the present embodiment, the limit boundary value on the positive side of the limit boundary allowable range is set to a predetermined limit boundary value d, and the limit boundary value on the negative side is set to 0. Accordingly, the position deviation comparator 29b determines that the position deviation Δl is out of the limit boundary allowable range when the position deviation Δl is equal to or larger than the predetermined limit boundary value d, and determines that the position deviation Δl is within the predetermined limit. When it is smaller than the boundary value d, it is determined that the position deviation Δl does not deviate from the limit boundary allowable range.
[0051]
When the position deviation comparator 29b determines that the position deviation Δl is out of the predetermined limit boundary allowable range, the position deviation comparator 29b determines the time during which the position deviation Δl continuously deviates from the predetermined limit boundary allowable range (abnormality). Continuous time).
[0052]
When the abnormal continuous time measured by the position deviation comparator 29b reaches a predetermined abnormality determination time, the position deviation abnormality detector 29c has an abnormality regarding the transfer of the work W between the spindle chucks 10a and 10b. Then, an abnormality message is displayed and the operator of the work processing apparatus 1 is notified of the abnormality. On the other hand, if the position deviation abnormality detector 29c does not reach the abnormality determination time, when the position deviation Δl reaches the normal continuous time within the predetermined allowable limit boundary value and stabilizes, the position deviation abnormality detector 29c intervenes between the spindle chucks 10a and 10b. It is determined that the transfer of the work W is normally performed, and the transfer of the work W is continued.
[0053]
In the present embodiment, the servomotor 23 and the control device 25 constitute a position deviation measurement / comparison device of the present invention.
[0054]
Next, the operation of the present embodiment having such a configuration will be described.
[0055]
The target work W is supported by a carry-in device (not shown) with the reference surface of the work W applied to the stopper surface 11a of the first spindle chuck 10a of the work processing apparatus 1.
[0056]
The primary machining is performed by a tool (not shown).
[0057]
Then, the control device 25 causes the servo motor 23 to rotate the ball screw 15 to rotate the ball screw 15 to push the work W into the second spindle chuck 10b by about several mm before the actual spindle moving position l ″. The first spindle chuck 10a is moved to the approach position L ((4) in FIG. 2).
[0058]
After the movement is completed, the torque limiter 45 switches the excessive error detection width switch 41, the in-position width switch 42, and the current limit switch 43 to a setting for pushing the workpiece W into the second spindle chuck 10b.
[0059]
Thereafter, a movement command for moving the first spindle chuck 10a to the predetermined movement position 1 is executed.
[0060]
By the way, when the first spindle chuck 10a is moved to the predetermined movement position l, the distance between the stopper surface 11a of the first spindle chuck 10a and the stopper surface 11b of the second spindle chuck 10b normally has the work W. The predetermined moving position 1 is set so as to be shorter than the length. Therefore, when the first spindle chuck 10a supports the work W having a normal length, the reference surface of the other end of the work W is required before the first spindle chuck 10a moves to the predetermined movement position l. Contact the stopper surface 11b of the second spindle chuck 10b. Then, the first spindle chuck 10a is brought into a state in which the reference surface at the other end of the work W is pressed against the stopper surface 11b of the second spindle chuck 10b ((3) in FIG. 2). It cannot move toward 10b and stops.
[0061]
When the first spindle chuck 10a moves toward the second spindle chuck 10b and enters the in-position width ((5) in FIG. 2), the abnormality detection device 29 operates to start the work pushing confirmation (see FIG. 4). You.
[0062]
The position deviation reader 29a of the abnormality detection device 29 calculates the actual movement position l "of the first spindle chuck 10a for each time t sent from the control device 25 and the predetermined movement position l commanded by the control device 25. The position deviation amount Δl at each time t is calculated based on the above equation (1) (STEP A1 in FIG. 4), and the calculated position deviation Δl at each time t is sent to the position deviation comparator 29b. .
[0063]
The position deviation comparator 29b determines whether or not the position deviation Δl sent from the position deviation reader 29a is equal to or larger than a predetermined limit boundary value d (STEP A2).
[0064]
If the position deviation comparator 29b determines that the position deviation Δl is equal to or greater than the predetermined limit boundary value d, the position deviation amount comparator 29b determines whether the position deviation Δl is equal to or greater than the predetermined limit boundary value d. (Abnormal continuous time) is measured (STEP A3). The abnormal continuation time measured by the position deviation comparator 29b is sent to the position deviation abnormality detector 29c as needed at each time t.
[0065]
The position deviation abnormality detector 29c determines whether or not the continuous abnormality time has reached a predetermined abnormality determination time (STEP A4). If it is determined that the continuous abnormality time has reached the predetermined abnormality determination time, the position deviation abnormality detector 29c determines that there is an abnormality regarding the transfer of the work W between the spindle chucks 10a and 10b. (Step A5). Then, the position deviation abnormality detector 29c notifies the operator of the work processing apparatus of the abnormality by displaying an abnormality message or the like.
[0066]
Thereby, the operator of the work processing apparatus 1 can know the abnormality that has occurred when the work W is delivered from the first spindle chuck 10a to the second spindle chuck 10b, and delivers the work W in a state where the abnormality occurs. Can be prevented from continuing.
[0067]
On the other hand, when the abnormal continuous time does not reach the predetermined time, the position deviation abnormality detector 29c sets the position deviation Δl within the predetermined limit boundary allowable range in the transfer of the work W between the spindle chucks 10a and 10b. When the normal continuous time (STEP A6) has been reached and stabilized, it is determined that the transfer of the work W has been performed normally (STEP A7), and the transfer work of the work W is continued (STEP A8).
[0068]
If the positional deviation at each time falls within or exceeds the limit boundary allowable range in STEP A2 in FIG. 4 and the positional deviation is unstable, the total time during which the work pushing confirmation is executed is measured in STEP A9. If the time is up, it is determined that there is a work delivery overtime abnormality (STEP A10). Then, the position deviation abnormality detector 29c displays an abnormality message or the like to notify the operator of the work processing apparatus 1 of the abnormality.
[0069]
When the pushing of the workpiece is completed normally, the first spindle chuck 10a is unclamped and the second spindle chuck 10b is clamped. Thereafter, the control device 25 causes the servo motor 23 to rotate the ball screw 15 to return the first spindle chuck 10a to the approach position L.
[0070]
After the movement is completed, the torque limiter 45 switches the excessive error detection width switch 41, the in-position width switch 42, and the current limit switch 43 to settings for cutting the workpiece W, and starts machining.
[0071]
As described above, according to the present embodiment, the position deviation Δl at each time t is calculated from the predetermined movement position l and the actual spindle movement position l ″, and the abnormal continuous time is measured with respect to the position deviation Δl. Then, the operator of the work processing apparatus 1 can quickly confirm whether or not the transfer of the work W between the spindles has been performed normally based on the result of the abnormality detection device.
[0072]
In particular, in the present embodiment, when the position deviation Δl as shown in the above equation (1) is equal to or larger than a predetermined limit boundary value d (see FIG. 3), it is determined that the delivery abnormality of the work W has occurred. It is to be judged. Therefore, before the distance between the stopper surface 11a of the first spindle chuck 10a and the stopper surface 11b of the second spindle chuck 10b reaches the normal length of the work W, the first spindle chuck 10a supporting the work W Has stopped.
[0073]
Therefore, for example, when the work W supported by the first spindle chuck 10a is longer than the regular length, or when foreign matter such as dust or cuttings enters the stopper surface 11b of the spindle chuck 10b, the first spindle In a case where the work W is not properly transferred from the chuck 10a to the second spindle chuck 10b, the work processing apparatus 1 according to the present embodiment detects that the transfer of the work W is abnormal, and notifies the operator of the transfer. Notify abnormalities. Then, the operator of the work processing apparatus 1 knows whether or not the abnormality is present, so that it is possible to confirm whether or not the work W is normally delivered between the two spindle chucks 10a and 10b, and an abnormality occurs. Delivery of the work W in the state can be prevented.
[0074]
By the way, when the first spindle chuck 10a supports a work W having a regular length, the reference surface of the other end of the work W is required before the first spindle chuck 10a moves by a predetermined movement position l. However, it hits the stopper surface 11b of the second spindle chuck 10b, and the first spindle chuck 10a cannot move further toward the second spindle chuck 10b. Thereby, when the work W hits the stopper surface 11b of the second spindle chuck 10b, the state in which the reference surface at the other end of the work W supported by the first spindle chuck 10a is in contact with the second spindle chuck 10b. Thus, the work W can be reliably supported by the second spindle chuck 10b.
[0075]
On the other hand, in this case, after the workpiece W is inserted into the second spindle chuck 10b, the workpiece W is pressed against the stopper surface 11b of the second spindle chuck 10b by the first spindle chuck 10a. However, the driving torque of the servomotor 23 is controlled by the control device 25, and the reference surface at the other end of the work W supported by the first spindle chuck 10a is pressed against the second spindle chuck 10b. Even if there is, the drive torque is selected so as not to cause damage to the work processing device 1, the work W, and the like. Therefore, as described above, even when the reference surface at the other end of the work W is pressed against the stopper surface 11b of the second spindle chuck 10b during the transfer of the work W, the work processing device 1. The work W is not damaged.
[0076]
Second embodiment
FIGS. 5 and 6 show a second embodiment of the present invention. FIG. 5 is a diagram illustrating the relationship between the position deviation and the allowable range. FIG. 6 is a flowchart illustrating a process of confirming whether there is an abnormality related to the transfer of the work.
[0077]
The position deviation comparator 29b of the abnormality detection device 29 determines whether or not the position deviation Δl calculated by the position deviation reader 29a is out of the limit boundary allowable range. The limit boundary value on the positive side of the limit boundary allowable range is a predetermined first limit boundary value d1, the limit boundary value on the negative side is the predetermined second limit boundary value d2, and the predetermined first limit boundary value d1 is smaller than the predetermined first limit boundary value d1. The abnormal continuation time is measured by measuring the time during which the position deviation Δl is out of the allowable range (FIG. 5 (3)) defined by the range that is smaller than the second limit boundary value d2. (See FIG. 5).
[0078]
That is, when the position deviation Δl is equal to or more than the first limit boundary value d1 (FIG. 5 (1)) or equal to or less than the second limit boundary value d2 (FIG. 5 (2)), the position It is determined that the deviation is out of the allowable range ((3) in FIG. 5).
[0079]
When the position deviation Δl is equal to or more than the first limit boundary value d1 ((1) in FIG. 5), the position deviation comparator 29b determines that the position deviation is out of the positive side, and If it is less than or equal to the boundary value d2 ((2) in FIG. 5), it is determined that it is off to the negative side.
[0080]
The “first limit boundary value d1” is a value that defines the upper limit of the allowable range ((3) in FIG. 5), as shown in FIG. As shown in FIG. 5, the “second limit boundary value d2” is a value that determines the lower limit of the allowable range (FIG. 5 (3)).
[0081]
Other configurations are substantially the same as those of the first embodiment shown in FIGS.
[0082]
In FIGS. 5 and 6, the same parts as those in the first embodiment shown in FIGS.
[0083]
The work W is transferred from the first spindle chuck 10a to the second spindle chuck 10b in the same manner as in the above-described first embodiment.
[0084]
Then, whether or not the work W has been normally transferred from the first spindle chuck 10a to the second spindle chuck 10b is confirmed as shown in FIG.
[0085]
That is, the position deviation reader 29a of the abnormality detection device 29 determines the actual movement position of the spindle chuck at each time t sent from the control device 25 and the predetermined movement position l commanded by the control device 25, The position deviation Δl at each time t is calculated based on the equation (1) (STEP B1 in FIG. 6), and the position deviation Δl is sent to the position deviation comparator 29b.
[0086]
First, the position deviation comparator 29b determines whether or not the position deviation Δl sent from the position deviation reader 29a is smaller than the first limit boundary value d1 (STEP B2).
[0087]
When the position deviation Δl is not smaller than the first limit boundary value d1, that is, when the position deviation Δl is equal to or greater than the first limit boundary value d1, the position deviation comparator 29b determines that the position deviation Δl is within the allowable range (FIG. 5 (3)). ) Is determined to deviate in the positive direction, and the time (abnormal continuation time) during which the value is continuously equal to or more than the first limit boundary value d1 is measured (STEP B3). The measured abnormal continuation time is sent from the position deviation comparator 29b to the position deviation abnormality detector 29c as needed at each time t.
[0088]
The position deviation abnormality detector 29c determines whether or not the continuous abnormality time has reached a predetermined abnormality determination time (STEP B4). When it is determined that the continuous abnormality time has reached the predetermined abnormality determination time, the position deviation abnormality detector 29c determines that there is an abnormality in the transfer of the work W between the spindle chucks 10a and 10b. (STEP B5). Then, the position deviation abnormality detector 29c notifies the operator of the work processing apparatus 1 of the abnormality by displaying an abnormality message or the like.
[0089]
Thereby, the operator of the work processing apparatus 1 can know the abnormality that has occurred when the work W is delivered from the first spindle chuck 10a to the second spindle chuck 10b, and delivers the work W in a state where the abnormality occurs. Can be prevented from continuing.
[0090]
On the other hand, when the position deviation Δl is smaller than the first limit boundary value d1, the position deviation comparator 29b determines whether the position deviation Δl is larger than the second limit boundary value d2 (STEP B6).
[0091]
When the position deviation Δl is not larger than the second limit boundary value d2, that is, when the position deviation Δl is equal to or smaller than the second limit boundary value d2, the position deviation comparator 29b determines that the position deviation Δl is within the allowable range (FIG. 5 (3)). ) Is measured in the negative direction, and the time (abnormal continuation time) during which it is continuously less than or equal to the first limit boundary value d2 is measured (STEP B7). The measured abnormal continuation time is sent from the position deviation comparator 29b to the position deviation abnormality detector 29c as needed at each time t.
[0092]
The position deviation abnormality detector 29c determines whether or not the continuous abnormality time has reached a predetermined abnormality determination time (STEP B8). When it is determined that the continuous abnormality time has reached the predetermined abnormality determination time, the position deviation abnormality detector 29c determines that there is an abnormality in the transfer of the work W between the spindle chucks 10a and 10b. (STEP B9). Then, the position deviation abnormality detector 29c notifies the operator of the work processing apparatus 1 of the abnormality by displaying an abnormality message or the like.
[0093]
On the other hand, when the position deviation Δl is larger than the second limit boundary value d2, the position deviation abnormality detector 29c determines when the position deviation Δl has reached the normal continuous time (STEP B10) within the predetermined limit boundary value and has stabilized. Then, it is determined that the transfer of the work W between the two spindle chucks 10a and 10b is performed normally (STEP B11), and the work of transferring the work W is continued (STEP B12).
[0094]
If the positional deviation at each time falls within or exceeds the limit boundary value in STEP B2 and STEP B6 in FIG. 6 and the positional deviation is unstable, the position deviation abnormality detector 29c checks in step B13 whether the workpiece has been pushed. When the time is up by measuring the total time during which the process is executed, it is determined that there is a work delivery overtime abnormality (STEP B14). Then, the position deviation abnormality detector 29c displays an abnormality message or the like to notify the operator of the work processing apparatus 1 of the abnormality.
[0095]
As described above, according to the present embodiment, the abnormal continuation time includes the case where the position deviation Δl is not smaller than the first limit boundary value d1, the case where the position deviation Δl is not larger than the second limit boundary value d2, Is measured.
[0096]
The first limit boundary value d1 sets the upper limit of the limit boundary allowable range (FIG. 5 (3)), and the second limit boundary value d2 sets the lower limit of the limit boundary allowable range (FIG. 5 (3)). It has established.
[0097]
Therefore, in the present embodiment, when the position deviation Δl as shown in the above equation (1) is not smaller than the first limit boundary value d1, the position deviation Δl falls within the allowable range (FIG. 5 (3)). Is determined to be off the positive side. In this case, the work W is supported before the distance between the stopper surface 11a of the first spindle chuck 10a and the stopper surface 11b of the second spindle chuck 10b reaches the length normally held by the work W. The first spindle chuck 10a is stopped.
[0098]
Therefore, for example, when the work W supported by the first spindle chuck 10a is longer than the regular length or when foreign matter such as dust or cuttings is inserted into the stopper surface 11b of the spindle chuck 10b, the first spindle When the work W is not properly transferred from the chuck 10a to the second spindle chuck 10b, it is detected that there is an abnormality in the transfer of the work W, and the operator is notified of the abnormality.
[0099]
On the other hand, when the position deviation Δl as shown in the above equation (1) is not larger than the second limit boundary value d2, the position deviation Δl deviates to the negative side with respect to the allowable range ((3) in FIG. 5). It is determined that it is. In such a case, the distance between the stopper surface 11a of the first spindle chuck 10a and the stopper surface 11b of the second spindle chuck 10b is shorter than the length of the regular work W. Therefore, for example, when the work W supported by the first spindle chuck 10a is shorter than the regular length or when the first spindle chuck 10a does not support the work W, the first spindle chuck 10a moves from the second spindle chuck 10a to the second spindle. When the work W is not properly delivered to the chuck 10b, it is detected that there is an abnormality in the delivery of the work W, and the operator is notified of the abnormality.
[0100]
As described above, according to the present embodiment, when the work W supported by the first spindle chuck 10a is longer than the regular length, or when foreign matter such as dust or chips enters the stopper surface 11b of the spindle chuck 10b. In addition to the case, even when the work supported by the first spindle chuck 10a is shorter than the regular length or when the first spindle chuck does not support the work W, the operator of the work processing apparatus 1 can It is possible to confirm whether or not the work W has been normally transferred between the spindle chucks.
[0101]
In the above-described first and second embodiments, the case where the first spindle chuck that supports the work is moved has been described. However, the present invention is not limited to this. As in the case where the second spindle chuck is moved, or in the case where both the first spindle chuck and the second spindle chuck are moved, it corresponds to the case where one of the first spindle chuck and the second spindle chuck is moved. It is possible.
[0102]
In each of the above-described embodiments, the error in the excessively large error is, for example, a range in which the actual machine position is more than the set distance from the ideal machine position with respect to the command position in the conventional servo motor control circuit. (The former) or the range in which the actual machine position is separated from the command position by more than a set distance (the latter). Also, the error in the case of excessive error, the position command is executed from the servo motor control circuit to the servo motor via the servo amplifier, the servo motor moves, the data from the servo motor encoder is read as the actual position by the servo motor control circuit, The servo motor control circuit compares the command position (ideal machine position) with the actual position. In the former case, the alarm is provided so as to generate an alarm with a standard value of about 5 to 10 mm. In the latter case, the alarm is provided so as to generate an alarm with a standard value of about 10 to 30 mm. The value of the error during stopping is set to about 1 to 2 mm. In both cases, an alarm is generated when the error exceeds the excessive error detection width.On the other hand, according to the present invention, it is detected whether or not a certain time has exceeded the limit boundary allowable range in order to accurately push the work. Has been detected. The limit boundary allowable range has a limit boundary value on each of the positive side and the negative side with respect to the regular work length.
[0103]
【The invention's effect】
As described above, according to the present invention, the abnormality detection device calculates a positional deviation between the actual movement position of the spindle chuck sent from the movement position measurement device and the predetermined movement position sent from the control device. Then, a continuous time during which the position deviation is out of a predetermined limit boundary allowable range is measured. Then, based on the measured time, it is determined whether or not there is an abnormality in the transfer of the work between the spindles.
[0104]
For this reason, the work processing apparatus provided with such an abnormality detection device can detect the presence or absence of an abnormality related to the processing of the work by confirming whether or not the transfer of the work between the spindles has been performed normally. .
[Brief description of the drawings]
FIG. 1 is a schematic diagram illustrating an entire configuration of a work processing apparatus according to a first embodiment.
FIG. 2 is a diagram illustrating a relationship between a predetermined movement position and an actual position according to a control command in the first embodiment.
FIG. 3 is a diagram showing a relationship between a position deviation and a limit boundary value in the first embodiment.
FIG. 4 is a flowchart showing a process of confirming whether there is an abnormality related to work transfer in the first embodiment.
FIG. 5 is a diagram illustrating a relationship between a position deviation and a limit boundary value according to the second embodiment.
FIG. 6 is a flowchart illustrating a process of confirming whether there is an abnormality related to work transfer in the second embodiment.
[Explanation of symbols]
1 Work processing equipment
2 NC controller
10 Spindle chuck
10a First spindle chuck
10b 2nd spindle chuck
11 Spindle chuck stopper surface
11a Stopper surface of 1st spindle chuck
11b Stopper surface of second spindle chuck
12 First spindle slide
15 Ball screw
23 Servo motor
24 Servo amplifier
25 Control device
29 Abnormality detector
29a Position deviation reader
29b Position deviation comparator
29c Position deviation abnormality detector
41 Error excessive detection width switcher
42 In-position width switcher
43 Current limit switch
45 Torque limiter
W Work W

Claims (6)

A first spindle chuck for supporting the work,
A second spindle chuck arranged to face the first spindle chuck, for receiving and supporting the work supported by the first spindle chuck;
A driving device for moving at least one of the first spindle chuck and the second spindle chuck in a direction facing the first spindle chuck and the second spindle chuck;
A control device that controls the driving device to move at least one of the first spindle chuck and the second spindle chuck to a predetermined movement position by using the driving device;
A movement position measurement device that measures an actual movement position of the spindle chuck moved by the drive device,
The position deviation between the actual movement position of the spindle chuck moved by the driving device sent from the movement position measurement device and the predetermined movement position sent from the control device is determined. A continuous time out of a predetermined limit boundary allowable range is measured, and it is determined whether or not there is an abnormality in the transfer of the work between the first spindle chuck and the second spindle chuck based on the continuous time. Abnormality detection device,
A workpiece processing apparatus comprising: The abnormality detection device controls the driving device to move at least one of the first spindle chuck and the second spindle chuck to a predetermined moving position by using the driving device, and moves the driving device by the driving device. When the actual movement position of the spindle chuck to be moved falls within the in-position width, a positional deviation between the actual movement position of the spindle chuck moved by the driving device at each time and a predetermined movement position is obtained. Measuring a continuous time during which the positional deviation is out of a predetermined limit boundary allowable range, and determining whether the continuous time is up or not, by determining whether the work is located between the first spindle chuck and the second spindle chuck. Processing apparatus for determining whether or not there is an abnormality with respect to delivery of a workpiece The control device is configured to, when the drive device moves at least one of the first spindle chuck and the second spindle chuck to a predetermined movement position in order to push the work into the second spindle chuck, The workpiece processing device according to claim 1, wherein the driving device is controlled such that a driving torque of the device does not exceed a predetermined torque. The first spindle chuck has a first spindle stopper surface against which one end of the work is pressed when supporting the work,
The second spindle chuck has a second spindle stopper surface against which the other end of the work is pressed when supporting the work,
The predetermined movement position is when the at least one of the first spindle chuck and the second spindle chuck is moved to the predetermined movement position by the driving device, the first spindle stopper surface and the second spindle. The work processing apparatus according to any one of claims 1 to 3, wherein a distance from the stopper surface is set to be shorter than a normal length of the work. An alarm is generated when a positional deviation between the actual movement position of the spindle chuck moved by the drive device determined by the abnormality detection device and a predetermined movement position sent from the control device reaches an excessive error detection width. A servo alarm that generates
An excessive error detection width switch capable of adjusting the excessive error,
An in-position width switcher capable of adjusting the in-position width,
Further comprising
The control device is in a state of waiting until the actual stop position of the spindle chuck moved by the drive device falls within the in-position width, so that the next command cannot be executed, and The drive device is controlled based on a movement command of
The movement of the first spindle chuck or the second spindle chuck is stopped by the work before at least one of the first spindle chuck and the second spindle chuck completes the movement to the predetermined movement position. In such a case, the excessive error detection width switch prevents the alarm of the servo system from being generated by increasing the excessive error detection width, and the in-position width switch increases the in-position width, thereby increasing the first spindle chuck. So that the transfer of the work between the second spindle chuck and the second spindle chuck is not interrupted,
The workpiece processing apparatus according to any one of claims 1 to 4, wherein: The position deviation is determined by a difference between the predetermined movement position and the actual movement position,
The abnormality detection device may be configured such that when the position deviation is out of the positive side with respect to a predetermined limit boundary allowable range, the work supported by the first spindle chuck is longer than normal or the second Since foreign matter is mixed between the spindle chuck and the work, it is determined that there is an abnormality in the transfer of the work between the first spindle chuck and the second spindle chuck, and the position deviation is determined. If the predetermined limit boundary allowable range deviates to the negative side, because the work supported by the first spindle chuck is shorter than usual or because there is no work in the first spindle chuck, The method according to claim 1, wherein it is determined that there is an abnormality in delivery of the work between the first spindle chuck and the second spindle chuck. 7. Work machining apparatus according to any one

Images