JP2005352662A - Controller controlling movement of movable part of machine tool, machine tool with controller and moving method for movable part - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce undesirable vibration of a machine by a change of a travel direction of a tool when moving the tool to a prescribed position so as not to interfere with other members. <P>SOLUTION: When a movable part 40 moves between a first position P1 and a second position P2 through a relay point 70 set on a boundary line B, a track T of a first interference checkpoint 46 of the movable part 40 is set such that the track T does not have a corner part and at least partially has an arc line. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a control device that controls movement of a movable portion of a machine tool, a machine tool having the control device, and a method of moving the movable portion.

  In a machine tool such as a machining center or an NC lathe, generally, a movable part including a tool or a spindle is moved and positioned before a material is processed. For example, as schematically illustrated in FIG. 6, this movement is linear when another interference object, that is, the fixed part S exists between the position L1 before the movement of the movable part M and the position L2 after the movement. For example, as shown in the figure, it must be performed in a so-called “U” shape including backward movement, parallel movement, and forward movement. Even when there is no interference, it is common for the movable part to move including some backward movement and forward movement. Such movement can be performed by a control device that controls the operation of the drive device that moves the movable portion.

  As described above, in order to move the movable portion to the U-shape, it is necessary to discontinuously change the moving direction of the movable portion at the two corners of the U-shape. Accordingly, the movable portion is accelerated / decelerated and turned at the corner. In this case, vibrations are generated in the machine tool due to the acceleration / deceleration and direction change, and when simultaneous machining is performed in other parts of the machine tool, the machining accuracy may be greatly reduced. Furthermore, there is a possibility that the life of each component related to the movable part may be reduced by this vibration. In addition, a large number of times of acceleration / deceleration of the movable part leads to an increase in power consumption.

  Therefore, the present invention reduces undesirable vibrations of the machine without performing rapid acceleration / deceleration of the movable part as much as possible when the movable part having the tool or the spindle is moved to a predetermined position so as not to interfere with other members. With the goal.

  In order to achieve the above object, the invention according to claim 1 is arranged in a movable part movable in an arbitrary direction between arbitrary positions in a two-dimensional plane, and in a movable range of the movable part. A control device for controlling the drive device in a machine tool having a fixed portion and a drive device for positioning by moving the movable portion in an arbitrary direction, the first position being the arbitrary position; The movement path of the movable part between the second position and the second position is set so that the movable part does not interfere with the fixed part, and the movement path does not have a corner part and at least partially has an arc line. There is provided a control device comprising: a processing unit; and a drive control unit that controls the driving device so that the movable unit moves along the movement path set by the processing unit.

  According to a second aspect of the present invention, in the control device according to the first aspect, the processing unit moves the movable unit between the first position and the second position with the shortest distance. The movable part is closest when the movable part moves between the first position and the second position with the shortest distance between the first interference check point of the movable part that is closest to the fixed part and the movable part. The first interference check point of the fixed part and the first interference check point so that the first interference check point and the second interference check point do not interfere with each other during the movement of the movable part along the movement path. A relay point through which a check point passes, and the drive control unit is based on the first interference check point, the second interference check point, and the relay point set by the processing unit, The first interference checkpoint serial movable portion moves the movable portion so as to pass through the relay point, to provide a control apparatus.

  According to a third aspect of the present invention, there is provided a headstock that rotatably supports a main shaft that grips and rotates the first workpiece, an axis parallel to the axis of the main shaft, and is disposed opposite to the main shaft. And a back main spindle that grips and rotates the second workpiece, and includes one or a plurality of first tools that perform cutting on the first workpiece gripped by the main spindle, and A back spindle head that is movable in an axial direction and an arbitrary direction orthogonal to the axial line, and one or a plurality of second tools that perform cutting on the second workpiece gripped by the back spindle. A control for controlling the driving device in a machine tool having a fixed tool rest disposed within a moving range of the back head stock and a driving device for moving and positioning the back head stock in an arbitrary position and direction. A device at the arbitrary position. The back spindle stock does not interfere with the fixed tool stock in the movement path of the back stock stock between the first position and the second position sandwiching (that is, arranged or straddling) the fixed tool stock. And a processing unit that sets the moving path to have at least a part of an arc without having a corner, and the drive so that the back headstock moves along the moving path set by the processing unit. And a drive control unit that controls the apparatus.

  According to a fourth aspect of the present invention, in the control device according to the third aspect, the processing unit is gripped by a tip of a maximum output amount of the first tool of the back spindle stock or the back spindle. A straight line passing through a point that protrudes most to the headstock side and orthogonal to the axis of the rear spindle, and the back surface closest to the fixed turret with respect to the orthogonal linear direction. A first interference check point that is an intersection of a straight line that passes through the end point of the headstock and is parallel to the axis of the back spindle, and passes through the tip of the tool with the maximum amount out of the second tool of the fixed tool post; Second interference check that is an intersection of a straight line orthogonal to the back spindle axis and a straight line passing through the end point of the fixed tool post closest to the back spindle in the orthogonal linear direction and parallel to the axis of the back spindle Point and A relay point through which the first interference checkpoint passes is set so that the first interference checkpoint and the second interference checkpoint do not interfere with each other during the movement of the rear headstock along the movement path. The drive control unit is configured such that the first interference check point of the rear headstock determines the relay point based on the first interference check point, the second interference check point, and the relay point set by the processing unit. Provided is a control device for moving the back spindle stock so as to pass.

  According to a fifth aspect of the present invention, in the control device according to the fourth aspect, the processing unit sets a boundary line that passes through the second interference check point and is orthogonal to the axis of the back main axis, and is on the boundary line. A control device for setting the relay point is provided.

  According to a sixth aspect of the present invention, in the control device according to the fourth aspect, the processing unit presets a boundary line orthogonal to the axis of the back main axis, and sets the relay point on the boundary line. A control device is provided.

  A seventh aspect of the present invention is the control apparatus according to the fifth or sixth aspect, wherein the processing unit is located on the boundary line, near the second interference check point and outside the fixed tool post. , An intersection S2 of a straight line extending in parallel with the axis of the back spindle from the first interference check point when the back spindle head is in the first position and the boundary line S1, and the intersection S2 3 points are set with the middle point S3 on the boundary line between the first and the second headstock when the back headstock moves between the first position and the second position. Provided is a control device that performs three kinds of operations each passing through one of the three points, and sets and stores any one of the three points when the measured travel time is the shortest as the relay point To do.

  The invention according to claim 8 is the control device according to any one of claims 1 to 7, further comprising a straight line portion where the moving path is connected to the arc wire, and the straight line portion is connected to the arc wire. A control device corresponding to the tangent of the arc wire at the connection point is provided.

  A ninth aspect of the present invention provides the control device according to any one of the first to seventh aspects, wherein the entire moving path is formed of an arc line.

  A tenth aspect of the present invention provides a machine tool including the control device according to any one of the first to ninth aspects.

  According to an eleventh aspect of the present invention, there is provided a movable part movable in an arbitrary direction between arbitrary positions in a two-dimensional plane, a fixed part arranged in a movable range of the movable part, and the movable part A moving method of the movable part in a machine tool having a driving device that performs positioning in an arbitrary direction, the movable between the first position and the second position that are the arbitrary positions A moving path of a part is set so that the movable part does not interfere with the fixed part, and the moving path does not have a corner part and at least partially has an arc line, and the processing part sets the And controlling the drive device so that the movable part moves along a movement path.

  A twelfth aspect of the present invention is the moving method according to the eleventh aspect, in which the movable portion moves the shortest distance between the first position and the second position when the movable portion moves to the fixed portion. Setting the first interference check point of the movable part that approaches, and the movable part closest when the movable part moves between the first position and the second position by the shortest distance Setting the second interference checkpoint of the fixed part, and preventing the first interference checkpoint and the second interference checkpoint from interfering with each other during the movement of the movable part along the movement path. Setting a relay point that passes the first interference checkpoint, and based on the first interference checkpoint, the second interference checkpoint, and the relay point set by the processing unit Te, provides a method of moving the first interference check point of the movable portion has a, and moving said movable part so as to pass through the relay point.

  According to the present invention, the movable part can move smoothly on the machine tool without being accelerated or decelerated except at the start of movement and at the end of movement, thereby reducing the machining accuracy of the machine tool and the life of the parts. The resulting vibration is prevented. Further, the moving path of the movable part is set in advance by the control device so as not to interfere with the fixed part.

Hereinafter, the present invention will be described in detail with reference to the drawings.
FIG. 1 is a schematic diagram showing main components of a machine tool according to the present invention. The machine tool 1 is an automatic machine tool such as an NC lathe, for example, and includes a movable portion 40, fixed portions 50 and 60, a drive device 30 that moves the movable portion, and a control device 10 that controls the drive device 30. The movable unit 40 can include, for example, a tool post 42 and a main shaft 44, and can be moved by the driving device 30 to positions close to the fixed unit 50 or 60, and the workpiece mounted on the fixed unit at each position. Processing or workpiece transfer can be performed. The control device 10 controls the operation of the drive device 30.

  The control device 10 is, for example, an NC device equipped in a numerical control (NC) lathe, but the present invention is not limited to this, and may be another control device different from the NC device. As shown in FIG. 1, the control device 10 can include an input unit 12, a display unit 14, a processing unit (CPU) 16, a storage unit (ROM 18 and RAM 20), and a drive control unit 22. The input unit 12 includes, for example, a keyboard (not shown) with numeric keys, and necessary data (tool selection, workpiece shape, etc.) for controlling the operation of the movable parts such as the tool post and the spindle of the machine tool. (Machining conditions such as dimensions, spindle rotation speed, tool feed rate, etc.), and further, a machining program relating to each tool including those data is input. The display unit 14 includes a display device (not shown) such as a cathode ray tube or a liquid crystal display, and enables display of data and processing programs input to the input unit 12 and interactive programming on the display device. To do.

  The ROM 18 that constitutes the storage unit stores in advance a control program for moving the movable unit. In addition, the RAM 20 can be provided with a storage area for various data related to the moving part moving function. Further, data relating to the tool input by the input unit 12 is stored in the ROM 18 or the RAM 20 according to an instruction from the CPU 16. The CPU 16 sends an operation command to the drive control unit 22 for moving the movable part based on the program or data stored in the ROM 18 or RAM 20. The drive control unit 22 controls the drive device 30 including the drive source of each axis such as the X, Y, and Z axes in accordance with a command from the CPU 16 to move the movable unit 40.

  FIG. 2 is a schematic diagram showing a positional relationship in a machine tool between a movable part and a fixed part that are driven by a control device capable of performing the movable part moving method according to the present invention. The illustrated machine tool 1 includes a movable part 40 and two fixed parts 50 and 60. In the illustrated example, the movable portion 40 is preferably a tool post having a plurality of first tools 56 detachably attached thereto and a back spindle table having a back spindle 54. The one fixing portion 50 is a spindle stock having a spindle 52 that rotatably supports the first workpiece, that is, the workpiece W1, and the other fixing portion 60 preferably holds a plurality of second tools 58. This is a fixed tool post that is detachable. The central axes of the main shaft 52 of the fixed unit 50 and the back main shaft 54 of the movable unit 40 are both parallel to the Z axis, and the back main shaft 54 is disposed to face the main shaft 52. The movable part 40 is movable in the Z-axis direction and the X-axis direction orthogonal to the Z-axis, and the first tool 56 of the movable part 40 moves the movable part 40 downward from the first position P1 by a predetermined distance in the X-axis direction. When the workpiece W1 is moved to a position (not shown), the workpiece W1 supported by the main shaft 52 is fixed to the tool post so that it can be cut. Furthermore, when the movable part 40 moves to P1, the workpiece W1 can be transferred between the main shaft 52 and the rear main shaft 54. Further, the second tool 58 of the fixed part, that is, the fixed tool post 60, is a second workpiece, that is, a workpiece that is rotatably supported by the back main shaft 54 of the movable part 40 when the movable part 40 moves to the position P2. W2 is fixed so that it can be cut.

  As described above, the first tool 56 of the movable unit 40 can process the workpiece W1 of the main shaft 52 of the fixed unit 50 at the first position P1, and the first tool 56 of the fixed unit 60 at the second position P2. The second tool 58 can machine the workpiece 2 of the back main spindle 54 of the movable portion 40. Note that the case where the movable unit 40 moves from the first position P1 to the second position P2 is, for example, that the workpiece 1 chucked by the main shaft 52 is processed by the first tool 56 of the movable unit 40 and then the workpiece is moved. 1 is transferred from the main shaft 52 to the rear main shaft 54, and the opposite side of the workpiece 1 is processed by the second tool 58 of the fixed portion 60. On the contrary, when the movable part 40 moves from the second position P2 to the first position P1, for example, the work 2 chucked by the back main shaft 54 is moved by the second tool 58 of the fixed part 60. After machining, the workpiece 2 is transferred from the back spindle 54 to the spindle 52, and the opposite side of the workpiece 2 is machined by the first tool 56 of the movable portion 40. Moreover, the movable part 40 can also stand by in the 3rd position P3 which does not adjoin any fixed part as shown on the left side of FIG.

  When the movable part 40 is at the third position P3, there is no interference between the movable part 40 and the fixed part 50 or 60, so the movable part 40 moves to the first or second position P1 or P2. Sometimes, it can move along a linear movement path (only the path to the second position P2 is shown in the figure). However, when the movable part 40 should move from the first position P1 to the second position P2, the movable part 40 interferes with the fixed part 60 when it moves linearly. Therefore, in this case, the moving path of the movable part is determined based on the moving method according to the present invention. The method will be described below with reference to FIG. 2 and FIG.

  First, the operator inputs the dimensions of the first tool 56 and the second tool 58 mounted on the movable part 40 and the fixed part 60 or the maximum output value of the tool tip (step 101). Here, the maximum output amount is the Z between the tip of the tool whose tip protrudes the longest among a plurality of tools attached to the movable portion 40 or the fixed portion 60 and a certain reference position on the movable portion 40 or the fixed portion 60. The distance in the axial direction, that is, the tool length direction. The reference position may be an arbitrary fixed position, and may be an appropriate place on the base portion to which the tool is attached, for example.

  Next, the first interference check point 46 of the movable unit 40 is set based on the value input in step 101 by the processing unit of the control device, that is, the CPU, and the dimension of the movable unit 40 determined in advance or input by the operator. (Step 102). The first interference check point 46 is the position of the movable unit 40 that is closest to the fixed unit 60 when trying to move the movable unit 40 at the shortest distance without interfering with the fixed unit 60 between the positions P1 and P2. It is determined as a place. In the present embodiment, the first interference check point 46 is gripped by the tip of the maximum amount of tools out of the plurality of first tools 56 of the movable unit 40 or the back spindle 54 in order to facilitate the setting. Of the tips of the workpiece W2 on the fixed portion 50 side, the straight line that passes through the point that protrudes most to the fixed portion 50 side (the tip of the workpiece W2 in the illustrated example) and is parallel to the X axis, and the most fixed portion with respect to the X axis direction It is determined as an intersection with a straight line passing through the end point of the movable part 40 close to 60 and parallel to the Z axis.

  Next, the movable unit 40 is moved when the movable unit 40 moves according to the value input in step 101 by the processing unit of the control device, that is, the CPU, and the dimension of the fixed unit 60 determined in advance or input by the operator. The second interference check point 66 of the fixed unit 60 for determining whether or not to interfere with is set (step 103). Similar to the first interference check point 46, the second interference check point 66 is movable when the movable part 40 moves from the position P1 to the position P2 at the shortest distance without interfering with the fixed part 60 (or vice versa). It is determined as the location of the fixed portion 60 that is closest to the portion 40. In the present embodiment, in order to facilitate the setting of the second interference check point 66, the second interference check point 66 passes through the tip of the maximum amount of tools out of the plurality of second tools 58 of the fixed portion 60 and is parallel to the X axis. And an intersection of a straight line passing through the end point of the fixed part 60 closest to the movable part 40 in the X-axis direction and parallel to the Z-axis. In other words, the second interference check point and the first interference check point described above are obtained by approximating the shapes of the movable part 40 and the fixed part 60 to a rectangle and setting it to one corner of the rectangle. Therefore, the movable part and the fixed part are approximated to a polygon other than a circle, an ellipse, or a rectangle according to the actual shape, and the first and second interference check points are set at appropriate points within the shape. Of course it is possible.

  In addition, about the protrusion length of the tool at the time of the tool attachment to the movable part 40 or the fixed part 60, and the protrusion length of the workpiece | work W2 from the back main axis | shaft 54, both the movable part 40 and the fixed part 60 are previously prepared at the time of program creation. You can enter it.

  Next, a boundary line B is determined by the processing unit 16 of the control device 10 from the maximum amount of the second tool 58 of the fixing unit 60 and the predetermined dimension of the fixing unit 60 (step 104). The boundary B depends on which side the first interference check point 46 of the movable part 40 at the first position P1 is located with respect to the boundary B, so that the movable part 40 should move according to the method of the present invention. It is for judging whether it is possible to move in a straight line. In the present embodiment, the boundary line B is set as a straight line that passes through the tip of the maximum output amount of the second tool 58 and extends in the X direction. In other words, the boundary line B is a straight line passing through the second interference check point 66 and parallel to the X axis. Alternatively, the boundary line B may be determined in advance as a straight line parallel to the X axis that does not necessarily pass through the second interference check point. In this case, the second tool 58 is selected so as not to interfere with the boundary line, and the fixing portion 60 is selected. It may be the way to attach to.

  Next, in order to avoid the movable unit 40 from interfering with the fixed unit 60 during movement, a relay point 70 through which the trajectory T of the first interference check point 46 accompanying the movement of the movable unit 40 should be determined ( Step 105). Here, the relay point 70 is determined as a point on the boundary line B set in step 104 and outside the rectangle indicating the fixed portion 60 (that is, outside the second interference check point 66 with respect to the fixed portion 60). The relay point 70 is an optimal position where the control device 10 (not shown) can minimize at least one of the length of the trajectory T of the first interference check point 46, the required moving time of the movable unit 40, and the power consumption required for moving. It is preferable that

  Here, as shown in FIG. 2, the first interference check point 46 linearly moves from the first position P1 toward the relay point 70, and further linearly from the relay point 70 toward the second position P2. When the movable part 40 moves so as to move to the first point, since the sudden deceleration and acceleration (that is, temporary stop and restart) of the movable part 40 are performed at the relay point 70, the first interference check point 46 becomes the relay point 70. When passing through the machine tool, there may be undesirable vibrations for machine tools similar to the conventional “U” shaped movement described above. Therefore, in the present invention, the trajectory T is determined so as not to have a corner portion that requires acceleration / deceleration and direction change of the movable portion 40 but to have an arc line at least partially (step 106). Specifically, as shown in FIG. 4, the trajectory T is a straight line Ts from the first interference check point 46 to the relay point 70 at the first position P1, and the trajectory T from the relay point 70 to the second position P2. Up to one interference check point 46, that is, the positioning point 48, is an arc line Ta. Here, at the relay point 60 that is the intersection of the straight line Ts and the arc line Ta, the straight line Ts is a tangent line T of the arc line Ta. According to such a configuration, the movable portion 40 can move without being accelerated or decelerated and suddenly changed direction. Actually, each drive source in each axial direction (X and Z axis directions in the illustrated example) that moves the movable unit 40 performs acceleration / deceleration. As a result, the movable unit 40 is accelerated / decelerated in the direction along the trajectory T. This is because it can move smoothly without any trouble. Therefore, the above-described undesirable vibration does not occur, and further, power consumption can be saved and traveling time can be shortened. Of course, the intersection of the straight line Ts and the arc line Ta may not coincide with the relay point 70. That is, the relay point 70 may be on the straight line Ts or on the arc line Ta.

  Further, for example, as shown in FIG. 5, the trajectory T may have only a straight line without a straight line portion. Also in this case, the moving part 40 does not change its advancing direction abruptly at all locations on the trajectory T, and the advancing direction gradually changes along the arc line. Absent. Whether the combination of the straight line and arc line shown in FIG. 4 and the arc line shown in FIG. 5 should be selected as the trajectory T is determined by the control device 10 by the length of the trajectory T of the first interference check point 46 and the required movement of the movable part 40. It can be determined in consideration of time and power consumption required for movement.

  The relay point 70 is selected at the optimum position in consideration of the time required for the movable part 40 as described above. An example of the selection method will be described below. First, as shown in FIG. 4 or FIG. 5, a point on the boundary line B that passes when the movable unit 40 is closest to the fixed unit 60, that is, a point immediately adjacent to the second interference check point 66 and outside the fixed unit 60. S1, an intersection S2 of a straight line extending in parallel with the Z axis from the first interference check point 46 when the movable unit 40 is at the position P1 and the boundary line B, and a midpoint S3 on the boundary line between S1 and S2 And set 3 points. Next, when executing the machining program in which the movable part 40 moves between P1 and P2, the first interference check point 46 performs three kinds of operations passing through any of S1 to S3, and is measured at that time. One of S1 to S3 when the travel time is the shortest is stored as a relay point 70 in the RAM or the like. Here, S3 may be an intermediate position between S1 and S2, or may be an appropriate place calculated in advance based on the positional relationship between PI and P2 or estimated from past movement results.

  Further, as shown in FIG. 4, the traveling direction of the trajectory T when the movable portion 40 reaches the second position is exchanged between the fixed portions 60 from the viewpoint of ease of exchange of the workpiece. It is preferably substantially equal to the axial direction of the workpiece (Z-axis direction in FIG. 4). Since the movement path of the movable part 40 includes an arc line, such movement can be performed regardless of the position of the movable part 40 before the movement.

  Finally, the drive unit (moving unit 40) is moved by the processing unit of the control unit 10, that is, the CPU 16, so that the first interference check point 46 of the moving unit 40 moves along the trajectory T determined in Step 106. (Not shown) is controlled (step 107). The drive device drives the drive source in each axial direction in accordance with a command from the processing unit of the control device 10 and realizes smooth movement along the trajectory T of the movable unit 40.

  In the present embodiment, whether the movable part 40 may move linearly or should be moved according to a route determined based on the method according to the present invention is determined by the first interference check point of the movable part 40 before the movement. It depends on which side of the boundary line B 46 is located. In the illustrated example, when the first interference check point 46 is on the left side of the boundary line B before movement, the movable unit 40 can move linearly, and when it is on the right side, it includes an arc line according to the moving method according to the present invention. It moves along the movement path.

  As described above, the locus of the interference check point does not have a corner portion but at least partially has an arc line, so that the movable portion moves smoothly without being accelerated or decelerated except at the start of movement and at the end of movement. Therefore, vibration that can reduce the machining accuracy and life of the machine tool is prevented. Furthermore, since this trajectory passes through a predetermined relay point, the movable portion is not the same as the case where the conventional “U” -shaped movement path is simply replaced with an arc wire or a combination of an arc wire and a straight line. It is surely prevented from interfering with.

It is a block diagram which shows the structure of the machine tool which has a control apparatus which concerns on this invention. It is a figure which shows the state which can prevent interference of a movable part by the setting of a relay point. It is a flowchart which shows one Embodiment of the movable part movement method which concerns on this invention. It is the schematic which shows the suitable example of the movement path | route of the movable part in the machine tool which concerns on this invention. It is the schematic which shows the other suitable example of the moving path | route of the movable part in the machine tool which concerns on this invention. It is a schematic diagram which shows an example of the movement path | route of the movable part in the conventional machine tool.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Machine tool 10 ... Control apparatus 30 ... Drive apparatus 40 ... Movable part 46 ... 1st interference checkpoint 50, 60 ... Fixed part 66 ... 2nd interference checkpoint 70 ... Relay point T ... Trajectory B ... Boundary line

Claims (12)

A movable part movable in any direction between arbitrary positions in a two-dimensional plane, a fixed part arranged in a movable range of the movable part, and moving the movable part in any direction for positioning A control device for controlling the drive device in a machine tool having a drive device for performing
The movement path of the movable part between the first position and the second position, which are arbitrary positions, the movable part does not interfere with the fixed part, and the movement path does not have a corner part. A processing unit configured to at least partially have an arc;
A drive control unit that controls the drive device so that the movable unit moves along the movement path set by the processing unit;
A control device comprising: The processing unit includes a first interference check point of the movable part that is closest to the fixed part when the movable part moves between the first position and the second position at a shortest distance; A second interference check point of the fixed portion that is closest to the movable portion when the movable portion moves between the first position and the second position at the shortest distance; and the movement path of the movable portion. A relay point that passes the first interference checkpoint so that the first interference checkpoint and the second interference checkpoint do not interfere with each other during movement along
The drive control unit may cause the first interference check point of the movable unit to pass through the relay point based on the first interference check point, the second interference check point, and the relay point set by the processing unit. The control device according to claim 1, wherein the movable portion is moved to a position. A headstock that rotatably supports a main spindle that grips and rotates the first workpiece, an axis parallel to the axis of the main spindle, and is disposed opposite to the main axis and holds the second workpiece Any one of a plurality of first tools, each of which includes a rotating back main shaft, performs cutting on the first workpiece gripped by the main shaft, and is orthogonal to the axial direction of the main shaft and the axis. A back spindle head that is movable in the direction of the back surface, and one or a plurality of second tools that cut the second workpiece gripped by the back spindle, and within a range of movement of the back spindle head A control device for controlling the drive device in a machine tool having a fixed tool post arranged in a drive device for positioning by moving the back spindle stock in an arbitrary position and direction,
The back spindle block does not interfere with the fixed tool post in the movement path of the back spindle block between the first position and the second position sandwiching the fixed tool post at any position; and A processing unit configured to set the moving path to have at least a part of an arc without a corner, and
A drive control unit that controls the drive device so that the back spindle stock moves along the movement path set by the processing unit;
A control device comprising: The processing unit protrudes most to the headstock side among the tip of the maximum amount of the first tool of the back spindle head or the tip of the second workpiece gripped by the back spindle. An intersection of a straight line that passes through the point and perpendicular to the axis of the back spindle and a straight line that passes through the end point of the back spindle closest to the fixed tool post with respect to the orthogonal linear direction and is parallel to the axis of the back spindle The first interference check point, the straight line passing through the tip of the maximum amount of tools out of the second tool of the fixed tool post and perpendicular to the back spindle axis, and the back most in relation to the perpendicular linear direction A second interference checkpoint that is an intersection of a straight line that passes through the end point of the fixed tool post near the headstock and is parallel to the axis of the rear spindle, and during the movement of the rear spindle stock along the movement path, First interference Set the relay point between checkpoints and the second interference checkpoints passing said first interference check point so as not to interfere with each other,
The drive control unit, based on the first interference check point, the second interference check point, and the relay point set by the processing unit, the first interference check point of the rear headstock passes through the relay point. The control device according to claim 3, wherein the rear headstock is moved as described above.   5. The control device according to claim 4, wherein the processing unit sets a boundary line that passes through the second interference check point and is orthogonal to the axis of the back main axis, and sets the relay point on the boundary line.   5. The control device according to claim 4, wherein the processing unit presets a boundary line orthogonal to the axis of the back main axis and sets the relay point on the boundary line.   The processing unit includes the first interference checkpoint when the point S1 on the boundary line and closest to the second interference checkpoint and outside the fixed tool post and the back spindle stock are at the first position. 3 points of the intersection S2 of the straight line extending parallel to the axis of the back main axis and the boundary line, and the middle point S3 on the boundary line between the point S1 and the intersection S2, When the rear headstock moves between the first position and the second position, the first interference check point performs three kinds of operations passing through any of the three points, and measurement is performed at that time. The control device according to claim 5 or 6, wherein any one of the three points when the travel time is shortest is set and stored as the relay point.   The control according to any one of claims 1 to 7, wherein the movement path further includes a straight line portion connected to the arc line, and the straight line portion corresponds to a tangent line of the arc line at a connection point with the arc line. apparatus.   The control device according to claim 1, wherein the entire movement path is formed of an arc line.   A machine tool comprising the control device according to claim 1. A movable part movable in any direction between arbitrary positions in a two-dimensional plane, a fixed part arranged in a movable range of the movable part, and moving the movable part in any direction for positioning A moving method of the movable part in a machine tool having a drive device
The movement path of the movable part between the first position and the second position, which are arbitrary positions, the movable part does not interfere with the fixed part, and the movement path does not have a corner part. Setting it to have at least a partial arc;
Controlling the driving device so that the movable unit moves along the movement path set by the processing unit;
The movement method characterized by having. Setting a first interference checkpoint of the movable part that is closest to the fixed part when the movable part moves between the first position and the second position at a shortest distance;
Setting the second interference check point of the fixed part that the movable part is closest to when the movable part moves between the first position and the second position at the shortest distance;
Setting a relay point through which the first interference checkpoint passes so that the first interference checkpoint and the second interference checkpoint do not interfere with each other during the movement of the movable part along the movement path; ,
Based on the first interference check point, the second interference check point, and the relay point set by the processing unit, the movable unit moves so that the first interference check point of the movable unit passes through the relay point. And letting
The movement method according to claim 11, comprising:

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