JP2007234002A - Numerical control machine and method for working on work with numerical control machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method for working on works with a numerical control machine, which effectively may save energy and keep a high-accuracy machining on the works, by suppressing a vibration generated, when the work is transferred along an axis. <P>SOLUTION: The method for working on the works, comprising transferring a moving unit along the axis, by utilizing a large amount of time to wait for the other work while another moving unit is working on another works; shorting the waiting time for moving unit or making the waiting time 0 for the moving unit; suppressing shocks and vibrations generated, while a machining speed of the moving unit is accelerated or deactivated, by reducing the machining speed of the moving unit; and saving electric power consumption. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a numerically controlled machine tool that has a plurality of moving bodies such as a tool post and a headstock, and that processes a workpiece while relatively moving the plurality of moving bodies, and a workpiece processing method in the numerically controlled machine tool About.

2. Description of the Related Art There are known numerically controlled machine tools that have a plurality of moving bodies such as a tool post and a moving spindle stock, and that process a workpiece while relatively moving the plurality of moving bodies.
FIG. 14 is a schematic view showing a state in which two turrets are provided on both sides of the spindle axis, and the workpiece is machined while the tools mounted on the two turrets are alternately switched.
In the illustrated example, a cutting tool T1 such as a cutting tool (hereinafter referred to as a tool T1) is mounted on one tool post (first tool post), and is parallel to the spindle axis C and orthogonal to the Z direction. The outer peripheral edge of the workpiece W held by the chuck of the main spindle is cut while being fed in the direction.
A rotary tool T2 such as a drill (hereinafter referred to as tool T2) is attached to the other tool post (second tool post), and drilling is performed while being sent in the X direction.

The axial movements of the two tool rests are controlled by independent control systems.
FIG. 15 shows a part of machining programs of two control systems that control the axial movement of one tool post and the other tool post. The left side of the drawing is a portion related to the tool T1 of one turret, and the right side is a portion related to the tool T2 of the other turret.
According to this machining program, in the control system (# 1: first control system) of one turret, the actual machining start position designated by X1.0 and Z0.0 (reference numeral in FIG. 14). After positioning the axis by rapid movement to the position indicated by (I)), the tool T1 is sent in the Z direction to start cutting. Then, the tool T1 is sent to the position of the X coordinate and the Z coordinate specified by each block in the machining program, and the outer peripheral edge of the workpiece W is cut.
Then, when the tool T1 is sent to the position indicated by symbol (II) in FIG. 14 and the cutting process is completed, the tool T1 waits with the control system of the other tool post.

Further, in the control system (# 2: second control system) of the other tool post, the indexing position of the tool T2 (reference numeral (i in FIG. 14) at the same time as the cutting of the workpiece W by the tool T1 of the one tool post is started. ), Which is sometimes referred to as the “movement start position”), is moved rapidly to the machining start position designated by X-20.0 and Z-20.0 (position indicated by the same symbol (ii)). .
Then, after the tool T2 is moved to the machining start position, it waits with the control system of one tool post.
Although not specifically shown in the illustrated machining program, after the waiting of both control systems is completed, the spindle is positioned and stopped at a preset rotation angle position, and the tool T2 is set at a preset feed rate (feed rate). The workpiece W is perforated while being fed in the X direction at an axis movement speed obtained by controlling the apparatus.

  By the way, when positioning is commanded by a “G00” code or the like in the machining program, it is generally set so that the tool is moved to the designated position at the maximum feed speed Vmax. This is to shorten the machining time of the workpiece by shortening the tool preparation time as much as possible.

However, for example, when machining a workpiece while alternately switching tools mounted on a plurality of turrets, while the actual machining of the workpiece is being performed with the tool of one turret, When the shaft is moved at the feed speed Vmax, there is a problem that vibration is generated due to an impact at the time of acceleration / deceleration, which adversely affects the workpiece machining accuracy. Further, the impact and vibration as described above cause a reduction in the life of a feeding device such as a ball screw / nut mechanism that feeds the tool post. As a solution to this, it is conceivable to increase the rigidity of the entire feeder so that it can sufficiently withstand impacts and vibrations for a long period of time. A new problem arises that the size and size will increase.
Moreover, since a large amount of electric power is consumed during rapid acceleration / deceleration, there is a problem that it is not preferable in terms of energy saving.

  As one method for solving the above problem, it is conceivable that the machine tool user corrects the machining program and sets the feed speed at the time of positioning appropriately. If all of the feed speeds Vmax) are changed to feed speeds that do not cause the above problems, the machining time of the workpiece becomes longer and the machining program is analyzed so that the workpiece machining time does not become longer. Correcting only the speed is very cumbersome and impractical.

A technique for shortening the time required for the moving body to reach the destination while changing the predetermined feed speed to a speed smaller than the rapid feed speed among the feed speeds included in the machining program for the moving body such as the tool post. Has been proposed (see Patent Documents 1, 2, and 3).
Japanese Patent Laid-Open No. 7-134607 (see FIG. 2 of the drawing and paragraph 0009) Japanese Patent Laid-Open No. 7-134608 (see FIG. 2 of the drawing and paragraph 0009) Japanese Patent Laid-Open No. 7-136905 (see FIG. 2 of the drawing and paragraph 0009)

  However, according to the techniques described in Documents 1 to 3, as can be seen from FIG. 2 of each document, the moving body is accelerated to the reset feed speed in a short time, and from the reset feed speed. In order to stop the moving body in a short time, it is considered that the vibration generated at the time of acceleration / deceleration is increased compared with the fast-forwarding, and when the workpiece is processed by one moving body, the technique described in the above document is used. If the moving body is moved, there is a risk of adversely affecting the machining accuracy of the workpiece.

  The present invention has been made in view of the above problems, and in a numerically controlled machine tool for machining a workpiece while alternately switching a plurality of moving bodies such as a tool post and a moving headstock or simultaneously moving an axis. , Without increasing the machining time of the workpiece and without requiring complicated work such as modification of the machining program, etc. An object of the present invention is to provide a numerically controlled machine tool excellent in energy saving and a method for machining a workpiece in the numerically controlled machine tool, while maintaining a high machining accuracy of the workpiece and without reducing the life of a feeding device or the like.

In order to solve the above problems, the inventor of the present invention has paid attention to the fact that a large waiting time is generated in another moving body during processing of a workpiece by one moving body.
FIG. 16 is a time chart when the other turret is moved from the index position of the tool to the machining start position when machining the workpiece W while alternately switching the tools T1 and T2 of the two turrets described above. (Upper stage) and a speed change graph (lower stage) of the feed rate are shown.
As shown in the figure, while cutting the workpiece W with the tool T1 of one tool post, the axis of the tool T2 of the other tool post is moved from the tool index position to the machining start position at the maximum feed speed Vmax. If this is done, a long waiting time will occur between the end of cutting by the tool T1 and the start of drilling by the tool T2 after waiting for both control systems.

  Therefore, the inventor of the present invention makes full use of the waiting time while one moving body is processing a workpiece, etc. to move the axis of another moving body, and the waiting time is reduced to 0 or shortened. By doing so, the present inventors have conceived that the feed rate is sufficiently reduced, the occurrence of shock and vibration during acceleration / deceleration is suppressed, and the power consumption accompanying rapid acceleration / deceleration is suppressed.

  Specifically, in a numerically controlled machine tool that has a plurality of moving bodies that move relative to each other and that processes a workpiece with a tool attached to the moving body, a processing program for one moving body and another moving body The machining program is switched from machining with the tool mounted on the one moving body to machining with the tool mounted on the other moving body, or machining with the tool mounted on the one moving body and the other A machining analysis unit that analyzes whether machining with a tool mounted on one moving body is performed at the same time, and mounted on another moving body after the machining of the workpiece with the tool mounted on the one moving body is completed in this processing analysis unit When it is determined that the workpiece is to be machined by the machined tool, after the machining analysis by the machining analysis unit, the switching command code is searched from the machining program for the one moving object that is to be machined this time. A step of searching for a switching command code corresponding to the switching command code included in the machining program of the one moving body from among the processing programs of the other moving body to be processed next time, and the switching command code A step of extracting a movement command code for preparatory movement of the other moving body from the previous machining program to a preset position in preparation for the next machining, and start of movement of the other moving body by the movement command code At the same time, the step of starting the measurement of the movement time and the completion of waiting of the one moving body and the other moving body performed prior to the start of the workpiece machining by the other moving body or the other movement When the body starts moving for machining the workpiece from the preset position, the movement time measurement ends and the preparation movement time is determined. And a step of obtaining a new feed speed for the other moving body based on the determined travel time, and a feed speed specified by a move command code in the machining program can be obtained by calculation. And a control unit for executing the step of replacing with the new feed speed.

In the above invention, prior to executing the machining program and starting actual machining, the machining analysis unit alternately switches between a tool mounted on one moving body and a tool mounted on another moving body. It is a case where it is judged that it performs.
Examples of the “switching command code” include a waiting command code between a control system that controls one moving body and a control system that controls the axial movement of another moving body. In the example of the machining program in FIG. 15, “2L1” and “1L1” correspond to this.
According to the above configuration, for example, while machining a workpiece with a tool mounted on one turret, the other cutter is operated at the maximum feed speed in accordance with the “G00” code which is a positioning command in the machining program. Even if a command for preparatory movement of the platform to a preset position is output, the maximum feed rate is a new feed rate that fully utilizes the waiting time during processing by the one tool post. Therefore, it is possible to effectively suppress the occurrence of shock and vibration due to rapid acceleration / deceleration. Further, it is possible to prevent the life of the feeding device from being reduced due to the impact and vibration.

  The present invention relates to a numerical control machine tool that has a plurality of moving bodies that move relative to each other and that processes a workpiece with a tool mounted on the moving body. Whether the machining program is switched from machining with a tool attached to the one moving body to machining with a tool attached to the other moving body, or machining with a tool attached to the one moving body and the other A machining analysis unit that determines whether machining with a tool mounted on a moving body is performed at the same time, processing of a workpiece with a tool mounted on the one moving body in the processing analysis unit, and a workpiece with a tool mounted on another moving body Can be replaced from the feed rates specified by the movement command code in the machining program after analysis by the machining analysis unit. A step of extracting a replaceable feed rate, and a timing of start and end of processing of actual machining of the one moving body and the other moving body from the replaceable feed rates extracted in this step Based on the above, a step of determining a replacement target feed speed for actually replacing the feed speed, and a portion of the part including the replacement target feed speed excluding the actual machining for the one moving body and the other moving body A step of measuring a time, and a step of obtaining a new feed rate for the one moving body or the other moving body from the time measured for the one moving body and the time measured for the other moving body. Replacing the replacement target feed speed with the new feed speed, and the predetermined machining speed at the replaced new feed speed from the time of execution of the next machining program. Body may be used as the structure and a control unit for executing and performing the processing by the axial movement.

The present invention is a case where the same machining analysis unit as described above determines that a workpiece is simultaneously machined by a tool mounted on one moving body and a tool mounted on another moving body.
Here, the “feed speed” includes a feed speed when performing an actual process such as cutting (actual machining) and a feed speed other than this. The former feed speed depends on the type of tool, The speed is uniquely determined by the workpiece material, the finishing conditions after processing, and other processing conditions, that is, the feed speed that cannot be replaced. On the other hand, the latter feed rate can be changed within a range where the maximum feed rate determined for each machine tool is the upper limit. Therefore, the “replaceable feed speed” is a feed speed excluding the feed speed in actual machining.
In this configuration, the tool is retracted from the workpiece after the end of the cutting process, not limited to the feed speed when other moving objects are preliminarily moved from the tool indexing position where the tool is indexed and prepared to a preset position near the workpiece. The feed speed at the time of movement is the target of the feed speed replacement.
According to this invention, the waiting time of another moving body before the start of actual machining and the surplus time after the end of actual machining can be used to reduce the feed speed of one moving body or another moving body, The occurrence of impact and vibration during acceleration / deceleration can be suppressed, and adverse effects on workpiece processing by one moving body can be suppressed.

When the feed speed before the actual machining start in the other moving body is determined as the replacement target feed speed, when the feed speed before the actual machining start in the other mobile body is determined as the replacement target feed speed, The time from when one moving body starts the preparatory movement from the movement start position to the start of actual machining is measured, and the actual machining is started after the other moving body starts the preparatory movement from the movement start position. It is preferable to measure the time until the new moving speed of the other moving body before the start of actual machining from the measured time of the one moving body and the time of the other moving body. .
By doing in this way, the feed rate of another moving body can be made small using the waiting time before the start of actual machining.

Further, when the one moving body finishes the actual machining, the control unit determines whether or not the other moving body continues the actual machining, and the other moving body continues the actual machining. If the other moving body has finished the actual machining, the feed speed during the retreat movement of the one moving body is determined as the replacement target feed speed. Determining the feed speed at the time of retraction of the body as the replacement target feed speed, measuring the time from when the one mobile body starts the retreat movement until it stops at a preset position, and Measure the time from when the moving body starts retracting until it stops at a preset position, and based on the measured time of the one moving body and the time of the other moving body, the one movement Find a new feed rate during retraction for the body or other moving body It may be.
By doing in this way, when the actual machining of the other moving body is completed before the actual machining by one moving body is completed, the time until the one moving body finishes the actual machining (surplus time) Using this, it is possible to reduce the feed speed during the retreating movement in another moving body.
In addition, when actual machining of another moving object is completed after the actual machining by one moving object is completed, one movement is performed using the time (excess time) until the other moving object finishes actual machining. The feeding speed at the time of retraction movement in the body can be reduced.
In this way, it is possible to reduce the feeding speed during the retreating movement of the moving body that has been processed first.

In the above invention, the machining program is analyzed before the machining program is executed, whether the switching command code exists, whether the simultaneous machining command code exists, the first and last machining command code are You may make it judge which is.
In the present invention, at the beginning of the machining program, there is a switching command for switching from machining by the one moving body to machining by another moving body, or a command to perform simultaneous machining by the one moving body and the other moving body. Is set in advance, and the machining analysis unit determines that the switching command or the command for simultaneous machining exists simultaneously with the execution of the machining program, and causes the next step to be executed. Good.

In the present invention, a new feed rate can be obtained by a simulation in which a machining program is executed in a state where no workpiece or tool is mounted. It is also possible to measure time through actual machining of the workpiece and obtain a new feed rate from the measured time.
In this case, a new feed rate may be obtained through actual machining of the first workpiece. Specifically, the control unit determines whether or not the workpiece is processed for the first time, and measures the time when it is the first time, and if it is the second time or later, according to the movement command code in the machining program. Among the designated feed speeds, the replaceable feed speed is replaced with the new feed speed obtained in the first workpiece machining.
In this way, simply by executing a machining program for machining a workpiece, the positioning feed rate is automatically replaced with a new feed rate from the second and subsequent workpiece machining, which is convenient. .

  Moreover, when the new feed rate calculated | required by said procedure is smaller than the preset lower limit, it is good to determine the said lower limit as said new feed rate. The lower limit value is determined in advance in consideration of the configuration and characteristics of the feeding device that sends the moving body, power consumption characteristics, and the like. And when the feed rate below this lower limit is obtained by calculation, the lower limit feed rate may be determined as a new feed rate.

  The present invention can also be applied to a numerically controlled lathe in which the moving body is any one of a tool post, a moving spindle, a moving spindle, and a table. The combination of one moving body and another moving body is, for example, a tool post and a tool rest, a moving spindle stock (or moving spindle) and a rear moving spindle stock (or a rear moving spindle), a tool post and a rear moving spindle. A plurality of table pallets on which the work is placed can be cited in addition to the table (or the back movement spindle). Further, the number of moving bodies whose axial movement is controlled by the present invention is not limited to two, and may be three or four or more.

  A machining method according to the present invention includes a plurality of moving bodies that move relative to each other, and a workpiece control method in a numerically controlled machine tool that processes a workpiece with a tool attached to the moving body. Whether the machining program and the machining program of the other moving body are switched from machining with the tool attached to the one moving body to machining with the tool attached to the other moving body, or mounted on the one moving body. A machining analysis step for determining whether the machining with the tool mounted on the other movable body and the machining with the tool mounted on the other moving body are performed simultaneously. In this machining analysis step, the machining of the workpiece with the tool mounted on the one movable body is performed. When it is determined that a workpiece is to be machined by a tool attached to another moving body after the machining is completed, the machining process of the one moving body to be machined this time is performed after the machining analysis step. A switching command code corresponding to the switching command code included in the machining program for the one moving body from among a step of searching for a switching command code from the ram and a machining program for another moving body to be processed next time And a step of extracting a movement command code for preliminarily moving the other moving body to a preset position in preparation for the next machining from the machining program before the switching command code, and this movement A step of starting measurement of the movement time simultaneously with the start of movement of the other moving body by the command code, and one moving body and the other moving body that are performed prior to the start of the workpiece machining by the other moving body; The movement time is measured simultaneously with the completion of the waiting time or simultaneously with the start of movement of the other moving body for workpiece processing from the preset position. A step of determining the time for the preparatory movement, a step for obtaining a new feed speed for the other moving body based on the calculated movement time, and a movement command code in the machining program. And replacing the feed rate with the new feed rate obtained by the calculation.

  Also, in a workpiece machining method in a numerically controlled machine tool that has a plurality of movable bodies that move relative to each other and that processes a workpiece with a tool mounted on the movable body, a machining program for one movable body and another Whether the machining program of the moving body is switched from machining with a tool attached to the one moving body to machining with a tool attached to the other moving body, or machining with a tool attached to the one moving body; A machining analysis step for determining whether to perform machining with the tool mounted on the other moving body at the same time, and processing of the workpiece with the tool mounted on the one moving body and the other moving body at the machining analysis step. When it is determined that machining of the workpiece with the installed tool is performed simultaneously, after the machining analysis step, it is designated by a movement command code in the machining program. A step of extracting a replaceable feed speed that can be replaced from among the feed speeds, and start of actual machining of the one movable body and the other movable body from the extracted replaceable feed speeds And a step of determining a replacement target feed speed for actually replacing the feed speed based on the processing end timing, and the one mobile body and the other mobile body among the parts including the replacement target feed speed From the step of measuring the time of the part excluding actual machining, the time measured for the one moving body, and the time measured for the other moving body, the one moving body or the other moving body is newly A step of obtaining a new feed rate, a step of replacing the feed rate to be replaced with the new feed rate, and the replacement of the new feed rate from the time of execution of the next machining program. And performing the machining by axial movement of the predetermined moving object at a speed or a method of providing.

Said method can be performed by the program which performs each step. This program can be read from a hard disk or memory of a numerical control device of a machine tool from a magnetic recording medium such as an FD or a magnetic tape, an optical recording medium such as a CD or a DVD, or another storage medium. It is also possible to read through.
Further, this program may be a subprogram activated by a preset code in the machining program, such as a macro program incorporated in the NC of the machine tool by a machine tool manufacturer.
By using such a subprogram, the user of the machine tool can execute the method of the present invention without changing any machining program.

Since the present invention is configured as described above, when the other moving body is axially moved to a preset machining start position while the workpiece is being processed by one moving body, the other movement is performed. The rapid acceleration / deceleration during the movement of the body axis can be reduced, and the occurrence of impact and vibration can be suppressed. For this reason, it is possible to prevent a reduction in processing accuracy due to vibrations and impacts, and it is also possible to prevent a decrease in the life of a moving body feeding device and the like.
Also, by incorporating a program for executing the method of the present invention into a subprogram such as a macro program, it is possible to execute the method of the present invention without changing any machining program.

DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.
[First embodiment]
1 and 2 are flowcharts for explaining a first embodiment of the movement control method of the present invention, and FIG. 2 is a part continuing from the flowchart of FIG. 3 is a time chart for explaining the machining mode of this embodiment. FIG. 4 is a time chart for explaining the machining mode of this embodiment after replacing the feed speed (upper stage) and a speed change graph of the feed speed (lower stage). ).
In this embodiment, it is assumed that the CPU of the numerical controller (NC) of the machine tool executes each procedure of FIG. 1 according to a macro program that is a subprogram created by the machine tool manufacturer. The macro program is activated by a preset command code (for example, “M06”) in the machining program.

Hereinafter, the procedure of movement control in this embodiment will be described with reference to FIGS. 1 and 2.
Simultaneously with the start (starting of the macro program), the CPU of the NC apparatus analyzes the machining program for machining the workpiece (step S1), and the two tools T1 and T2 are used for simultaneous machining by the two tools T1 and T2. It is determined whether or not the alternate processing is performed while alternately switching (step S2).

This determination is made based on, for example, the relationship between the presence / absence of a code for instructing waiting (“! 1L1” and “! 2L1” in the example of FIG. 15) and the setting positions of the part programs of the tools T1 and T2 with respect to the code. can do. For example, when the part programs of tools T1 and T2 are set alternately with the codes “! 1L1” and “! 2L1” instructing waiting, machining is performed while alternately switching the two tools T1 and T2. It judges that it will carry out and progresses to step S3.
Further, for example, when both the part programs of the tools T1 and T2 exist before or after the codes “! 1L1” and “! 2L1” for instructing waiting as in the machining program of FIG. It is determined that the simultaneous machining is performed by T1 and T2, and the process jumps to the flow of FIG.

First, a case where machining is performed while the tools T1 and T2 are alternately switched will be described. In the following description, the control system of one turret that starts machining first is a first control system, and the control system of the other turret that starts machining later is a second control system.
The machining mode in this case is the same as the machining examples shown in FIGS. 14 to 15, and as shown in FIG. 3, after the machining of the workpiece by the tool T <b> 1 mounted on one tool post (first tool post), The machining of the workpiece is started with the tool T2 mounted on the other tool post (second tool post).

Hereinafter, for example, the “preparation” of the axial movement is to move the tools T1 and T2 from a tool indexing position (movement start position) to a machining start position (a predetermined distance, for example, 0.5 mm away from the workpiece surface). "Movement".
Moreover, moving the tool T1, T2 to the waiting position after the end of actual machining is referred to as “retraction movement”. The “actual machining” includes not only actual machining with the tools T1 and T2, but also movement for moving the tools T1 and T2 from the machining start position to a position in contact with the workpiece.

As shown in the time chart of FIG. 3, in this case, the machining of the workpiece is started with the tool T1 of the first tool post, and the tool T2 of the second tool post is preliminarily moved toward the workpiece and is moved to the machining start position. The cutting edge of the tool T2 is positioned. Then, until the machining of the workpiece by the tool T1 is completed, the tool T2 is kept waiting at this machining start position, and simultaneously with the completion of the machining of the workpiece by the tool T1, the tool T2 is moved from the machining start position toward the workpiece, Start actual machining of the workpiece.
In this case, the feed speed at which the replacement is performed when machining the workpiece with the tool T2 of the second tool post is the feed speed at the time of “preparation movement” shown in FIG.

  In step S3, a machining program (part program) of the second control system related to the tool T2 used for the next machining is read, and the waiting command in the machining program of the first control system is corresponding to the machining program. A waiting command (“! 1L1” in the illustrated example) is searched (step S5).

Next, the CPU determines whether or not the workpiece W to be processed this time is the first, for example, when the mode for performing the processing is switched from the manual mode to the automatic operation mode (step S6).
As a result, if it is determined that the workpiece is the first workpiece, the code is located before the waiting command code (“! 1L1”) found by the search in step S3 from the machining program of the second control system. Then, the code of the movement command of the tool T2 used for the next machining (“G00 X-20.0 Z-20.0” in the first line in the example of FIG. 15) is extracted (step S8).
Thereafter, the second control system stands by until a movement command block (“G00 X-20 Z-20”) of the machining program is executed (step S9).

If the machining command block “G01 Z11.0” (see FIG. 15) is executed in the first control system and machining is started, the movement of the tool T2 is started at the same time. If the positioning command block “G00 X-20 Z-20” is executed in the second control system and the tool T2 starts a preparatory movement toward the machining start position, a timer is started simultaneously with the start of this preparatory movement. Thus, measurement of the movement time (TIME1) during the preparation movement is started (step S11).
As shown in FIG. 3, the measurement of the machining time and the movement time (TIME1) by the timer are performed until waiting is completed, that is, until a waiting completion command is output (steps S12 and S13). Note that when actual machining with the tool T2 is started immediately after completion of waiting as in this embodiment, until the tool T2 starts actual machining, that is, until the execution command of the “G01” code is output. May be performed.

After the time measurement is completed, the feed speed V1 of the second control system is obtained from the distance from the movement start position to the machining start position in the second control system and the measurement time (step S19).
Next, it is determined whether or not the feed speed V1 is greater than a preset lower limit value (step S20). If greater than the lower limit value, the feed speed V1 obtained in step S19 is set as a new feed speed. Set (step S22).
The lower limit value is determined in advance in consideration of the configuration and characteristics of the feeding device that sends the tool post, power consumption characteristics, and the like.

When the feed speed V1 is smaller than the preset lower limit value, the feed speed V1 is set to the lower limit value (step S21) and set as a new feed speed (step S22).
This completes the execution of the macro program (step S23). Each of the above steps can be executed by a macro program installed in the NC hard disk or memory.

FIG. 4 shows an example of a processing chart after the feeding speed is reset by the above procedure and a time chart at the time of positioning of the other tool rest (tool T2). In addition, the example shown in FIG. 4 is a case where the new feed speed V1 is larger than the said lower limit.
The tool T2 is preliminarily moved to the machining start position by the “G00” code which is a positioning command, but the fast feed speed designated by “G00” is the maximum feed speed Vmax by executing the macro program (see FIG. 16). Therefore, the machining start position is reached while making a preliminary movement at the new feed speed V1.
Since the new feed speed V1 is obtained by using the standby time during processing by the tool T1, it is possible to set a feed speed with small vibration and impact at the start and stop of the preparation movement, and The waiting time can be reduced to 0 or shortened.

Next, a case where simultaneous machining is performed with the tools T3 and T4, that is, a case where simultaneous machining is determined in step S2 of the flowchart of FIG. 1 will be described with reference to FIGS.
FIG. 5 is a schematic diagram showing a case in which cutting of the outer peripheral surface of a workpiece is simultaneously performed with cutting tools (tools T3 and T4) mounted on two tool rests, when machining is performed simultaneously with the tools T3 and T4. FIG. 6 shows an excerpt of part of the machining program of the first control system and the second control system in the machining example of FIG. 5, and the left side is a portion related to the cutting tool T3 of the first control system. The right side shows a portion applied to the cutting tool T4 of the second control system. In addition, in FIG. 5, each locus | trajectory of tool T3, T4 is shown by code | symbol (alpha), (beta).

  FIGS. 7 to 9 are flow charts of the movement control method in the case of simultaneous machining, and FIG. 10 is a time chart for explaining the machining mode in the case of simultaneous machining, which is performed with the tool T3 mounted on one tool post. When the actual machining with the tool T4 attached to the other tool post before the end of the machining has been completed, FIG. 11 is a time chart for explaining a machining mode in the case of simultaneous machining, and is attached to the one tool post. The case where the actual machining with the tool T4 attached to the other tool post is finished after the actual machining with the tool T3 is finished is shown. 10 and 11, (a) shows a state before replacement of the feed rate, and (b) shows a state after replacement of the feed rate.

  In the case of simultaneous machining with the tools T3 and T4, as shown in FIGS. 10 (a) and 11 (a), immediately after the machining of the workpiece with the tool T3 mounted on one of the turrets (first turret) is started. Then, machining of the workpiece is started with the tool T4 mounted on the other tool post (second tool post). A specific example of such a processing form is one in which finishing is performed after roughing.

In the machining mode shown in FIGS. 10A and 11A, after the tool T3 is determined by the first tool post and the tool T4 is determined by the second tool post, the tool T3 and the tool T4 are determined by the G00 code. Prepare and move from the position to each processing start position at a rapid feed rate. When the tool T3 of the first tool post reaches the machining start position, the feed speed at the time of cutting is changed by the G01 code and moved toward the workpiece to start actual machining of the workpiece.
On the other hand, when the tool T4 of the second tool post reaches the machining start position, the tool T4 is put on standby at the machining start position until a machining start command is output by the G01 code.

When cutting of the workpiece by the tool T3 proceeds to a preset position, the standby state of the tool T4 is canceled by the G01 code, and the tool T4 is moved from the machining start position toward the workpiece at the feed speed at the time of cutting. Start actual machining of the workpiece.
The “replaceable feed speed” that can be replaced in the case of this simultaneous machining is the one excluding the feed speed at the time of actual machining, that is, the feed speed at the time of “preparation movement” before the actual machining starts and This is the feed speed during the “retraction movement”.

In the case of simultaneous machining, for example, the CPU determines whether the workpiece to be machined is the first workpiece based on the fact that the machining mode has been switched from the manual mode to the automatic operation mode (FIG. 7: step). S33, S44).
If there is no switching as described above, it is determined that the workpiece is the first workpiece, and a replaceable feed rate that can be replaced is extracted from the machining program for the first tool post and the machining program for the second tool post (step S34, S45). The feed rate extracted in this machining mode is the feed rate at the time of “preparation movement” (movement from the index position of the tool to the machining start position) of the first tool post and the second tool post, and “ This is the feed speed for the “retreat movement”.
After determining the tools T3 and T4 to the preset positions, the CPU starts machining the tool T3 and the tool T4 close to the workpiece W by the “G00” code (see FIG. 6) following the tool selection / positioning command. Preliminary movement to the position at a fast feed speed (steps S35 and S46).

Simultaneously with the start of the preparation movement toward the machining start position, time measurement (TIME1 and TIME2) is started in both the first control system and the second control system (steps S36 and S47).
This time measurement is performed until actual machining with the tools T3 and T4 is started in the first and second control systems (steps S37 and S48). Simultaneously with the start of actual machining, time measurement (TIME1 and TIME2) ends (steps S38 and S49).
Further, at the end of actual machining with the tool T3 in the first control system (step S39), it is determined whether or not actual machining with the tool T4 in the second control system is completed (step S40).
When actual machining with the tool T4 has been completed before the actual machining with the tool T3 is completed (in the case of FIG. 10A), time measurement (TIME3) is started simultaneously with the completion of the actual machining ( Step S41) Waiting with the second control system (Steps S42 and S53), the measurement is terminated simultaneously with completion of the waiting (Step S43), Step S19 ′ in FIG. 8A and Step S60 in FIG. 8B. Proceed to
When the actual machining with the tool T4 is completed after the actual machining with the tool T3 is completed (in the case of FIG. 11A), the process proceeds to step S19 ′ in FIG. 8A and step S80 in FIG.

Similarly, after completion of actual machining with the tool T4 in the second control system (step S50), it is determined whether or not actual machining with the tool T3 in the first control system has been completed (step S51).
When the actual machining with the tool T3 is completed after the actual machining with the tool T4 is completed (in the case of FIG. 10A), the measurement of the time (TIME4) is started simultaneously with the end of the actual machining (step S52). Waiting with the first control system (steps S42, S53), and at the same time as the completion of waiting, the time measurement is terminated (step S54), and the process proceeds to step S19 'in FIG. 8A and step S60 in FIG. 8B. move on.
When the actual machining with the tool T3 is completed before the actual machining with the tool T4 is completed (in the case of FIG. 11A), the process proceeds to step S19 ′ in FIG. 8A and step S84 in FIG. The process proceeds to wait for the first control system (steps S82 and S85).

In the case of this simultaneous machining, the machining is completed by moving the tools T3 and T4 away from the workpiece according to the “G00” code of the machining program, and at a preset retraction position (waiting position) when the machining is completed. When it is positioned.
Then, according to “! 2L1” and “! 1L1” set at the end of the machining program, the first control system and the second control system in steps S42 and S53 or steps S82 and S85 are waited.

Here, a procedure for setting a new speed before the start of actual machining in the case of the time charts of FIGS. 10A and 11A will be described with reference to the flowchart of FIG.
The procedure for setting the feed rate is basically the same as the procedure for setting a new feed rate shown in FIG.
That is, for the feed speed V2 during the preparatory movement of the second control system before the start of actual machining, the ratio K = TIME2 / TIME1 of both measurement results is obtained (step S19 ′), and the ratio K is a preset lower limit value. (Step S20 '), if greater than the lower limit, the obtained ratio K is multiplied by the maximum feed speed Vmax to calculate a new feed speed V2 (step S22'). ).
The lower limit value is determined in advance in consideration of the configuration and characteristics of the feeding device that sends the tool post, power consumption characteristics, and the like.

When the ratio K is smaller than the preset lower limit value, the ratio K is set to the lower limit value (step S21 '), and the ratio K is multiplied by the maximum feed speed Vmax to obtain a new feed. The speed V2 is calculated (step S22 ').
Then, the new feed speed V2 obtained by the above procedure is set as the feed speed at the time of preparation movement (when moving from the tool index position to the machining start position) (step S23 ').
This completes the execution of the macro program (step S24 ′).

Next, the procedure for setting the feed rate after the end of actual machining in the machining example of FIG. 10A will be described with reference to FIG. In this case, the retreat movement speed of the second control system is selected as a replaceable feed speed (step S60).
Then, the measurement result ratio K = TIME3 / TIME4 is obtained (step S61), and it is determined whether the ratio K is larger than a preset lower limit value (step S62). A new feed speed V3 is calculated by multiplying the obtained ratio K by the maximum feed speed Vmax (step S64).
The lower limit value is determined in advance in consideration of the configuration and characteristics of the feeding device that sends the tool post, power consumption characteristics, and the like.

When the ratio K is smaller than the preset lower limit value, the ratio K is set to the lower limit value (step S63), and the ratio K is multiplied by the maximum feed speed Vmax to obtain a new feed speed. V3 is calculated (step S64).
Then, the new feed speed V3 obtained by the above procedure is set as the feed speed of the retreat movement (step S65).
This completes the execution of the macro program (step S66).
Thus, a series of processing is completed. From the second machining, the preparation movement and retraction movement of the tool T4 in the second control system are performed at the newly set feed speeds V2 and V3.

Next, the procedure for setting the feed speed during the retreat movement in the case of the machining example of FIG. 11A will be described with reference to the flowchart of FIG.
Prior to setting a new feed rate, in this case, in addition to selecting the feed rate during the preparatory movement of the second control system as in the machining example of FIG. The current feed rate is selected as a replaceable feed rate (step S80). Moreover, time measurement (TIME5) is started simultaneously with the end of the actual machining of the first control system (step S81). Then, after waiting for the first control system and the second control system (steps S82 and S85), the time measurement is terminated (step S83). Similarly, time measurement (TIME6) is started simultaneously with the end of actual machining of the second control system (step S84). Then, after waiting for the first control system and the second control system (steps S82 and S85), the time measurement is terminated (step S86).

Thereafter, a new feed speed V4 at the time of retracting movement in the first control system is obtained, but the procedure is basically the same as in the case of FIG.
That is, the measurement result ratio K = TIME4 / TIME5 is obtained (step S87), and it is determined whether the ratio K is larger than a preset lower limit value (step S88). A new feed speed V4 is calculated by multiplying the obtained ratio K by the maximum feed speed Vmax (step S90).
The lower limit value is determined in advance in consideration of the configuration and characteristics of the feeding device that sends the tool post, power consumption characteristics, and the like.

When it is determined that the ratio K is smaller than the preset lower limit value (step S88), the ratio K is set to the lower limit value (step S89), and the ratio K is set to the maximum feed speed Vmax. By multiplying, a new feed speed V4 is calculated (step S90).
Then, the new feed speed V4 obtained by the above procedure is set as the feed speed for the retreat movement (step S91).
This completes the execution of the macro program (step S92).
From the second machining, the preparatory movement of the tool T4 in the second control system and the retreat movement of the tool T3 in the first control system are performed at the newly set feed speeds V2 and V4.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIGS.
FIG. 12 is a flowchart showing a step portion for performing a machining analysis of whether or not simultaneous machining is performed according to the movement control method of the second embodiment of the present invention, and FIG. 13 is a flowchart of the second embodiment of the present invention. It is a figure which shows an example of a process program.
In the first embodiment described above, as shown in steps S1 and S2 of FIG. 1, a machining program is read before machining is started, the machining program is analyzed by a macro program, and a waiting command is issued in the machining program. Whether switching machining or simultaneous machining is determined from the relationship between the waiting command and the setting positions of the part programs of the tools T1 to T4.
On the other hand, in this embodiment, as shown in steps S101 and S111 of the flowchart of FIG. 12, the machining program of the first control system and the second control system is executed simultaneously with the start, and each block is executed. Thus, it is determined whether or not the first control system and the second control system include a command premised on simultaneous machining (steps S102 and 112).

  In this machining program, as shown in FIG. 13, a code “Gxxx” indicating that there is a command premised on simultaneous machining is preset at the beginning and at the end. When the machining program shown in FIG. 13 is executed and the block to be executed next is “Gxxx” code, the CPU has a simultaneous machining command between the first control system and the second control system. The determination is made (steps S102 and 112).

  In FIG. 13, the next block following the “GxxxSTART” code is a tool selection / positioning command. In the first control system, the predetermined tool T3 is indexed to a preset position by the “T0200 Q1” code following the “GxxxSTART” code, and positioning is performed. In the second control system, a predetermined tool T4 is indexed to a preset position by the “T3400” code following the “GxxxSTART” code, and positioning is performed.

  Code for instructing actual machining in either one of the first control system and the second control system (in the example of FIG. 13, “G01” code after tool designation by “T0200” or “T3400” corresponds to this) If the simultaneous machining command (“Gxxx”) exists before the process is executed, the process proceeds to step S33 and step S44 in FIG. Thereafter, the same steps as those in step S34 and step S45 in the flowchart of FIG. 7 are executed.

If the simultaneous machining command (“Gxxx”) does not exist before the code for commanding actual machining is executed in either the first control system or the second control system, the tool T3 It is determined that the machining is performed while alternately switching between the tool T4 and the tool T4, and the process jumps to the flow of FIG. In this case, it is determined from the machining program which machining system should be prioritized, and the first control system is the one that starts machining first, and the second control system is the one that performs machining later (step S103). ).
In the flow of FIG. 12B, steps S3 and S5 correspond to steps S3 and S5 of the flowchart of FIG. 1, and thereafter steps S3 and S5 of the flowchart of FIG. 1 are executed.

Thus, in this embodiment, Steps S101 and S111 and Steps S102 and 112 constitute a machining analysis step for determining whether or not simultaneous machining of the tool T3 and the tool T4 is performed.
As in this embodiment, by determining whether to perform simultaneous machining while executing the machining program, it is not necessary to perform a prior analysis of the machining program before starting machining, and the execution time of the machining program is reduced. There is an advantage that can be. Such an advantage is particularly remarkable in a machining program including complicated and various machining commands.

Although preferred embodiments of the present invention have been described, the present invention is not limited to the above-described embodiments.
For example, in the description of the first embodiment, the replacement of the feed rate has been described by taking only the part related to the specific tools T1 to T4 in the machining program as an example. Run for the whole. That is, the above processing is executed for each of the part programs related to all tools for machining the workpiece, and the feed speed at the time of positioning is replaced.

In addition, although the two turrets have been described as examples of the moving body, the moving body is not limited to the turret, and may be a spindle or a spindle stock, and the combination of processing is not limited to the above.
Furthermore, the number of moving bodies is not limited to two and may be three or more. In this case, the above processing is performed between two or three or more control systems that wait for each other.
In the above description, a new feed speed is obtained through actual machining of the first workpiece. However, by simulating workpiece machining according to the machining program, a new feed speed is obtained before starting actual machining. Feed rates V1, V2, V3, and V4 can be obtained.

  Furthermore, in the case of simultaneous machining, the feed speed at the time of preparation movement and the feed speed at the time of retraction movement are to be replaced, but specified by “G00” when performing preliminary movement from the index position of the tool to the machining start position. The maximum feed rate can also be replaced. In this case, for each of the first control system and the second control system, the preparatory movement time from the indexing position to the machining start position is measured, and for the control system that has reached the indexing position first, the ratio of both times Based on the above, it is good to obtain the feed speed during the preparation movement.

  In the above description, the feed rate is replaced in both “switching” and “simultaneous processing”, but when “simultaneous processing” is determined or “switching” is determined. In either of the cases, it is possible not to replace the feed rate.

  The method of the present invention has a tool post, a moving spindle, a moving spindle, a plurality of tables, a pallet, etc. as a moving body, and can be applied to all kinds of machine tools that process a workpiece while switching a plurality of these moving bodies or simultaneously. Applicable.

It is a flowchart which shows the example in the case of performing a process according to 1st embodiment of the movement control method in this invention, and switching a tool with which the start of the machining program and the two tool posts were alternately switched. It is a flowchart following the flowchart of FIG. It is a time chart explaining the processing form in the case of simultaneous processing in a first embodiment. The time chart at the time of positioning of the other tool post (tool T2) when a new feed speed is set and the speed change graph of the feed speed are shown. It is the schematic which showed the case where a workpiece | work was processed simultaneously with the tool concerning 1st embodiment with the two tool rests. FIG. 5 shows a part of the machining program of the first control system and the second control system in the machining example of FIG. 5, the left is the part related to the tool T3 of the first control system, and the right is the second. The part regarding the tool T4 of the control system is shown. It is a flowchart concerning the first embodiment of the movement control method of the present invention, showing an example in the case of simultaneously machining a workpiece with tools mounted on two tool rests. It is a flowchart following the flowchart of FIG. 7, and corresponds to the processing mode of FIG. It is a flowchart following the flowchart of FIG. 7, and corresponds to the processing mode of FIG. It is a time chart explaining the machining mode in the case of simultaneous machining, and it takes when the actual machining with the tool attached to the other turret is finished before the actual machining with the tool attached to one turret is finished. , (A) shows before the feed rate is replaced, and (b) shows after the feed rate is replaced. It is a time chart for explaining the machining mode in the case of simultaneous machining, and it takes when the actual machining with the tool attached to the other turret is finished after the actual machining with the tool attached to one turret is finished, (a ) Shows before replacement of the feed rate, and (b) shows after change of the feed rate. It is a flowchart which shows the step part which starts the movement control method of 2nd embodiment, and performs the process analysis of whether to perform simultaneous process. It is a figure which shows an example of the processing program of 2nd embodiment. It is the schematic which showed an example which processes a workpiece | work, changing the tool with which it mounted | wore with two tool posts alternately. A part of the machining program of the first control system and the second control system is extracted and shown, the left side is the part related to the tool T1 of the first control system, and the right side is the tool T2 of the second control system. The part about is shown. According to the conventional example of the present invention, when the workpiece W is machined while alternately switching the tools T1 and T2 of the two tool rests, the other tool rest is preliminarily moved from the tool indexing position to the machining start position. It is a time chart and the speed change graph of a feed rate.

Explanation of symbols

T1 tool (cutting tool)
T2 tool (rotary tool)
T3 tool (cutting tool)
T4 tool (cutting tool)
W Work C Spindle axis

Claims (11)

In a numerically controlled machine tool that has a plurality of moving bodies that move relative to each other and that processes a workpiece with a tool mounted on the moving body,
Whether the machining program for one moving body and the machining program for another moving body are switched from machining with a tool attached to the one moving body to machining with a tool attached to the other moving body, A processing analysis unit for analyzing whether the processing with the tool attached to the movable body and the processing with the tool attached to the other mobile body are performed simultaneously;
When it is determined in this processing analysis unit that processing of a workpiece with a tool mounted on another moving body is to be performed after the processing of the workpiece with the tool mounted on the one moving body is completed, processing analysis by the processing analysis unit is performed. Later, the step of retrieving the switching command code from the machining program of the one moving body that performs the machining this time, and the machining program of the one moving body from among the machining programs of the other moving bodies that perform the next machining A step of searching for a switching command code corresponding to the switching command code included in the switching command code, and preparing from the machining program preceding the switching command code to a preset position in preparation for the next machining of the other moving body A step of extracting a movement command code to be moved; and a step of starting measurement of a movement time simultaneously with the start of movement of the other moving body by the movement command code; Simultaneously with the completion of waiting of the one moving body and the other moving body performed prior to the start of the workpiece machining by the other moving body, or the other moving body is for workpiece machining from the preset position. Ending the measurement of the movement time at the same time as starting the movement of the vehicle and determining the time of the preparation movement, and determining a new feed speed for the other mobile body based on the calculated movement time; A control unit that executes a step of replacing the feed rate specified by the movement command code in the machining program with the new feed rate obtained by calculation;
A numerically controlled machine tool characterized by comprising: In a numerically controlled machine tool that has a plurality of moving bodies that move relative to each other and that processes a workpiece with a tool mounted on the moving body,
Whether the machining program for one moving body and the machining program for another moving body are switched from machining with a tool attached to the one moving body to machining with a tool attached to the other moving body, A processing analysis unit for determining whether to perform the processing with the tool mounted on the movable body and the processing with the tool mounted on the other mobile body simultaneously;
When it is determined that the processing of the workpiece by the tool attached to the one moving body and the processing of the workpiece by the tool attached to the other moving body are performed simultaneously in this processing analysis section, after the analysis by the processing analysis section, A step of extracting a replaceable feed rate that can be replaced from the feed rates specified by the movement command code in the machining program, and the one movement from the replaceable feed rates extracted in this step A step of determining a replacement target feed speed for actually replacing the feed speed based on a processing start timing and a processing end timing of actual processing between the body and the other moving body; and a portion including the replacement target feed speed Among them, a step of measuring a time of a portion excluding actual processing for the one moving body and the other moving body, and a time measured for the one moving body, From the time measured for the other moving body, obtaining a new feed speed for the one moving body or the other moving body, replacing the replacement target feed speed with the new feed speed, A control unit that performs a step of performing machining by moving the predetermined moving body at the replaced new feed speed from the time of execution of the next machining program;
A numerically controlled machine tool characterized by comprising: In the case where the feed speed before the actual machining start in the other moving body is determined as the replacement target feed speed,
The time until the one moving body starts the preparatory movement from the movement start position and starts the actual machining is measured, and the actual machining starts after the other moving body starts the preparatory movement from the movement start position. Measure the time until
The new feed rate of the other moving body before the start of actual machining is obtained from the measured time of the one moving body and the time of the other moving body. Numerically controlled machine tool. When the one moving body finishes the actual machining, the control unit determines whether the other moving body continues the actual machining,
When the other moving body continues the actual machining, the feed speed at the time of the retreating movement of the one moving body is determined as the replacement target feed speed, and the other moving body finishes the actual machining. If it is, determine the feed speed during the retreat movement of the other moving body as the replacement target feed speed,
The time from when the one moving body starts retracting until it stops at a preset position is measured, and the other moving body starts retracting and stops at a preset position. Measure the time until
From the measured time of the one moving body and the time of the other moving body, obtaining a new feed speed during the retreating movement of the one moving body or the other moving body,
The numerically controlled machine tool according to claim 2 or 3, wherein At the head of the machining program, a code indicating the presence of a switching command for switching from machining by the one moving body to machining by another moving body or a command to perform simultaneous machining by the one moving body and the other moving body Set in advance,
The said process analysis part judges that the said switching instruction | command or the said instruction | command of simultaneous processing exists simultaneously with execution of the said process program, and performs the following step, It is any one of Claims 1-4 characterized by the above-mentioned. The numerically controlled machine tool described.   The control unit determines whether or not the workpiece is processed for the first time, measures the time when it is the first time, and if it is the second time or later, the feed specified by the movement command code in the processing program 6. The numerically controlled machine tool according to claim 1, wherein, among the speeds, the replaceable feed speed is replaced with the new feed speed obtained by the first workpiece machining.   The control unit determines the lower limit value as the new feed speed when the new feed speed is smaller than a preset lower limit value. The numerically controlled machine tool described.   The numerically controlled machine tool according to claim 1, wherein the moving body is any one of a tool post, a moving spindle, a moving spindle, and a table. In a machining method for a workpiece in a numerically controlled machine tool, which has a plurality of moving bodies that move relative to each other and that processes a workpiece with a tool mounted on the movable body,
Whether the machining program for one moving body and the machining program for another moving body are switched from machining with a tool attached to the one moving body to machining with a tool attached to the other moving body, A processing analysis step for determining whether the machining with the tool mounted on the moving body and the processing with the tool mounted on the other moving body are performed simultaneously, and the tool mounted on the one moving body in this processing analysis step When it is determined to process the workpiece with a tool attached to another moving body after completion of the processing of the workpiece by, after the processing analysis step,
A step of searching for a switching command code from the machining program of the one moving body that performs machining this time;
Searching a switching command code corresponding to the switching command code included in the processing program of the one moving body from among the processing programs of other moving bodies that perform the next processing;
From the machining program before the switching command code, a step of extracting a movement command code in which the other moving body prepares and moves to a preset position in preparation for the next machining;
Simultaneously with the start of movement of the other moving body by this movement command code, the step of starting the measurement of the movement time;
Simultaneously with the completion of waiting of the one moving body and the other moving body performed prior to the start of the workpiece machining by the other moving body, or the other moving body is for workpiece machining from the preset position. Ending the measurement of the movement time at the same time as starting the movement and determining the time of the preparation movement;
Obtaining a new feed rate for the other moving body based on the determined moving time;
Replacing the feed rate specified by the movement command code in the machining program with the new feed rate obtained by calculation;
A method of machining a workpiece in a numerically controlled machine tool characterized by comprising: In a machining method for a workpiece in a numerically controlled machine tool, which has a plurality of moving bodies that move relative to each other and that processes a workpiece with a tool mounted on the movable body,
Whether the machining program for one moving body and the machining program for another moving body are switched from machining with a tool attached to the one moving body to machining with a tool attached to the other moving body, A processing analysis step for determining whether the machining with the tool mounted on the moving body and the processing with the tool mounted on the other moving body are performed simultaneously, and the tool mounted on the one moving body in this processing analysis step When it is determined that the processing of the workpiece by and the processing of the workpiece by the tool mounted on another moving body are performed at the same time, after the processing analysis step,
Extracting a replaceable feed rate that can be replaced from the feed rates specified by the movement command code in the machining program;
From the extracted replaceable feed speeds, the feed to be replaced that actually replaces the feed speed based on the processing start timing and processing end timing of the actual processing of the one moving body and the other moving body. Determining the speed;
Of the portion including the replacement target feed speed, measuring the time of the portion excluding actual machining for the one moving body and the other moving body;
From the time measured for the one moving body and the time measured for the other moving body, obtaining a new feed rate for the one moving body or the other moving body;
Replacing the replacement target feed rate with the new feed rate;
From the time of execution of the next machining program, performing the machining by moving the predetermined moving body at the replaced new feed speed,
A method of machining a workpiece in a numerically controlled machine tool characterized by comprising:   The method for machining a workpiece in a numerically controlled machine tool according to claim 9 or 10, wherein each of the steps is executed by a subprogram activated by a preset code in the machining program.

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