JP2018173680A - Numerical control apparatus and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a numerical control apparatus and a control method capable of reducing a load applied to a machine tool during a tool change operation.SOLUTION: A CPU of a numerical control apparatus sets a low speed section to a position where a roller provided on the column contacts a Z-axis cam fixed to a lever member while an upward stroke in a tool change operation. Therefore, the numerical control apparatus can reduce sound and mechanical load generated when the roller contacts the Z axis cam during the upward stroke. Further, the CPU sets to changeable acceleration/deceleration speed Au decelerating before the low speed section set in the upward stroke and acceleration/deceleration speed Bu accelerating after the low speed section. By making the acceleration/deceleration speed Au and the acceleration/deceleration speed Bu smaller than acceleration/deceleration speed X at the start of movement, the CPU can reduce the mechanical load generated when the members slide before and after the low speed section. The CPU sets also the low speed section and the acceleration/deceleration speed in a descending stroke in the same way as in the upward stroke.SELECTED DRAWING: Figure 22

Description

  The present invention relates to a numerical control device and a control method.

  The numerical control device described in Patent Document 1 reduces the noise and mechanical load generated when a member comes into contact with the spindle head while the spindle head is raised and lowered during tool replacement. The numerical controller starts moving at the highest speed when the spindle head is raised, then starts deceleration at the first position, and the cam surface of the cam fixed to one end of the lever provided inside the spindle head is located on the front of the column. The moving speed of the spindle head is reduced at the second position where it contacts the provided roller. When the roller slides relative to the cam surface, the lever swings and operates a gripping mechanism provided inside the main shaft to release the clamp of the tool mounted on the main shaft. When the spindle head passes the second position, the numerical controller switches the moving speed of the spindle head to the highest speed. When the spindle head reaches the ATC origin and stops, the tool magazine rotates to index the next tool at the tool change position. The numerical control device starts moving at the highest speed when the spindle head descends, then starts deceleration at the third position, and lowers the moving speed of the spindle head at the fourth position where the next tool is mounted on the spindle. After the fourth position, the numerical controller switches the moving speed of the spindle head to the highest speed.

Japanese Patent No. 6051937

  The numerical control device described in Patent Literature 1 reduces the moving speed of the spindle head at the second position and the fourth position where the member comes into contact with each other when the spindle head is raised and lowered during tool change. The noise and mechanical load generated during replacement are reduced, but the acceleration / deceleration during movement of the spindle head is constant and cannot be changed. For example, in a section where the roller is in contact with the curved portion of the cam surface, acceleration occurs in the contact direction of the roller. Therefore, a force obtained by multiplying the acceleration in the contact direction by the mass of the cam is applied to the cam. Therefore, when the acceleration / deceleration during the movement of the spindle head is large in the section where the roller contacts the curved portion of the cam surface, there is a problem that the load applied to the cam increases.

  The objective of this invention is providing the numerical control apparatus and control method which can reduce the load concerning a machine tool at the time of a tool exchange operation.

  The numerical control device according to claim 1 is a spindle head provided so as to be capable of reciprocating between a machining area for machining a workpiece and an ATC area for exchanging a tool, and a movement for supporting the spindle head so as to be reciprocally movable. A tool changer for exchanging a current tool attached to the spindle by a reciprocating movement of the spindle head in the ATC region and a next tool by a mechanism, a spindle that the spindle head rotatably supports and holding the tool; In a numerical control device that controls a possible machine tool and includes a control unit that controls the operation of the moving mechanism, the control unit adjusts when the spindle head moves in the ATC region. A setting unit for setting the speed to be changeable is provided. In the present invention, when changing the tool in the ATC region, the acceleration / deceleration when the spindle head moves can be freely set, so the load on the machine tool is reduced by appropriately changing the spindle head speed pattern. However, the tool change time can be shortened. “Acceleration / deceleration” is a concept that includes both acceleration when accelerating and acceleration when decelerating.

  The control unit of the numerical control device according to claim 2 is a section in which the moving speed of the spindle head that has started moving at the first speed is switched to a second speed that is lower than the first speed in the ATC region. A first speed setting unit for setting a first acceleration / deceleration when decelerating from the first speed to the second speed before the low speed section; And a second setting unit that sets a second acceleration / deceleration when accelerating from the second speed to a third speed that is faster than the second speed after the low speed section. Since the machine tool removably moves the spindle head in the ATC region, the tool is attached and detached. Therefore, the present invention provides a low-speed section in the ATC region, so that the impact caused by collision between members for tool replacement. Can be reduced. In the present invention, the acceleration / deceleration before and after the low speed section can be set freely, so that the tool change time can be shortened while reducing the load applied to the machine tool by sliding between the members for tool change. The low speed section only needs to include at least the ATC area. For example, the low speed section may be set so as to protrude from the ATC area.

The numerical control apparatus according to claim 3, wherein the machine tool is provided on a base, and a column that supports the spindle head so as to be movable up and down by the moving mechanism, and can hold a plurality of tools and can pivot with respect to the column. A tool magazine provided on the spindle, a tool holding mechanism for holding the tool mounted on the spindle, a pressing member provided on the spindle and releasing the tool mounted on the spindle by pressing the tool holding mechanism; Provided in the spindle head, and operating the pressing member in an ascending stroke in which the spindle head is raised toward the ATC origin where the tool magazine is rotated, and in a descending stroke in which the spindle head is lowered from the ATC origin. An operation member, wherein the low-speed section setting unit includes at least a cam for operating the operation member in the ascending stroke; A rising low speed section setting section that sets the low speed section at a position where the sliding sections that slide on the sliding surface come into contact with each other from a state of being separated from each other, and at least a position where the tool is mounted on the spindle in the lowering stroke A low-speed section setting unit for lowering that sets the low-speed section, and the first setting section includes a first setting section for rising that sets the first acceleration / deceleration in the upward stroke, and the first in the downward stroke. A first setting unit for lowering for setting acceleration / deceleration, and the second setting unit includes a second setting unit for rising for setting the second acceleration / deceleration in the upward stroke, and the second acceleration / deceleration in the downward stroke. It is good to provide the 2nd setting part at the time of descent which sets speed. In the present invention, the low speed section can be set in each of the up stroke and the down stroke. Since the low speed section is set at a position where at least the cam and the sliding portion come into contact with each other during the ascent stroke, the present invention reduces the sound and mechanical load generated when the cam and the sliding portion come into contact. Can be reduced. Since the low speed section is set at least at a position where the tool is mounted on the spindle during the down stroke, the present invention can reduce the noise and mechanical load generated when the tool contacts the spindle. Further, according to the present invention, the first acceleration / deceleration and the second acceleration / deceleration before and after the low speed zone can be freely set in each of the ascending stroke and the descending stroke, so that the speed patterns in the ascending stroke and the descending stroke can be individually set. Therefore, according to the present invention, the mechanical load generated in the ascending stroke and the descending stroke can be reduced by setting the acceleration / deceleration in consideration of the timing of contact and sliding between members in each of the ascending stroke and the descending stroke.

  5. The numerical control device according to claim 4, wherein at least the first acceleration / deceleration set by the first setting unit at the time of rising, the second acceleration / deceleration set by the second setting unit at the time of rising, and the second setting at the time of lowering. The second acceleration / deceleration set by the unit is the acceleration / deceleration at the start of movement when accelerating to the first speed at the start of movement of the spindle head, and when the spindle head is decelerated from the third speed and stopped. It is preferable that the value is smaller than the acceleration / deceleration during movement stop. At least the first acceleration / deceleration and the second acceleration / deceleration in the upward stroke and the second acceleration / deceleration in the downward stroke are smaller than the acceleration / deceleration at the start of movement and the acceleration / deceleration at the time of movement stop. Can reduce the load. “Small acceleration / deceleration” means that the acceleration when accelerating and the acceleration when decelerating are small.

  A control method according to claim 5 includes: a spindle head provided so as to be reciprocally movable between a machining area for machining a work material and an ATC area for exchanging a tool; and a moving mechanism for supporting the spindle head so as to be reciprocally movable. The main spindle head is rotatably supported and the main spindle that holds the tool, and the tool change that replaces the current tool attached to the main spindle with the next tool by reciprocating the main spindle head in the ATC region is possible. A numerical control apparatus for controlling a simple machine tool, comprising: a control process for controlling an operation of the moving mechanism, wherein the spindle head moves in the ATC region. And a setting step for setting the acceleration / deceleration at the time to be changeable. Since the numerical controller performs the setting process of the control process, the effect described in claim 1 can be obtained.

  The above inventions of claims 1-4 can be arbitrarily combined. For example, not all or part of claim 1 but also at least one of the other claims 2-4 may be provided. However, in particular, the configuration of claim 1 may be provided, and at least one of the configurations and combinations of claims 2-4 may be provided. Any constituent elements of claims 1 to 4 may be extracted and combined. The present applicant intends to obtain a patent right for such a configuration.

1 is a perspective view of a machine tool 1. FIG. 2 is a longitudinal sectional view of the upper half of the machine tool 1. FIG. 3 is a block diagram showing an electrical configuration of the numerical control device 30 and the machine tool 1. The right side view around the spindle head 7 located at Z430. The right side view around the spindle head 7 located at Z490. The right side view around the spindle head 7 located at Z493. The right side view around the spindle head 7 located at Z520. The right side view around the spindle head 7 located at Z530. The right side view around the spindle head 7 located at Z536. The figure which shows each Z-axis coordinate in an ascending stroke. The figure which shows each Z-axis coordinate in a downward stroke. The chart which shows the speed pattern of the up stroke in the ATC field. The chart which shows the speed pattern of the downward stroke in an ATC area. The chart which shows the speed pattern of the up stroke from Z100 to the ATC origin. The table | surface which shows the acceleration / deceleration pattern of the raising process from Z100 to ATC origin. The chart which shows the speed pattern of the downward stroke from ATC origin to Z100. The chart which shows the acceleration / deceleration pattern of the downward stroke from ATC origin to Z100. The table | surface which shows the modification of the speed pattern of the downward stroke from ATC origin to Z100. The table | surface which shows the modification of the acceleration / deceleration pattern of the downward stroke from ATC origin to Z100. The flowchart of a parameter setting process. The flowchart of an up stroke control process. The chart which shows the speed pattern of the up stroke from Z100 to the ATC origin. The flowchart of a downward stroke control process. The chart which shows the speed pattern of the downward stroke from ATC origin to Z100.

  An embodiment of the present invention will be described. In the following description, left, right, front, back, and top and bottom indicated by arrows in the figure are used. The left-right direction, the front-rear direction, and the up-down direction of the machine tool 1 are the X-axis direction, the Y-axis direction, and the Z-axis direction of the machine tool 1, respectively. The direction of the tool changer 20 follows this. The Z-axis origin refers to the Z-axis mechanical origin. The machine origin is a position where the machine coordinates of the X axis and the Y axis are zero, and the machine coordinate of the Z axis is a position at which the work material can be machined. In the following description, “attaching the tool 4 to the spindle 9” has the same meaning as “attaching the tool holder 17 to the spindle 9”.

  The structure of the machine tool 1 will be described with reference to FIGS. The machine tool 1 includes a base 2, a column 5, a spindle head 7, a spindle 9, a control box 6, a table 10, a tool changer 20, an operation panel 24, and the like. The base 2 is a substantially rectangular parallelepiped iron base. The column 5 is erected on the upper rear side of the base 2. The spindle head 7 is provided so as to be movable in the vertical direction by a Z-axis moving mechanism 22 (see FIG. 2) described later provided on the front surface of the column 5. The spindle head 7 supports the spindle 9 rotatably inside. The spindle 9 is mounted with a tool holder 17 (see FIG. 2) and is rotated by driving of the spindle motor 52. The spindle motor 52 is fixed to the upper part of the spindle head 7. The tool holder 17 holds the tool 4. The control box 6 stores a numerical control device 30 (see FIG. 3). The numerical control device 30 controls the operation of the machine tool 1. The table 10 is provided at the upper center of the base 2 and is movable in the X-axis direction and the Y-axis direction by an X-axis motor 53, a Y-axis motor 54 (see FIG. 3), and an X-axis-Y-axis guide mechanism (not shown). .

  The tool changer 20 includes a disk-shaped tool magazine 21. The tool magazine 21 is supported on the front side of the column 5 by a pair of left and right frames 8. The tool magazine 21 supports a plurality of grip arms 90 radially on the outer periphery. The grip arm 90 detachably holds the tool holder 17. The tool changer 20 turns the tool magazine 21 to index and position the tool indicated by the tool change command at the tool change position. The tool change command is commanded by the NC program. The tool change position is the lowest position of the tool magazine 21. The tool changer 20 exchanges the tool 4 attached to the spindle 9 and the next tool at the tool change position. The operation panel 24 includes an input unit 25 and a display unit 28 (see FIG. 3). An operator inputs an NC program, a tool type, tool information, various parameters, and the like through the input unit 25. When the operator operates the input unit 25, the display unit 28 displays various input screens and operation screens.

  As shown in FIG. 2, the Z-axis moving mechanism 22 includes a pair of Z-axis linear guides (not shown), a Z-axis ball screw 26, and a Z-axis motor 51 (see FIG. 3). The Z-axis linear guide extends in the Z-axis direction and guides the spindle head 7 in the Z-axis direction. The Z-axis ball screw 26 is disposed between a pair of Z-axis linear guides and is rotatably provided by an upper bearing portion 27 and a lower bearing portion (not shown). The spindle head 7 includes a nut 29 on the back surface. The nut 29 is screwed into the Z-axis ball screw 26. The Z-axis motor 51 rotates the Z-axis ball screw 26 in the forward and reverse directions. Therefore, the spindle head 7 moves in the Z-axis direction together with the nut 29.

  The internal structure of the spindle head 7 will be described with reference to FIG. The spindle head 7 supports the spindle 9 rotatably inside. The main shaft 9 extends in the vertical direction. The main shaft 9 is connected to a drive shaft extending below the main shaft motor 52 by a coupling 23. The main shaft 9 includes a taper mounting hole 18, a holder clamping portion 19, and a draw bar 69. The taper mounting hole 18 is provided at the lower end of the main shaft 9. The taper mounting hole 18 is located below the spindle head 7. The holder clamping part 19 is provided above the taper mounting hole 18. The draw bar 69 is coaxially inserted into an axial hole passing through the center of the main shaft 9. A spring (not shown) constantly urges the draw bar 69 upward.

  The tool holder 17 holds the tool 4 on one end side, and includes a taper mounting portion 17A and a pull stud 17B on the other end side. The taper mounting portion 17A is substantially conical. The pull stud 17B protrudes in the axial direction from the top of the taper mounting portion 17A. The taper mounting portion 17A is mounted in the taper mounting hole 18 of the main shaft 9. When the taper mounting portion 17A is mounted in the taper mounting hole 18, the holder clamping portion 19 clamps the pull stud 17B. When the draw bar 69 presses the holder holding part 19 downward, the holder holding part 19 releases the holding of the pull stud 17B.

  The spindle head 7 is provided with a lever member 60 inside the rear upper part. The lever member 60 is substantially L-shaped and can swing around a support shaft 61. The support shaft 61 is fixed inside the spindle head 7. The lever member 60 includes a vertical lever 63 and a horizontal lever 62. The longitudinal lever 63 extends obliquely upward from the support shaft 61 to the column 5 side, bends upward at the intermediate portion 65, and further extends upward. The lateral lever 62 extends substantially horizontally from the support shaft 61 to the front of the column 5. The front end of the lateral lever 62 can be engaged from above with a pin 58 projecting perpendicularly to the draw bar 69.

  The vertical lever 63 includes a Z-axis cam 66 on the back of the upper end. The Z-axis cam 66 is formed in a trapezoidal shape when viewed from the right side. The Z-axis cam 66 has a cam surface on the column 5 side. The cam surface includes an inclined portion 66A and a straight portion 66B. The inclined portion 66A is a portion inclined obliquely downward with respect to the rear from the upper portion of the cam surface. The inclined portion 66A includes a steeply inclined portion 66C on the way. The steeply inclined portion 66C is the portion where the inclination angle is the tightest among the inclined portions 66A. The straight portion 66B is a portion that linearly extends downward from the lower portion of the inclined portion 66A. The cam surface of the Z-axis cam 66 can be brought into contact with and separated from the roller 67 fixed to the upper bearing portion 27. As the spindle head 7 moves up and down, the roller 67 slides relatively on the cam surface of the Z-axis cam 66. The tension spring 68 is elastically provided between the longitudinal lever 63 and the spindle head 7. When the lever member 60 is viewed from the right side, the tension spring 68 constantly urges the lever member 60 clockwise. Therefore, the lever member 60 is urged in a direction that always releases the downward pressing of the pin 58 by the lateral lever 62.

  The operation of attaching / detaching the tool holder 17 to / from the main shaft 9 will be described. As shown in FIG. 2, the spindle head 7 ascends with the taper mounting portion 17 </ b> A of the tool holder 17 mounted in the taper mounting hole 18 of the spindle 9. The Z-axis cam 66 provided on the lever member 60 slides in contact with the roller 67. The roller 67 slides downward on the cam surface of the Z-axis cam 66. The lever member 60 rotates counterclockwise about the support shaft 61 against the urging force of the tension spring 68. The lateral lever 62 engages with the pin 58 from above and presses the draw bar 69 downward against the urging force of the spring provided inside the main shaft 9. The draw bar 69 urges the holder holding portion 19 downward. The holder clamping part 19 releases the clamping of the pull stud 17B. The tool holder 17 can be removed from the taper mounting hole 18 of the main shaft 9.

  With the taper mounting portion 17A of the tool holder 17 inserted into the taper mounting hole 18 of the main shaft 9, the main shaft head 7 is lowered. The Z-axis cam 66 provided on the lever member 60 slides on the roller 67. The roller 67 slides upward on the cam surface of the Z-axis cam 66. The lever member 60 rotates clockwise around the support shaft 61. The lateral lever 62 moves away from the pin 58 and releases the downward pressing of the draw bar 69. The draw bar 69 is moved upward by a spring to release the downward bias of the holder holding portion 19. The holder clamping part 19 clamps the pull stud 17B. The mounting of the tool holder 17 on the spindle 9 is completed.

  The structure of the tool changer 20 will be described with reference to FIG. The tool changer 20 fixes a plurality of fulcrum stands 70 to the outer periphery of the back surface of the tool magazine 21 at equal intervals. The fulcrum stand 70 pivotally supports the grip arm 90 so as to be swingable in the front-rear direction. The grip arm 90 includes a grip 91 at one end extending toward the column 5 side. The grip part 91 grips the tool holder 17 in a detachable manner. The grip arm 90 rotatably supports the rollers 96 and 97 near the fulcrum base 70 toward the spindle head 7 side. The roller 96 slides on the cam surface of the DP cam 11 fixed along the right end portion of the front surface of the spindle head 7 as the spindle head 7 moves up and down. The cam surface of the DP cam 11 includes a straight portion 11A and an inclined portion 11B. The straight portion 11A is a portion extending linearly downward from the upper portion of the cam surface. The inclined part 11B is a part that inclines while gently curving obliquely rearward from the lower part of the straight part 11A.

  The roller 97 slides on the cam surface of the floating cam 12 fixed at the center in the left-right direction on the front surface of the spindle head 7 as the spindle head 7 moves up and down. The cam surface of the floating cam 12 is gently inclined forward from the upper portion of the cam surface to the central portion, and bulges forward in a mountain shape at the central portion. When the roller 96 slides on the cam surface of the DP cam 11, the floating cam 12 restricts the movement of the grip arm 90 so that the roller 96 and the DP cam 11 are not separated. The grip arm 90 at the tool change position swings around the fulcrum stand 70, so that the grip 91 can be moved between the close position and the retracted position. The proximity position is a position that faces and opposes the main shaft 9, and the retreat position is a position that is separated forward from the main shaft 9.

  The grip arm 90 holds the steel ball 92 at the other end opposite to the grip 91 so that the steel ball 92 is urged outward by a compression coil spring (not shown). The tool magazine 21 extrapolates a cylindrical grip support collar 80 around which a guide surface 81 having an arcuate cross section is provided. The steel ball 92 elastically contacts the guide surface 81 of the grip support collar 80. The guide surface 81 guides the other end of the grip arm 90. Therefore, the grip arm 90 can swing stably around the fulcrum stand 70.

  The electrical configuration of the numerical control device 30 will be described with reference to FIG. The numerical control device 30 includes a CPU 31, a ROM 32, a RAM 33, a storage device 34, an input / output unit 35, drive circuits 51A to 55A, and the like. The CPU 31 controls the numerical control device 30. The ROM 32 stores a parameter setting program, an up stroke control program, a down stroke control program, and the like. The parameter setting program executes a parameter setting process (see FIG. 20) described later. The ascending movement control program executes ascending movement control processing (see FIG. 21) described later. The downward movement control program executes a downward movement control process (see FIG. 23) described later. The RAM 33 temporarily stores various data during execution of various processes. The storage device 34 is non-volatile and stores an NC program or the like that is registered by the operator through the input unit 25. The NC program is composed of a plurality of blocks including various control commands, and controls various operations including axis movement of the machine tool 1, tool change, and the like in units of blocks.

  The drive circuit 51A is connected to the Z-axis motor 51 and the encoder 51B. The drive circuit 52A is connected to the spindle motor 52 and the encoder 52B. The drive circuit 53A is connected to the X-axis motor 53 and the encoder 53B. The drive circuit 54A is connected to the Y-axis motor 54 and the encoder 54B. The drive circuit 55A is connected to the magazine motor 55 and the encoder 55B. The drive circuits 51A to 55A receive commands from the CPU 31 and output drive currents to the corresponding motors 51 to 55, respectively. The drive circuits 51A to 55A receive feedback signals from the encoders 51B to 55B and perform position and speed feedback control. The feedback signal is a pulse signal. The input / output unit 35 is connected to the input unit 25 and the display unit 28, respectively.

  The flow of the tool changing operation will be described with reference to FIGS. When the control command generated by interpreting one block of the NC program is a tool change command, the CPU 31 executes a tool change operation. The tool change operation includes an ascending stroke, a tool magazine turning, and a descending stroke. The CPU 31 executes the ascending stroke, the tool magazine turning, and the descending stroke in this order. Each Z position of the spindle head 7 during the up stroke and the down stroke shown in FIGS. 10 and 11 is an example.

  In this embodiment, the machine origin of the Z axis is referred to as the Z axis origin. The machine origin is, for example, a position where the machine coordinates of the X axis and the Y axis are zero, and a position where the machine coordinates of the Z axis are upper limit positions where the workpiece can be machined. For example, the area on the table 10 (see FIG. 1) side from the Z-axis origin is the machining area, and the area opposite to the machining area with respect to the Z-axis origin is the ATC area. The machining area is an area for machining the work material. The ATC area is an area for performing tool change using the tool changer 20.

[Rising process]
For example, the spindle head 7 starts to rise from the machining position of the work material (for example, Z100). The spindle head 7 enters the ATC area from the machining area. The roller 96 of the grip arm 90 located at the tool change position slides down the linear portion 11A of the DP cam 11. As shown in FIG. 4, when the spindle head 7 reaches Z430, the roller 96 enters the inclined portion 11B of the DP cam 11. The roller 96 slides downward on the inclined portion 11B of the DP cam 11 as the spindle head 7 moves up. Since the roller 96 moves to the column 5 side, the grip arm 90 swings counterclockwise as viewed from the right side around the fulcrum stand 70 (see FIG. 2). The grip 91 moves to a position close to the main shaft 9. When the spindle head 7 reaches Z490, the roller 67 contacts the inclined portion 66A of the Z-axis cam 66 (see FIG. 5). As the spindle head 7 is raised, the roller 67 slides down the inclined portion 66A of the Z-axis cam 66.

  When the spindle head 7 reaches Z493, the roller 96 slides downward in a section of the inclined portion 11B of the DP cam 11 where the inclination angle is the tightest (see FIG. 6). When the spindle head 7 reaches Z520, the roller 67 slides on the steeply inclined portion 66C having the tightest inclination angle among the inclined portions 66A of the Z-axis cam 66 (see FIG. 7). The grip arm 90 further swings toward the column 5 side, and the gripping portion 91 grips the tool holder 17 attached to the main shaft 9. The lever member 60 swings counterclockwise about the support shaft 61 and pushes down the draw bar 69 via the pin 58. The holder clamping unit 19 releases the clamping of the tool holder 17. The tool holder 17 can be removed from the taper mounting hole 18 of the main shaft 9.

  When the spindle head 7 reaches Z530, the roller 96 moves downward from the inclined portion 11B of the DP cam 11 (see FIG. 8). The roller 67 slides downward on the inclined portion 66A of the Z-axis cam 66, and when the spindle head 7 reaches Z536, the roller 67 enters the linear portion 66B of the Z-axis cam 66 (see FIG. 9). The spindle head 7 is further raised, and the tool holder 17 is removed from the spindle 9. The roller 67 slides down the linear portion 66B of the Z-axis cam 66. The spindle head 7 reaches the ATC origin (Z650) and stops.

[Tool magazine swivel]
The tool magazine 21 turns to determine the next tool at the tool change position. The next tool is a tool specified by the tool change command. The grip portion 91 of the grip arm 90 at the tool change position grips the tool holder 17 of the next tool. The pull stud 17 </ b> B of the tool holder 17 is located below the tapered mounting hole 18 of the main shaft 9.

[Descent process]
As shown in FIG. 9, the spindle head 7 starts to descend from the ATC origin (Z650). The roller 67 slides upward on the linear portion 66B of the Z-axis cam 66. The pull stud 17B of the tool holder 17 enters the tapered mounting hole 18 of the main shaft 9 from below. When the spindle head 7 reaches Z536, the roller 67 enters the inclined portion 66A of the Z-axis cam 66. When the spindle head 7 reaches Z530, the roller 96 contacts the lower end of the inclined portion 11B of the DP cam 11 (see FIG. 8). When the spindle head 7 reaches Z520, the roller 67 slides upward on the steeply inclined portion 66C having the tightest inclination angle among the inclined portions 66A of the Z-axis cam 66 (see FIG. 7). Since the lever member 60 swings clockwise, the draw bar 69 moves upward by a spring. When the spindle head 7 reaches Z510, the tool holder 17 comes into contact with the end face of the taper mounting hole 18 of the spindle 9. The taper mounting portion 17A of the tool holder 17 is mounted in the taper mounting hole 18. When the draw bar 69 moves further upward, the pressing of the holder holding portion 19 by the draw bar 69 is released. The holder clamping part 19 clamps the tool holder 17. The tool holder 17 cannot be removed from the taper mounting hole 18 of the main shaft 9.

  When the spindle head 7 reaches Z493, the roller 96 slides upward in a section where the inclination angle is the tightest in the inclined portion 11B of the DP cam 11 (see FIG. 6). The grip arm 90 swings clockwise around the fulcrum stand 70. The grip 91 is moved forward from the tool holder 17 toward the retracted position. When the spindle head 7 reaches Z490, the roller 67 moves away from the upper end portion of the inclined portion 66A of the Z-axis cam 66 (see FIG. 5). The grip portion 91 of the grip arm 90 moves to the retracted position. When the spindle head 7 reaches Z430, the roller 96 enters the linear portion 11A of the DP cam 11 (see FIG. 4). As the spindle head 7 descends, the roller 96 slides upward on the straight portion 11 </ b> A of the DP cam 11. The spindle head 7 further descends, enters the machining area from the ATC area, and stops at the machining position (Z100) which is the target position. The tool change operation ends.

  With reference to FIGS. 10-13, the mechanical load which generate | occur | produces during a tool change operation | movement is demonstrated. The machine load means a load applied to members constituting the machine tool 1. In the ascending stroke shown in FIG. 10, a sound is generated at the moment when the Z-axis cam 66 contacts the roller 67 at Z490, and a mechanical load is generated at least on the Z-axis cam 66 and the roller 67. In the downward stroke shown in FIG. 11, a sound is generated at the moment when the tool holder 17 comes into contact with the end face of the taper mounting hole 18 of the main shaft 9 at Z510, and at least a mechanical load is generated on the main shaft 9. In the present embodiment, the moving speed of the spindle head 7 is lowered at Z490 and Z510 in order to reduce the sound and mechanical load generated at Z490 and Z510.

  As described above, in the tool changing operation, the roller 67 provided on the column 5 slides on the cam surface of the Z-axis cam 66. The cam surface of the Z-axis cam 66 includes an inclined portion 66A. The roller 96 of the grip arm 90 slides on the cam surface of the DP cam 11. The cam surface of the DP cam 11 includes an inclined portion 11B. When the rollers 67 and 96 come into contact with the inclined portions 66A and 11B of the cam surface, a mechanical load is generated on the Z-axis cam 66 and the DP cam 11.

When the roller 67 is in contact with the inclined portion 66A of the Z-axis cam 66 and when the roller 96 is in contact with the inclined portion 11B of the DP cam 11, the Z-axis cam 66 and the DP cam 11 are in contact with the rollers 67, 96. Acceleration a occurs in the Z-axis cam 66 and DP cam 11, and a mechanical load (F = Ma: M is the mass of the cam) is generated. Therefore, in the present embodiment, when the roller 67 comes into contact with the inclined portion 66A of the Z-axis cam 66 and when the roller 96 comes into contact with the inclined portion 11B of the DP cam 11 in the tool changing operation, the acceleration / deceleration of the spindle head 7 occurs. Is controlled to be small.

  As shown in FIG. 10, the section A in which the roller 96 contacts the inclined portion 11B of the DP cam 11 in the ascending stroke is the Z430 to Z530 section. A section B where the roller 67 contacts the inclined portion 66A of the Z-axis cam 66 is a Z490-Z536 section. As shown in FIG. 11, the section A in which the roller 96 contacts the inclined portion 11 </ b> B of the DP cam 11 in the downward stroke is the Z530 to Z430 section. A section B where the roller 67 contacts the inclined portion 66A of the Z-axis cam 66 is a Z536 to Z490 section. Therefore, in the ascending process of the present embodiment, the moving speed of the spindle head 7 is controlled at least by Z490 and the acceleration / deceleration speed of the spindle head 7 in the sections A and B is reduced. In the downward stroke, the moving speed of the spindle head 7 is controlled to decrease at least at Z510 and the acceleration / deceleration speed of the spindle head 7 in the sections A and B is reduced. Specific control of the speed and acceleration / deceleration of the spindle head 7 in the up stroke and the down stroke will be described later.

The low speed section and acceleration / deceleration set in the ATC area will be described with reference to FIGS. In the present embodiment, a low speed section is set in the ATC area. The low speed section is a section in which the moving speed of the spindle head 7 is set lower than the fast feed speed Vmax and the ATC speed VH. In this embodiment, the acceleration / deceleration before and after the low speed section in the ATC region can be set separately from the setting of the acceleration / deceleration in the machining region. The parameters that can be set during the ascending stroke in the ATC region are as follows.
-Fast feed speed Vmax: Fast feed maximum speed-ATC speed VH: Maximum speed in the ATC region-Low speed VL: Low speed section speed-Low speed start coordinate Zu1: Low speed section Z coordinate lower limit-High speed slow end coordinate Zu2 : Z-coordinate upper limit value in low-speed section / Acceleration / deceleration Au: Deceleration / acceleration / deceleration when decelerating from fast-forward speed to low-speed speed Bu: Acceleration / acceleration / deceleration when accelerating from low-speed speed to rapid-feed speed Cu: Speed from rapid-feed speed Deceleration when decelerating to zero

  As shown in FIG. 12, the spindle head 7 starts to rise from the machining position, and rises at the fast feed speed Vmax at t1 in the ATC region. The spindle head 7 starts decelerating at t2, and reaches the low speed VL at t3. The spindle head 7 rises at a low speed VL from t3 to t4. t3 to t4 are low speed sections. In the present embodiment, for example, a low speed section is provided so that the speed becomes low at the moment when the Z-axis cam 66 contacts the roller 67 (Z490). The low speed section is set by the ascending low speed start coordinate Zu1 and the ascending low speed end coordinate Zu2. Since the Z-axis cam 66 contacts the roller 67 in the low speed section, this embodiment can reduce the sound and mechanical load generated at the time of the contact.

  The spindle head 7 starts to accelerate at t4, and reaches the ATC speed VH at t5. The spindle head rises from t5 to t6 at the ATC speed VH. The spindle head 7 starts decelerating at t6, stops at t7, and reaches the ATC origin. In the present embodiment, the acceleration / deceleration speed Au in the t2 to t3 section, the acceleration / deceleration Bu in the t4 to t5 section, and the acceleration / deceleration Cu in the t6 to t7 section can be set freely. Therefore, in this embodiment, the mechanical load generated during the tool change operation can be reduced by making the acceleration / decelerations Au and Bu smaller than the acceleration / deceleration set in the machining region, for example.

The parameters that can be set during the downward stroke in the ATC area are as follows.
-Fast feed speed Vmax: Fast feed maximum speed-ATC speed VH: Maximum speed in the ATC area-Low speed VL: Low speed section speed-Low speed start coordinate Zd1: Low speed section Z coordinate upper limit value-Low speed end coordinate Zd2 : Z-coordinate lower limit value in low speed section ・ Acceleration / deceleration Cd: Acceleration / acceleration / deceleration when accelerating from speed 0 to ATC speed Bd: Deceleration / acceleration / deceleration when decelerating from ATC speed to low speed Ad: Fast feed from low speed Acceleration when accelerating to speed Vmax

  As shown in FIG. 13, the spindle head 7 starts to descend from the ATC origin at t11, and reaches the ATC speed VH at t12. The spindle head 7 is lowered at the ATC speed VH from t12 to t13. The spindle head 7 starts decelerating at t13 and reaches the low speed VL at t14. The spindle head 7 descends at a low speed VL from t14 to t15. t14 to t15 are low speed sections. In the present embodiment, for example, a low speed section is provided on the end face of the taper mounting hole 18 of the main shaft 9 so that the speed becomes low at the moment (Z510) when the tool holder 17 contacts. The low speed section is set by a low speed start coordinate Zd1 when descending and a low speed end coordinate Zd2 when descending. Since the tool holder 17 contacts the end face of the taper mounting hole 18 of the main shaft 9 in the low speed section, this embodiment can reduce the sound and mechanical load generated during the contact.

  The spindle head 7 starts to accelerate at t15, and reaches the fast feed speed Vmax at t16. The spindle head 7 moves down the ATC region at the rapid feed speed Vmax toward the machining position. In the present embodiment, the acceleration / deceleration Cd in the t11 to t12 interval, the acceleration / deceleration Bd in the t13 to t14 interval, and the acceleration / deceleration Ad in the t15 to t16 interval can be freely set. Therefore, in the present embodiment, the mechanical load generated during the tool change operation can be reduced by making the acceleration / deceleration speeds Bd and Ad smaller than, for example, the acceleration / deceleration set in the machining area.

A specific example of the speed and acceleration / deceleration of the spindle head 7 during the ascending stroke from the machining position (Z100) to the ATC origin (Z650) will be described with reference to FIGS. An example of parameters and setting values that can be set during the ascending stroke from the machining area is as follows. The acceleration / deceleration X is an acceleration / deceleration at the start of movement in the processing area.
・ Rapid feed speed Vmax: 50000 (mm / min)
ATC speed VH: 50000 (mm / min)
・ Low speed VL: 30000 (mm / min)
・ Low speed start coordinate Zu1: 490 (mm)
-Ascending low speed end coordinate Zu2: 490 (mm)
Acceleration / deceleration Au: 3.704 (m / sec ² )
Acceleration / deceleration Bu: 3.704 (m / sec ² )
・ Acceleration / deceleration Cu: 8.000 (m / sec ² )
・ Acceleration / deceleration X: 10.000 (m / sec ² )
In this embodiment, the ascending low-speed start coordinate Zu1 and the ascending low-speed end coordinate Zu2 are set to the same Z coordinate, so the low-speed section is Z490.

The spindle head 7 starts to rise from the machining position Z100 at t21. The acceleration / deceleration speed X in the period from t21 to t22 is 10.000 (m / sec ² ). Therefore, at t22, the moving speed of the spindle head 7 becomes the rapid feed speed Vmax = 50000 (mm / min). The acceleration / deceleration in the period from t22 to t23 is zero. Therefore, the spindle head 7 rises at 50000 (mm / min) and enters the ATC region from the machining region. The spindle head 7 reaches Z430 at t23 and starts decelerating. Z430 is a position where the roller 96 enters the inclined portion 11B of the DP cam 11. The acceleration / deceleration Au in the period from t23 to t24 is 3.704 (m / sec ² ). Therefore, at t24, the speed of the spindle head 7 becomes the low speed VL = 30000 (mm / min). The spindle head 7 reaches Z490 at t24, and the Z-axis cam 66 contacts the roller 67. Since the Z-axis cam 66 contacts the roller 67 when the speed of the spindle head 7 is a low speed, it is possible to reduce the sound and mechanical load generated at the time of the contact.

The spindle head 7 starts to accelerate at t24. The acceleration / deceleration speed Bu in the period from t24 to t25 is 3.704 (m / sec ² ). Therefore, at t25, the speed of the spindle head 7 becomes ATC speed VH = 5000 (mm / min). The acceleration / deceleration in the period from t25 to t26 is zero. Therefore, the spindle head 7 moves up at 50000 (mm / min). The spindle head 7 starts decelerating at t26. The acceleration / deceleration speed Cu in the interval t26 to t27 is 8.000 (m / sec ² ). Therefore, at t27, the speed of the spindle head 7 becomes zero and stops at the ATC origin.

  The section t23 to t25 includes the section A. The t24 to t25 section includes the section B. In the present embodiment, the acceleration / deceleration Au is set in the period t23 to t25 where the speed is reduced from the fast feed speed to the low speed, and the acceleration / deceleration Bu is set in the period t24 to t25 where the speed is accelerated from the low speed. Since the acceleration / deceleration speeds Au and Bu are smaller than the acceleration / deceleration speeds X and Cu, the acceleration / deceleration speed can be reduced at least in the sections A and B. Therefore, since this embodiment can reduce the mechanical load which generate | occur | produces in the area A and B at the time of an ascending stroke, it can suppress the fall of a machine life.

A specific example of the speed and acceleration / deceleration of the spindle head 7 during the downward stroke from the ATC origin (Z650) to the machining position (Z100) will be described with reference to FIGS. Examples of parameters and set values that can be set during the downward stroke from the ATC origin in the ATC region to the machining region are as follows. The acceleration / deceleration speed X is an acceleration / deceleration speed at the end of movement in the machining area.
・ Rapid feed speed Vmax: 50000 (mm / min)
ATC speed VH: 50000 (mm / min)
・ Low speed VL: 30000 (mm / min)
・ Low-speed start coordinates when descending Zd1: 510 (mm)
・ Low speed end coordinates when descending Zd2: 510 (mm)
Acceleration / deceleration Cd: 8.000 (m / sec ² )
Acceleration / deceleration Bd: 3.704 (m / sec ² )
Acceleration / deceleration Ad: 3.704 (m / sec ² )
・ Acceleration / deceleration X: 10.000 (m / sec ² )
In this embodiment, the low speed start coordinate Zd1 when descending and the low speed end coordinate Zd2 when descending are set to the same Z coordinate, so the low speed section is Z510.

The spindle head 7 starts to descend from the ATC origin (Z650) at t31. The acceleration / deceleration Cd in the section from t31 to t32 is 8.000 (m / sec ² ). Therefore, at t32, the speed of the spindle head 7 becomes ATC speed VH = 50000 (mm / min). The acceleration / deceleration in the period from t32 to t33 is zero. Therefore, the spindle head 7 descends at 50000 (mm / min). The spindle head 7 reaches Z570 at t33 and starts decelerating. The acceleration / deceleration speed Bd in the period from t33 to t34 is 3.704 (m / sec ² ). Therefore, at t34, the speed of the spindle head 7 becomes the low speed VL = 30000 (mm / min). The spindle head 7 reaches Z510 at t34, and the tool holder 17 collides with the end face of the taper mounting hole 18 of the spindle 9, so that it is possible to reduce the sound and mechanical load generated at the time of the collision.

The spindle head 7 starts to accelerate at t34. The acceleration / deceleration Ad in the period from t34 to t35 is 3.704 (m / sec ² ). Therefore, at t35, the speed of the spindle head 7 becomes ATC speed VH = 5000 (mm / min). The acceleration / deceleration in the period from t35 to t36 is zero. Therefore, the spindle head 7 descends from the ATC area to the machining area at 50000 (mm / min). The spindle head 7 starts decelerating at t36. The acceleration / deceleration speed X in the period from t36 to t37 is 10.000 (m / sec ² ). Therefore, at t37, the speed of the spindle head 7 becomes zero and stops at the machining position (Z100).

  The t33 to t34 section includes a part of the section A and a part of the section B. The t34 to t35 section also includes a part of the section A and a part of the section B. In the present embodiment, the acceleration / deceleration Bd is set in the period from t33 to t34 where the ATC speed is decelerated from the low speed to the low speed, and the acceleration / deceleration Ad is set in the period from t34 to t35 where the acceleration is accelerated from the low speed to the fast feed speed. Since the acceleration / deceleration speeds Bd and Ad are smaller than the acceleration / deceleration speeds Cd and X, the acceleration / deceleration speeds can be reduced in the sections A and B. Among the sections A, the Z450 to Z430 sections are in the t35 to t36 section, but the acceleration / deceleration of the t35 to t36 sections is zero. Therefore, since this embodiment can reduce the mechanical load which generate | occur | produces in the area A and B also at the time of a downward stroke, it can suppress the fall of a machine life.

A modification of the speed and acceleration / deceleration of the spindle head 7 during the downward stroke will be described with reference to FIGS. In the specific examples shown in FIGS. 15 and 16, the low speed start coordinate Zd1 during descent and the low speed end coordinate Zd2 during descent are set to the same Z coordinate, and the low speed section is the moment of reaching Z510. In the modification, the descent low-speed start coordinate Zd1 and the descent low-speed end coordinate Zd2 may be set to different Z coordinates as follows, for example. The parameters other than the low speed start coordinate Zd1 when descending, the low speed end coordinate Zd2 when descending, and the acceleration / deceleration Bd are the same as in the above specific example.
・ Low-speed start coordinates when descending Zd1: 510 (mm)
・ Low speed end coordinates when descending Zd2: 536 (mm)
・ Acceleration / deceleration Bd: 8.000 (m / sec ² )
In this modification, the low speed start coordinate Zd1 when descending and the low speed end coordinate Zd2 when descending are different, so the low speed section is Z536 to Z510.

The spindle head 7 starts to descend from the ATC origin (Z650) at t41. The acceleration / deceleration Cd in the section from t41 to t42 is 8.000 (m / sec ² ). Therefore, at t42, the speed of the spindle head 7 becomes ATC speed VH = 50000 (mm / min). The acceleration / deceleration in the period from t42 to t43 is zero. Therefore, the spindle head 7 descends at 50000 (mm / min). The spindle head 7 starts decelerating at t43.

The acceleration / deceleration speed Bd in the period from t43 to t44 is 8.00 (m / sec ² ). In this modification, since the low speed section is set to Z536 to Z510, the acceleration / deceleration speed Bd when decelerating from the ATC speed to the low speed is a section where the roller 67 is not in contact with the inclined portion 66A of the Z-axis cam 66. . Therefore, in this modification, the acceleration / deceleration speed Bd may be set to a value larger than the acceleration / deceleration speed Bd of the above specific example. By setting the acceleration / deceleration speed Bd to a large value, the time for the spindle head 7 to reach the low speed can be shortened, so that the descent stroke time can be shortened and the time required for the tool change operation can be shortened. At t44, the speed of the spindle head 7 becomes the low speed VL = 30000 (mm / min). The spindle head 7 reaches Z536 at t44, and the tool holder 17 collides with the end face of the taper mounting hole 18 of the spindle 9, so that it is possible to reduce the sound and mechanical load generated during the collision.

The acceleration / deceleration in the period from t44 to t45 is zero. Therefore, the spindle head 7 descends at 30000 (mm / min). The spindle head 7 starts to accelerate at t45. The acceleration / deceleration Ad in the period from t45 to t46 is 3.704 (m / sec ² ). Therefore, at t46, the speed of the spindle head 7 becomes the rapid feed speed Vmax = 50000 (mm / min). The acceleration / deceleration in the period from t46 to t47 is zero. Therefore, the spindle head 7 descends from the ATC area to the machining area at 50000 (mm / min). The spindle head 7 starts decelerating at t47. The acceleration / deceleration speed X in the period from t47 to t48 is 10.000 (m / sec ² ). Therefore, at t48, the speed of the spindle head 7 becomes zero and stops at the machining position (Z100) which is the target position.

  The t44 to t45 section includes a part of the section A and a part of the section B. The t45 to t46 sections also include a part of the section A and a part of the section B. The t46 to t47 section includes a part of the section A. In this modified example, acceleration / deceleration 0 is set in the t44 to t45 interval where the speed is low, and acceleration / deceleration Ad is set in the t45 to t46 interval in which the low speed speed is accelerated to the fast feed speed. Acceleration / deceleration speed 0 is set in the t46 to t47 interval that is the fast-forward speed. Since the acceleration / deceleration Ad is a value smaller than the acceleration / decelerations Cd and X, the acceleration / deceleration can be reduced in the sections A and B. Therefore, also in this modification, since the mechanical load generated in the sections A and B during the downward stroke can be reduced, it is possible to suppress a decrease in the mechanical life.

  The parameter setting process will be described with reference to FIG. When the operator performs a predetermined operation with the input unit 25 of the operation panel 24, the CPU 31 reads the parameter setting program from the ROM 32 and executes this processing. This process is a process for presetting various parameters used in an ascending stroke control process and a descending stroke control process described later. The CPU 31 displays a parameter setting screen (not shown) (S100). The operator inputs various parameters with the input unit 25 while viewing the setting screen. The CPU 31 accepts input of various parameters, and sets the fast feed speed Vmax and the acceleration / deceleration speed X (S101). The CPU 31 sets the ATC speed VH and the low speed VL (S102). The CPU 31 sets the ascending low speed start coordinate Zu1, the ascending low speed end coordinate Zu2, and the acceleration / deceleration speeds Au, Bu, Cu (S103). The CPU 31 sets the low speed start coordinate Zd1 when descending, the low speed end coordinate Zd2 when descending, and the acceleration / deceleration speeds Ad, Bd, and Cd (S104). The set parameters may be stored in the RAM 33, for example.

With reference to FIGS. 21 and 22, the ascending stroke control process executed by the CPU 31 will be described. When executing the upward movement process of the tool change operation, the CPU 31 reads the upward process control program from the ROM 32 and executes this process. An example of parameters and set values relating to the upward stroke set in advance in the parameter setting process (see FIG. 20) is as follows.
・ Rapid feed speed Vmax: 50000 (mm / min)
ATC speed VH: 45000 (mm / min)
・ Low speed VL: 30000 (mm / min)
・ Low-speed start coordinate Zu1: 510 (mm)
-Ascending low speed end coordinate Zu2: 520 (mm)
・ Acceleration / deceleration Au: 5.000 (m / sec ² )
・ Acceleration / deceleration Bu: 5.000 (m / sec ² )
・ Acceleration / deceleration Cu: 8.000 (m / sec ² )
・ Acceleration / deceleration X: 10.000 (m / sec ² )
The low speed section is Z510 to Z520 (see FIG. 22).

The CPU 31 calculates deceleration start coordinates Zua and Zuc (S1). The deceleration start coordinate Zua is a coordinate at which deceleration is started from the fast feed speed Vmax to the low speed VL at t53. The deceleration start coordinate Zuc is a coordinate at which deceleration starts from the ATC speed VH to the speed 0 at t57. The deceleration start coordinate Zua may be calculated using the following equation 1, and the deceleration start coordinate Zuc may be calculated using the following equation 2. The calculated deceleration start coordinates Zua and Zuc may be stored in the RAM 33, for example.
Zatc is the Z coordinate (Z650) of the ATC origin. La is the distance from the deceleration start coordinate Zua to the ascending low speed start coordinate Zu1, and corresponds to the area of the gray region La shown in FIG. Lc is the distance from the deceleration start coordinate Zuc to the ATC origin, and corresponds to the area of the gray region Lc. The deceleration start coordinate Zua calculated by the present embodiment is 465.5556 (mm), and the deceleration start coordinate Zuc is 614.843 (mm).

  The CPU 31 starts raising the spindle head 7 from the machining position (Z100) at t51, and accelerates at the acceleration / deceleration speed X from the speed 0 to the rapid feed speed Vmax (S2). After acceleration, the moving speed reaches the fast-forward speed Vmax at t52. The acceleration / deceleration in the period from t52 to t53 is zero. Therefore, the spindle head 7 rises at the rapid feed speed Vmax and enters the ATC area from the machining area.

  The CPU 31 determines whether or not the spindle head 7 has reached the deceleration start coordinate Zua (S7). Until the spindle head 7 reaches the deceleration start coordinate Zua (S7: NO), the CPU 31 returns to S7 and continues to increase at the fast feed speed Vmax. When the spindle head 7 reaches the deceleration start coordinate Zua at t53 (S7: YES), the CPU 31 decelerates from the rapid feed speed Vmax to the low speed VL at the acceleration / deceleration speed Au (S8). Whether or not the spindle head 7 has reached the deceleration start coordinate Zua is determined based on the detection value of the encoder 51B. The CPU 31 determines whether or not the spindle head 7 has reached the low-speed start coordinate Zu1 when rising, based on the detection value of the encoder 51B (S9). Until the spindle head 7 reaches the low-speed start coordinate Zu1 when rising (S9: NO), the CPU 31 returns to S9 and continues to decelerate. When the spindle head 7 reaches the low speed start coordinate Zu1 when rising at t54 (S9: YES), the moving speed reaches the low speed VL. Therefore, the CPU 31 raises the spindle head 7 at the low speed VL (S10). In Z510 to Z520, which is a low speed section, the roller 67 collides with the cam surface of the Z-axis cam 66, so that the sound and mechanical load generated at the time of the collision can be reduced.

  The CPU 31 determines whether or not the spindle head 7 has reached the low-speed end coordinate Zu2 when ascending based on the detection value of the encoder 51B (S11). Until the spindle head 7 reaches the low-speed end coordinate Zu2 when rising (S11: NO), the CPU 31 returns to S10 and continues to raise the spindle head 7 at the low speed VL. When the spindle head 7 reaches the low-speed end coordinate Zu2 when rising at t55 (S11: YES), the CPU 31 accelerates from the low speed VL to the ATC speed VH at the acceleration / deceleration speed Bu (S12). After acceleration, at t56, the moving speed reaches the ATC speed VH. The acceleration / deceleration in the period from t56 to t57 is zero. Therefore, the spindle head 7 rises at the ATC speed VH.

  The CPU 31 determines whether or not the spindle head 7 has reached the deceleration start coordinate Zuc based on the detection value of the encoder 51B (S13). Until the spindle head 7 reaches the deceleration start coordinate Zuc (S13: NO), the process returns to S13 and continues to increase at the ATC speed VH. When the spindle head 7 reaches the deceleration start coordinate Zuc at t57 (S13: YES), the CPU 31 decelerates from the ATC speed VH to the speed 0 at the acceleration / deceleration Cu (S14). At t58, the spindle head 7 reaches the ATC origin (Z650), and the moving speed becomes zero. The ascent process of the tool change operation is completed. The CPU 31 ends this process.

With reference to FIGS. 23 and 24, the downward stroke control process executed by the CPU 31 will be described. When executing the downward movement process of the tool change operation, the CPU 31 reads the downward process control program from the ROM 32 and executes this process. An example of parameters and set values relating to the downward stroke set in advance in the parameter setting process (see FIG. 20) is as follows.
・ Rapid feed speed Vmax: 50000 (mm / min)
ATC speed VH: 45000 (mm / min)
・ Low speed VL: 30000 (mm / min)
・ Low-speed start coordinate Zd1: 520 (mm) when descending
・ Low speed end coordinates when descending Zd2: 510 (mm)
・ Acceleration / deceleration Cd: 5.000 (m / sec ² )
・ Acceleration / deceleration Bd: 5.000 (m / sec ² )
Acceleration / deceleration Ad: 8.000 (m / sec ² )
・ Acceleration / deceleration X: 10.000 (m / sec ² )
The low speed section is Z520 to Z510 (see FIG. 24).

The CPU 31 calculates deceleration start coordinates Zdb and Zdx (S21). The deceleration start coordinate Zdb is a coordinate at which deceleration starts from the ATC speed VH to the low speed VL at t63. The deceleration start coordinate Zdx is a coordinate at which deceleration starts from the fast-forward speed Vmax to the speed 0 at t67. The deceleration start coordinate Zdb may be calculated by the following formula 3, and the deceleration start coordinate Zdx may be calculated by the following formula 4. The calculated deceleration start coordinates Zdb and Zdx may be stored in the RAM 33, for example.

  Zp is the Z coordinate (Z100) of the machining position which is the target position. Lb is the distance from the deceleration start coordinate Zdb to the descending low speed start coordinate Zd1, and corresponds to the area of the gray region Lb shown in FIG. Lx is the distance from the deceleration start coordinate Zdx to the processing position (Z100), and corresponds to the area of the gray region Lx. The deceleration start coordinate Zdb calculated by the present embodiment is 465.556 (mm), and the deceleration start coordinate Zdx is 614.843 (mm).

  The CPU 31 starts to descend the spindle head 7 from the ATC origin (Z650) at t61, and accelerates from the speed 0 to the ATC speed VH at the acceleration / deceleration speed Cd (S22). After acceleration, the movement speed reaches the ATC speed VH at t62. The acceleration / deceleration in the period from t62 to t63 is zero. Therefore, the spindle head 7 descends at the ATC speed VH.

  The CPU 31 determines whether or not the spindle head 7 has reached the deceleration start coordinate Zdb based on the detection value of the encoder 51B (S27). Until the spindle head 7 reaches the deceleration start coordinate Zdb (S27: NO), the CPU 31 returns to S27 and continues to descend at the ATC speed VH. When the spindle head 7 reaches the deceleration start coordinate Zdb at t63 (S27: YES), the CPU 31 decelerates from the ATC speed VH to the low speed VL at the acceleration / deceleration speed Bd (S28). The CPU 31 determines whether or not the spindle head 7 has reached the low speed start coordinate Zd1 when descending based on the detection value of the encoder 51B (S29). Until the spindle head 7 reaches the low speed start coordinate Zd1 when descending (S29: NO), the CPU 31 returns to S29 and continues to decelerate. When the spindle head 7 reaches the low speed start coordinate Zd1 when descending at t64 (S29: YES), the moving speed becomes the low speed VL. The CPU 31 lowers the spindle head 7 at the low speed VL (S30). In Z520 to Z510, which is a low speed section, the tool holder 17 comes into contact with the end face of the taper mounting hole 18 of the main shaft 9, so that the sound and mechanical load generated at the time of the contact can be reduced.

  The CPU 31 determines whether or not the spindle head 7 has reached the low-speed end coordinate Zd2 when lowered based on the detection value of the encoder 51B (S31). Until the spindle head 7 reaches the low speed end coordinate Zd2 at the time of lowering (S31: NO), the CPU 31 returns to S30 and continues to lower the main spindle head 7 at the low speed VL. When the spindle head 7 reaches the low speed end coordinate Zd2 when descending at t65 (S31: YES), the CPU 31 accelerates at the acceleration / deceleration speed Ad from the low speed VL to the fast feed speed Vmax (S32). After acceleration, the moving speed reaches the rapid traverse speed Vmax at t66. The acceleration / deceleration in the period from t66 to t67 is zero. Therefore, the spindle head 7 descends at the rapid feed speed Vmax.

  The CPU 31 determines whether or not the spindle head 7 has reached the deceleration start coordinate Zdx based on the detection value of the encoder 51B (S33). Until the spindle head 7 reaches the deceleration start coordinate Zdx (S33: NO), the process returns to S33 and continues to descend at the rapid feed speed Vmax. When the spindle head 7 reaches the deceleration start coordinate Zdx at t67 (S33: YES), the CPU 31 decelerates from the rapid feed speed Vmax to the speed 0 at the acceleration / deceleration speed X (S34). At t68, the spindle head 7 reaches the machining position (Z100), which is the target position, and the moving speed becomes zero. The downward stroke of the tool change operation is completed. The CPU 31 ends this process.

  In the above description, the holder holding part 19 is an example of the tool holding mechanism of the present invention. The draw bar 69 is an example of the pressing member of the present invention. The lever member 60 is an example of the operation member of the present invention. The Z-axis cam 66 is an example of the cam of the present invention. The roller 67 is an example of the sliding portion of the present invention. The CPU 31 is an example of a control unit of the present invention. The CPU 31 that executes the parameter setting process of FIG. 20 is an example of the setting unit of the present invention.

  The CPU 31 that executes the processes of S103 and S104 in FIG. 20 is an example of a low speed section setting unit. The CPU 31 which sets the rising low speed start coordinate Zu1 and the rising low speed end coordinate Zu2 in the process of S103 is an example of the rising low speed section setting unit of the present invention. The CPU 31 that sets the acceleration / deceleration Au in the process of S103 is an example of a first setting unit during ascent. The CPU 31 that sets the acceleration / deceleration Bu in the process of S103 is an example of a second setting unit at the time of ascent of the present invention. The CPU 31 that sets the low speed start coordinate Zd1 during descent and the low speed end coordinate Zd2 during descent in the process of S104 is an example of a low speed section setting unit during descent of the present invention. The CPU 31 that sets the acceleration / deceleration speed Bd in the process of S104 is an example of the first setting unit at the time of descent of the present invention. The CPU 31 that sets the acceleration / deceleration Ad in the process of S104 is an example of a second setting unit at the time of lowering of the present invention.

  The rapid feed speed Vmax and the ATC speed VH are examples of the first speed and the third speed of the present invention. The low speed VL is an example of the second speed of the present invention. Acceleration / deceleration Au and Bd are examples of the first acceleration / deceleration of the present invention. The acceleration / deceleration Bu and Ad are examples of the second acceleration / deceleration of the present invention. The acceleration / deceleration speed X during the upward stroke and the acceleration / deceleration speed Cd during the downward stroke are examples of the acceleration / deceleration at the start of movement according to the present invention. The acceleration / deceleration speed Cu during the upward stroke and the acceleration / deceleration speed X during the downward stroke are examples of the acceleration / deceleration during movement stop according to the present invention.

  As described above, the numerical control device 30 of the present embodiment controls the operation of the machine tool 1. The machine tool 1 includes a spindle head 7, a Z-axis moving mechanism 22, a spindle 9 and the like. The spindle head 7 is provided so as to be reciprocally movable between the machining area and the ATC area. The spindle head 7 rotatably supports the spindle 9. The Z-axis moving mechanism 22 supports the spindle head 7 so as to be able to reciprocate. The main shaft 9 holds the tool 4 (tool holder 17). The machine tool 1 reciprocates the spindle head 7 in the ATC region, thereby exchanging the tool for replacing the current tool mounted on the spindle 9 with the next tool. The CPU 31 of the numerical controller 30 can control the operation of the Z-axis moving mechanism 22 and changes the acceleration / deceleration (Au, Bu, Cu, Cd, Bd, Ad) when the spindle head 7 moves within the ATC region. It can be set as possible. Therefore, the numerical controller 30 can shorten the tool change time while reducing the load applied to the machine tool 1 by the movement of the spindle head 7 in the ATC region.

  The CPU 31 of this embodiment can set a low speed section in the ATC area. The low speed section is a section in which the moving speed of the spindle head 7 that starts moving at the fast feed speed Vmax is switched to a low speed VL that is lower than the fast feed speed Vmax in the ATC region. Therefore, while the spindle head 7 moves in the low speed section, it is possible to reduce an impact caused by contact of members for tool change. The CPU 31 can set the acceleration / deceleration speed Au when decelerating before the low speed section and the acceleration / deceleration speed Bu when accelerating after the low speed section. Since the numerical control device 30 can set the acceleration / deceleration before and after the low speed section, the impact caused by contact between members for tool change can be reduced even before and after the low speed section.

  The machine tool 1 of the present embodiment includes a column 5, a tool magazine 21, a holder clamping unit 19, a draw bar 69, a lever member 60, and the like. The column 5 is provided at the upper rear of the base 2 and supports the spindle head 7 so as to be movable in the Z-axis direction by the Z-axis moving mechanism 22. The tool magazine 21 is provided so as to be able to hold a plurality of tools and to rotate with respect to the column 5. The holder clamping portion 19 is provided inside the main shaft 9 and holds the tool holder 17 mounted in the taper mounting hole 18. The draw bar 69 is provided in the spindle head 7 and presses the holder clamping portion 19 to release the tool holder 17 attached to the spindle 9. The lever member 60 is provided in the spindle head 7 and operates the draw bar 69 in the ascending process and the descending process of the tool changing operation. In the ascending stroke, the CPU 31 sets the low speed section at a position where at least the roller 67 provided in the column 5 comes into contact with the Z-axis cam 66 fixed to the lever member 60. Therefore, the numerical control device 30 can reduce the sound and mechanical load generated when the roller 67 contacts the Z-axis cam 66 during the upward stroke. In the downward stroke, the CPU 31 sets a low speed section at least at a position where the tool holder 17 is mounted in the tapered mounting hole 18 of the main shaft 9. Therefore, the numerical control device 30 can reduce the sound and mechanical load generated when the tool holder 17 is mounted in the taper mounting hole 18 of the main shaft 9 during the downward stroke.

  Further, the CPU 31 can set the acceleration / deceleration speed Au when decelerating before the low speed section set in the ascending stroke and the acceleration / deceleration speed Bu when accelerating after the low speed section. The CPU 31 can set the acceleration / deceleration speed Bd when decelerating before the low speed section set in the descending stroke and the acceleration / deceleration speed Ad when accelerating after the low speed section. Since the numerical controller 30 can set the acceleration / deceleration before and after the low speed zone in each of the ascending stroke and the descending stroke, the speed patterns of the ascending stroke and the descending stroke can be set in more detail.

  In the above-described embodiment, at least the acceleration / deceleration speeds Au and Bu set during the up stroke of the tool change operation and the acceleration / deceleration speeds Bd and Ad set during the down stroke are accelerated to the rapid feed speed Vmax when the spindle head 7 starts to move during the up stroke. The acceleration / deceleration speed X is smaller than the acceleration / deceleration speed X when the spindle head 7 decelerates and stops in the downward stroke. Therefore, the numerical control device 30 can reduce the load on the machine tool 1 in the tool change operation.

  Needless to say, the present invention is not limited to the above-described embodiment, and various modifications are possible. In the above embodiment, for example, the low speed section set for each of the ascending stroke and the descending stroke is set so as to be included in the ATC area, but may be set so as to include at least a part of the ATC area. You may set out of the area.

  The Z-axis cam 66 of the above embodiment is fixed to the lever member 60, and the roller 67 sliding on the cam surface of the Z-axis cam 66 is supported on the column 5 side. The cam 66 may be fixed to the column 5 side.

  The acceleration / deceleration speeds Au and Bu set during the up stroke of the tool change operation of the above embodiment and the acceleration / deceleration speeds Bd and Ad set during the down stroke are those when accelerating to the rapid feed speed Vmax at the start of movement of the spindle head 7 during the up stroke. Although the acceleration / deceleration X is set to a value smaller than the acceleration / deceleration X when the spindle head 7 decelerates and stops in the descending stroke, the setting is not limited to this and can be freely changed.

  The drive circuits 51 </ b> A to 55 </ b> A of the above embodiment are provided in the numerical control device 30, but may be provided in the machine tool 1.

  The machine tool 1 of the above embodiment is a vertical machine tool in which the main shaft 9 extends in the Z-axis direction, but the present invention can also be applied to a horizontal machine tool in which the main shaft extends in the horizontal direction.

  In this embodiment, instead of the CPU 31, a microcomputer, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or the like may be used as a processor. The movement control process may be distributed by a plurality of processors. The ROM 32 and the storage device 34 for storing the program may be constituted by other non-transitory storage media such as an HDD and / or a storage device, for example. The non-transitory storage medium may be any storage medium that can retain information regardless of the period in which the information is stored. The non-temporary storage medium may not include a temporary storage medium (for example, a signal to be transmitted). Various programs such as an ascending stroke control program, a descending stroke control program, and an NC program are downloaded from a server connected to a network (not shown) (that is, transmitted as a transmission signal) and stored in a storage device such as a flash memory. May be stored. In this case, the program may be stored in a non-temporary storage medium such as an HDD provided in the server.

DESCRIPTION OF SYMBOLS 1 Machine tool 2 Base 4 Tool 5 Column 7 Spindle head 9 Spindle 19 Holder clamping part 21 Tool magazine 22 Z-axis moving mechanism 30 Numerical control apparatus 31 CPU
60 Lever member 66 Z-axis cam 67 Roller 69 Drawbar Ad Acceleration / deceleration Au Acceleration / deceleration Bd Acceleration / deceleration Bu Acceleration / deceleration Cd Acceleration / deceleration VH ATC speed VL Low speed Vmax Rapid feed speed X Acceleration / deceleration

Claims (5)

A spindle head provided so as to be able to reciprocate between a machining area where the workpiece is machined and an ATC area where the tool is changed, a moving mechanism which supports the spindle head so as to be able to reciprocate, and the spindle head is rotatable. To control a machine tool capable of exchanging the current tool mounted on the spindle to the next tool by reciprocating the spindle head in the ATC region. In a numerical control device provided with a control unit for controlling the operation of the moving mechanism,
The controller is
A numerical control apparatus comprising: a setting unit configured to change the acceleration / deceleration when the spindle head moves within the ATC region. The controller is
A low-speed section setting unit that sets a low-speed section in which the moving speed of the spindle head that started moving at the first speed is switched to a second speed lower than the first speed in the ATC region;
The setting unit
A first setting unit for setting a first acceleration / deceleration when decelerating from the first speed to the second speed before the low speed section;
The second setting unit for setting a second acceleration / deceleration when accelerating from the second speed to a third speed higher than the second speed after the low speed section. The numerical control apparatus according to 1. The machine tool is
A column that is provided on a base and supports the spindle head so as to be movable up and down by the moving mechanism;
A tool magazine capable of holding a plurality of tools and pivotable with respect to the column;
A tool holding mechanism for holding the tool mounted on the spindle;
A pressing member that is provided on the main shaft and releases the tool mounted on the main shaft by pressing the tool holding mechanism;
Provided in the spindle head, and operating the pressing member in an ascending stroke in which the spindle head is raised toward the ATC origin where the tool magazine is rotated, and in a descending stroke in which the spindle head is lowered from the ATC origin. An operation member,
The low speed section setting unit
In the ascending stroke, the ascending low speed section sets the low speed section at a position where at least a cam for operating the operation member and a sliding portion sliding on the cam surface of the cam come into contact with each other from a separated state A setting section;
A descent low speed section setting unit that sets the low speed section at a position where at least the tool is mounted on the spindle in the down stroke;
The first setting unit includes:
An ascending first setting unit for setting the first acceleration / deceleration in the ascending stroke;
A first setting unit for lowering that sets the first acceleration / deceleration in the lowering stroke,
The second setting unit includes
An ascending second setting unit for setting the second acceleration / deceleration in the ascending stroke;
The numerical controller according to claim 2, further comprising a second setting unit at the time of lowering that sets the second acceleration / deceleration in the lowering stroke. At least the first acceleration / deceleration set by the first setting unit at the time of rising, the second acceleration / deceleration set by the second setting unit at the time of rising, and the second acceleration / deceleration set by the second setting unit at the time of lowering Is a value smaller than the acceleration / deceleration at the start of movement when accelerating to the first speed at the start of the movement of the spindle head, and the acceleration / deceleration at the stop of movement when the spindle head is decelerated from the third speed and stopped. The numerical control apparatus according to claim 3, wherein: A spindle head provided so as to be able to reciprocate between a machining area where the workpiece is machined and an ATC area where the tool is changed, a moving mechanism which supports the spindle head so as to be able to reciprocate, and the spindle head is rotatable. Numerical control for controlling a machine tool capable of exchanging the current tool mounted on the spindle with the next tool by reciprocating the spindle head in the ATC region. In a control method of a numerical control device comprising a control step of controlling an operation of the moving mechanism,
The control step includes
A control method comprising: a setting step of setting an acceleration / deceleration when the spindle head moves within the ATC region to be changeable.