JP2019067152A - Machining tool, brake defect determining method, and computer program - Google Patents

Abstract

To provide a machining tool, a brake defect determining method, and a computer program capable of efficiently determining a defect of a brake, and having excellent workability and productivity.SOLUTION: A machining tool includes: motors (30d, 11a and 36) which respectively drive two or more members and which include respective brakes; an actuation unit (CPU 91) that actuates respective brakes of the motors; a load applying unit (CPU 91) that applies load to each motor with the actuating unit being actuating brake; and a determining unit (CPU 91) that determines whether or not the brake of each motor is defective in accordance with a displacement amount of each motor when the load is applied by the load applying unit.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a machine tool having a motor with a brake, a brake failure determination method, and a computer program.

  The machine tool sequentially changes tools attached to the spindle head to execute various processes such as milling and tapping. The machine tool is provided with a support (base), a spindle head, a column, a tool magazine and the like.

  The column is columnar and stands at the upper rear of the base. The spindle head is moved in the Z-axis direction along the front of the column by a Z-axis motor. The spindle head internally supports the spindle rotatably by a spindle motor. Mount the tool on the spindle.

  The tool magazine includes a chain that pivots about an axis by driving a magazine motor. The chain has a plurality of gripping arms juxtaposed circumferentially. Each gripping arm removably grips the tool. After machining, the spindle head ascends and delivers the tool mounted on the spindle to the gripping arm. The magazine motor pivots the chain and moves the gripping arm equipped with the tool to be used next to the tool change position. The spindle head is lowered, and the tool mounted on the gripping arm at the tool change position is mounted on the spindle, and the tool is replaced.

  In machine tools, appropriate maintenance inspections, replacement and repair of parts are being carried out in order to extend the life. The machine tool has a plurality of motors for driving the members, and the motors have a brake for maintaining the posture of the members when stopped. In particular, in the case of a gravity axis in which gravity acts on the output shaft of the motor, there is a possibility that the gravity axis may drop by its own weight due to the failure of the brake. Therefore, the judgment test of the breakdown of the brake is done every work.

  The brake failure determination method of Patent Document 1 determines whether or not there is an abnormality in the brake in a state where the motor is excited and the brake is in operation. When it is diagnosed that there is an abnormality in the brake, the excitation of the motor is not cut off, and the abnormality in the brake is notified without releasing the brake.

JP, 2014-10546, A

  The brake failure judgment test as described in Patent Document 1 needs to be performed for each processing operation. Since a machine tool has a plurality of gravity axes, it is necessary to determine a brake failure for each gravity axis, the operation is complicated, the test takes time, and the productivity is lowered.

  The present invention has been made in view of such circumstances, and it is an object of the present invention to provide a machine tool, a brake failure judging method, and a computer program, which can judge a brake failure efficiently and have good operability and productivity. I assume.

  The machine tool according to the present invention drives each of two or more members to operate a motor provided with a brake, an operation unit for operating the brake of each motor, and a load applied to each motor in a state where the brake is operated by the operation unit. The apparatus is characterized by comprising: a load applying unit to be applied; and a determination unit that determines the presence or absence of a failure of the brake of each motor based on the movement amount of each motor when a load is applied by the load applying unit.

  In the present invention, it is possible to efficiently determine the presence or absence of a brake failure of two or more motors at one time, and the workability and productivity are good.

  In the machine tool according to the present invention, the first moving unit for moving at least one member to a position not interfering with each other when the two or more members are driven, and the determination unit determine presence or absence of a brake failure of each motor And moving the member moved to the position back to the position before movement.

  In the present invention, since the first moving portion is provided, the members do not interfere with each other when applying a load to the motor. Since the second moving part is provided, the member can be returned to the original position after judging the presence or absence of the brake failure, and the processing can be smoothly resumed.

  A machine tool according to the present invention comprises a spindle head for rotatably holding a spindle for inserting a tool, a processing table having a fixing surface for fixing a workpiece, and a swing axis parallel to the fixing surface. And a swing table on which the processing table is mounted, wherein the member is the spindle head, and the motor is an up-and-down motor for moving the spindle head in the vertical direction. The moving unit moves the spindle head to the tool replacement position in the vertical direction, and moves to a position in the left-right direction and in the front-rear direction that deviates from the fixed surface.

  In the present invention, it is possible to prevent a drop by judging a failure of the upper and lower motors of the spindle head which may fall when the brake breaks down. The spindle head moves to a position where it does not hit the tool magazine in the vertical direction, so the spindle head and the tool magazine do not interfere when loaded, and the spindle head and the tool magazine are not damaged when the brake is broken. As the spindle head retracts to a position out of the fixed surface, the spindle head does not move toward the processing table or workpiece even when the brake is broken.

  The machine tool according to the present invention comprises a rotation restraining portion for restraining the rotation of the rocking shaft, and a restraining release portion for releasing the suppression of the rotation of the rocking shaft, and the first moving portion releases the restraining It is characterized in that the rocking shaft whose restriction is released by the part is rotated so that the central axis of the fixed surface becomes parallel to the vertical direction.

  In the present invention, since the failure of the brake is determined with the fixed surface coinciding with the horizontal plane, the spindle head does not move toward the swinging platform even when the brake is broken.

  The machine tool according to the present invention is characterized in that the member is the swing table, and the motor is a motor for driving the swing shaft.

  In the present invention, it is possible to prevent the unnecessary rotation of the rocking platform by judging the presence or absence of the brake failure in the rocking shaft.

  A machine tool according to the present invention comprises: left and right motors for moving the spindle head in the left and right direction, front and rear motors for moving the spindle head in the front and back direction, and rotating the processing table about an axis parallel to the vertical direction. The operation unit is characterized in that the operation of the brake is performed on a motor selected from the left and right motors, the front and rear motors, and the rotation motor.

  In the present invention, the attitude of the spindle head or the rocking table can be maintained when the motor is stopped.

  A machine tool according to the present invention comprises a tool magazine having a plurality of tool holding units for holding and circulating a tool and a drive unit for driving the tool holding unit, the member being the tool magazine The motor is a motor provided in the drive unit.

  In the present invention, it is possible to prevent the unnecessary movement of the tool magazine by judging the presence or absence of the failure of the motor for driving the tool magazine.

  In the brake failure judging method according to the present invention, at least one member is moved to a position not interfering with each other when two or more members are driven, a brake of a motor driving each of the two or more members is operated, and a brake is operated. In this state, a load is applied to each motor, and the movement amount of each motor when the load is applied is used to determine the presence or absence of a failure of the brake of each motor.

  In the present invention, it is possible to efficiently determine the presence or absence of a brake failure of two or more motors at one time, and the workability and productivity are good. As the at least one member is moved, the members do not interfere with each other when the motor is loaded.

  The computer program according to the present invention moves at least one member to a position not interfering with each other when two or more members are driven, operates a brake of a motor driving each of the two or more members, and operates the brake. Then, a load is applied to each motor, and processing is performed to determine the presence or absence of a failure of the brake of each motor based on the movement amount of each motor when the load is applied.

  In the present invention, the presence or absence of a failure in the brake of two or more motors can be determined efficiently, and the workability and productivity are good. As the at least one member is moved, the members do not interfere with each other when the motor is loaded.

  According to the present invention, the failure of the brake can be efficiently determined at one time, and the workability and productivity are good.

It is a perspective view which briefly shows the cover for machine tools which surrounds the machine tool of an embodiment. It is a perspective view of a machine tool. It is the perspective view which abbreviate | omitted the cover etc. which cover a tool magazine and a tool magazine. It is a front perspective view of work supporting device. It is a block diagram which briefly displays the structure of a control part. It is a flowchart which shows the procedure of judgment processing of the failure of the brake by CPU.

  Hereinafter, the present invention will be described in detail based on the drawings showing a machine tool according to the embodiment. In the following description, upper and lower, right and left and front and back indicated by arrows in the drawings are used. The user operates the machine tool at the front to attach and detach a work (workpiece, not shown).

  FIG. 1 is a perspective view schematically showing a machine tool cover 60 surrounding the machine tool 100. As shown in FIG. As shown in FIG. 1, a machine tool cover 60 surrounding the machine tool 100 is provided above the base 20 of the machine tool 100. The machine tool cover 60 has a rectangular box shape.

  The machine tool cover 60 is provided with two removable panels 61, 61 at the central portions of the left and right side surfaces. The operator removes the panels 61, 61 as necessary to maintain and manage the machine tool. On the rear surface of the machine tool cover 60, a control unit 90 for controlling the operation of the machine tool and a control panel 62 having amplifiers for supplying electric power to the respective motors are provided.

  A vertically-long rectangular opening 63 is provided at the center of the front of the machine tool cover 60, and an operation panel 64 for the operator to input information is provided on the right of the opening 63. The operation panel 64 includes a keyboard, buttons, an activation switch for activating a machine tool, and the like. The operation panel 64 constitutes a receiving unit that receives information (for example, an identifier for identifying a tool). The operation panel 64 has a buzzer 68. A display unit 67 for displaying information is provided on the upper side of the operation panel 64. A vertically elongated rectangular right door 66 and left door 65 are juxtaposed in the opening 63 so as to be movable in the left-right direction.

The right door 66 is disposed rearward of the left door 65. A handle 66 a is provided on the front of the right door 66. Opening and closing of the right door 66 and the left door 65 are performed automatically or manually. When manually opening and closing, when the operator grips the handle 66a and pulls it to the left, the right door 66 and the left door 65 sequentially move to the left and open, and a processing table 52 described later appears. When pulled to the right, the right door 66 and the left door 65 sequentially move to the right to close.
In the case of automatic opening and closing, the right door 66 and the left door 65 move to the left and open or move to the right and close based on a command from the control panel 62.

  FIG. 2 is a perspective view of the machine tool 100, and FIG. 3 is a perspective view with the tool magazine 10 and a cover for covering the tool magazine 10 omitted.

  The machine tool 100 includes a base 20, a Y-direction moving device 22, an X-direction moving device 26, a column 28, a Z-direction moving device 30, a spindle head 32, a spindle 34, a tool magazine 10 and the like. The base 20 is disposed on the floor surface. The base 20 supports the column 28 movably in the X direction (left and right direction) and the Y direction (front and rear direction) via the Y direction moving device 22 and the X direction moving device 26. The base 20 supports a workpiece support device 40 that drives and holds a workpiece to be processed around two axes. The column 28 supports the spindle head 32 movably in the Z direction (vertical direction) via the Z direction moving device 30. The tool magazine 10 changes the tool attached to the spindle head 32.

  The Y-direction moving device 22 includes a pair of guide rails 22a parallel to each other, a plurality of blocks 22b, a Y-direction moving base 22c, and a Y-direction drive motor 22d (see FIG. 5). The guide rails 22a extend in the front-rear direction on the upper surface of the base 20 at appropriate intervals in the left-right direction. Each block 22b is movably fitted to each of the guide rails 22a in the front-rear direction. The Y-direction carriage 22c is fixed on each block 22b. By driving the Y-direction drive motor 22d, the Y-direction moving base 22c moves in the front-rear direction.

The X-direction moving device 26 includes a pair of guide rails 26a parallel to each other, a plurality of blocks 26b, a column base 26c, and an X-direction drive motor 26d (see FIG. 5). The guide rails 26a are extended in the left-right direction on the upper surface of the Y-direction moving stand 22c at appropriate intervals in the front-rear direction. Each block 26b is movably fitted to each of the guide rails 26a in the left-right direction. The column base 26c is fixed on each block 26b. The column 28 is fixed on a column base 26c. The column 28 moves in the left-right direction by the drive of the X-direction drive motor 26 d.
The column 28 is moved in the Y direction and the X direction by the Y direction moving device 22 and the X direction moving device 26.

  The Z-direction moving device 30 includes a pair of guide rails 30a parallel to each other, a plurality of blocks 30b, a spindle head stand 30c, and a Z-direction drive motor 30d (see FIG. 5). The guide rails 30a extend in the vertical direction on the front surface of the column 28 at appropriate intervals in the left-right direction. Each block 30b is vertically movably fitted to each of the guide rails 30a. The spindle head stand 30c is fixed to the front of each block 30b. The driving of the Z-direction drive motor 30 d moves the spindle head stand 30 c in the vertical direction.

The spindle head 32 is fixed to a spindle head stand 30c. By driving and controlling the X direction drive motor 26d, the Y direction drive motor 22d, and the Z direction drive motor 30d, the spindle head 32 moves back and forth, left and right, and up and down.
The spindle head 32 supports a spindle 34 inside. The spindle 34 is connected to a spindle motor 35 fixed to the upper portion of the spindle head 3, and rotates around the central axis in the vertical direction by driving of the spindle motor 35. The lower end portion of the spindle 34 projects below the spindle head 32, and mounts and holds a tool. The tool ascends and descends with the spindle head 32.

  A plurality of tools are stored in the tool magazine 10. The tool magazine 10 includes a drive unit 11, a support beam (not shown), a rail 12, a chain 13, a plurality of gripping arms (tool holding units) 14, and the like. The rails 12 are arranged to incline approximately 30 degrees from the horizontal plane. The gripping arm 14 grips a tool holder that holds a tool. The drive unit 11 includes a magazine motor 11a, a drive shaft, an encoder, and the like. The rotation of the drive shaft of the magazine motor 11a causes the chain 13 to rotate, and the gripping arm 14 gripping the tool holder moves in a circulating manner.

  FIG. 4 is a front perspective view of the work support device 40. As shown in FIG. The work support device 40 includes a gear case 41, a bearing case 44, an A-axis motor 46, a swing base 50, a processing table 52 having a fixing surface for fixing a work, a C-axis drive unit 53 and the like.

  The gear box 41 accommodates the right side shaft 51 of the rocking base 50 and supports the shaft 51 rotatably around the X axis. In the following description, the central axis of the shaft portion (swinging axis) 51 is described as an A-axis. That is, the rotation axes of the workpiece are A, B, and C axes corresponding to the X, Y, and Z axes. The A-axis motor 46 is mounted on the front side of the gear box 41, and a rotating shaft (not shown) faces the inside of the gear box 41. The rotation axis of the A-axis motor 46 rotates around the Y axis, and the gear box 41 converts the rotation around the Y axis into a rotation around the A axis. The gear box 41 has mounting seats 41a at the lower four corners, and is fixed to the base 20 by screws or the like.

  The bearing housing 44 accommodates the left side shaft portion 51 of the swing base 50 and supports the shaft portion 51 rotatably around the A axis. The bearing housing 44 has mounting seats 44a at the front and rear of the lower part, and is fixed to the left base 20 by screws or the like.

  The rocking table 50 is a structure in which the left and right shafts 51, 51 are connected, and has a substrate portion for fixing the C-axis drive unit 53 substantially at the center between the shafts 51, 51. The swing table 50 is provided with a processing table 52 above the substrate portion and a C-axis drive unit 53 below. The left and right shafts 51, 51 each have a cylindrical shape, the right shaft 51 is rotatably supported by the gear box 41 about the A axis, and the left shaft 51 is rotatable about the A axis by the bearing box 44 It is supported by The shaft portions 51, 51 are arranged to be coaxial with each other.

The shaft 51 is rotated by the rotation of the A-axis motor 46, and the rocking base 50 is rocked about the A-axis. The shaft 51 is provided with a clamp mechanism. Specifically, the clamp mechanism includes a disk-shaped brake plate fitted to the shaft 51, a piston facing the brake plate, a brake releasing pressure chamber, and a brake pressure chamber. The valve V (see FIG. 5) is opened, air from the compressor is introduced into the brake release pressure chamber, and the piston is separated from the brake plate to allow the shaft 51 to rotate (unclamp). Further, air is introduced into the brake pressure chamber, and the piston is brought close to the brake plate, thereby suppressing the rotation of the shaft 51 (clamp). The shaft portion 51 is clamped at the time of processing of the work. There is a case where the shaft 51 is unclamped before processing the workpiece, and the shaft 51 is rotated to fix the swing base 50 so as to have a predetermined angle, and then unclamped. The clamping mechanism is not limited to the above case.
The C-axis drive unit 53 includes a housing, a C-axis motor 59 (see FIG. 5), a rotary shaft, an encoder, and the like. The rotation axis of the C-axis motor 59 rotates around the C axis, and the processing table 52 rotates around the C axis.

  In the machine tool 100 described above, the Z-direction drive motor 30d, the X-direction drive motor 26d, the Y-direction drive motor 22d, the magazine motor 11a, the A-axis motor 36, and the C-axis motor 59 have an electromagnetic brake mechanism. The brake is not limited to the case of the electromagnetic brake.

FIG. 5 is a block diagram schematically showing the configuration of the control unit 90. As shown in FIG.
The control unit 90 includes a central processing unit (CPU) 91, a read only memory (ROM) 92, a random access memory (RAM) 93, and the like. The ROM 92 stores a control program of the machine tool 100. The CPU 91 reads the control program from the ROM 92 to the RAM 93, and controls the machine tool 100 using the RAM 93 as a work area. Further, the RAM 93 reads a processing program stored in an external storage device (not shown) and a program for judging a brake failure which will be described later. The machining program has a plurality of instructions, and the CPU 91 sequentially reads and executes the instructions.

  The RAM 93 stores the execution timing of the brake failure determination, the allowable amount of rotation (threshold value) at the brake failure determination of each motor, the rotation amount at the brake failure determination of each motor, and the like. Instead of the ROM 92, a rewritable storage medium such as an EEPROM (Electrically Erasable Programmable ROM), an EPROM (Erasable Programmable ROM), an HD (Hard Disk) or the like may be used.

The CPU 91 is connected to the spindle motor 35, the X direction drive motor 26d, the Y direction drive motor 22d, the Z direction drive motor 30d, the A axis motor 36, the C axis motor 59, the magazine motor 11a, the valve V, and the encoder 81 Output control signal. The machine tool 100 is provided with a buzzer 68, and the CPU 91 outputs a control signal to the buzzer 68 through the output interface.
The valve is a valve of the brake mechanism of the shaft 51 described above, and the CPU 91 outputs a control signal for operating or releasing the brake to the shaft 51.

  When the CPU 91 conducts the brake failure judgment test, it takes in the position information (rotation amount) of the rotor of each motor from the encoder 81 via the input interface. The encoder 81 collectively represents the encoders of the respective motors. The CPU 91 determines the failure of the brake based on the position information acquired from the encoder 81. A position detection unit may be provided separately from the encoder 81 to detect the position of the shaft.

The command of the CPU91 of the spindle 34 the control unit 90, at the time of machining arranged in the processing position below the origin position Z ₀ of the Z axis, increases after machining of the workpiece, the tool change command to the origin position Z _0.
The gripping arm 14 at the lower front of the spindle head 32 at the exchange position swings following the ascent and descent of the spindle head 32. Spindle 34 is raised further, upon reaching the gripping position Z _a of the tool holder, the tip gripper of the gripping arm 14 approaches the spindle 34 to grip the tool holder from the front. The main shaft 34 is further raised. The tool holder gripped by the gripping arm 14 moves relatively downward and disengages from the spindle 34 together with the tool. When the main shaft 34 reaches the turning position in (ATC origin) Z _b, the chain 13 is pivoted in this state, the grasping arms 14 holding the tool to be next used is indexed to the exchange position of the front lower spindle head 32 .

According to the brake failure judging method of the present embodiment, at least one member is moved to a position not interfering with each other when two or more members are driven, the brake is operated for each motor, and the brake is operated. A load is applied to the motors, and the movement amount of each motor when the load is applied is used to determine whether or not there is a break in the brake of each motor.
In order to prevent the brake from malfunctioning and the spindle head 32, the tool magazine 10, and the swing table 50 from falling under their own weight, the brake failure judgment test of the Z direction drive motor 30d, the magazine motor 11a, and the A axis motor 36 is performed. Is preferred.

  FIG. 6 is a flow chart showing a procedure of judgment processing of brake failure by the CPU 91. The CPU 91 performs the brake failure determination process at predetermined time intervals. The required time interval is, for example, 8 hours when a person works, and 48 hours when the robot works. Also, it is performed at each shift of the processing operation.

First, the CPU 91 locks the right door 66 and the left door 65 (S1).
The Z-direction driving motor 30d, to move the spindle head 32 the pivoted position of the tool to the (ATC origin) Z _b. The CPU 91 moves the spindle head 32 to a position (retracted position) out of the fixed surface in the X axis and the Y axis. Unclamp the shaft 51 (A-axis) (S2).
The CPU 91 rotates the unclamped shaft 51 such that the central axis of the fixed surface is parallel to the vertical direction, and moves it to the implementation position (S3).

The CPU 91 applies the brake to the Z-direction drive motor 30d, the magazine motor 11a, and the A-axis motor 36 (S4). The brake of the A-axis motor 36 is the above-mentioned electromagnetic brake.
The CPU 91 applies a rotational load to the rotors of the Z-direction drive motor 30d, the magazine motor 11a, and the A-axis motor 36 in a state where the brakes are applied (S5).

  The CPU 91 obtains positional information (angle) of each rotor by the encoder 81, and determines whether or not the rotation amount of each rotor is within the allowable value (S6).

When the CPU 91 determines that the rotation amount of any of the rotors is not within the allowable value (S6: NO), the buzzer 68 or the display section 67 indicates that the motor of the rotor has a brake error. Report (S7).
CPU91 moves the spindle head 32 to the origin position Z ₀ of the Z-axis (S8), and terminates the brake failure determination process. The operator manually opens the right door 66 and the left door 65 for repair. When the spindle head 32 is at the home position Z ₀ of the Z-axis, the operator can move the spindle head 32.

When CPU91 is the amount of rotation of all axes is determined to be within tolerance (S6: YES), the spindle head 32 moves to the home position Z ₀ of the Z-axis, the original position of the shaft portion 51 (the rotation angle) Move to (S9).
The CPU 91 returns the spindle head 32 to its original position in the X and Y axes. The shaft 51 is clamped (S10).
The CPU 91 moves the spindle head 32 to the original position, and ends the processing (S11).

  As described above, in the present embodiment, the presence or absence of the failure of the brakes of two or more motors can be efficiently determined at one time, and the workability and productivity are good. The spindle head 32 does not interfere with the tool magazine 10 since the spindle head 32 is moved before loading the motor.

  Further, since the spindle head 32 is returned to the original position after judging the presence or absence of a brake failure, machining can be smoothly resumed.

In the present invention, the failure of the spindle head 32, the tool magazine 10, and the Z direction drive motor 30d of the swing table 50, the magazine motor 11a, and the A-axis motor 36 which may fall when the brake breaks down is determined. Can be prevented from falling. Since the spindle head 32 moves to a position where it does not hit the tool magazine 10 in the Z direction, the spindle head 32 and the tool magazine 10 do not interfere when a load is applied, and when the brake is broken the spindle head 32 and the tool magazine 10 is not damaged. Since the spindle head 32 retracts to a position out of the fixed surface, the processing table 52 and the workpiece are not damaged even when the brake is broken.
The rocking table 50 judges the failure of the brake in a state where the fixed surface coincides with the horizontal plane, so that the rocking table 50 is not damaged even when the brake is broken.

  In the present embodiment, the case where the failure of the Z-direction drive motor 30 d, the magazine motor 11 a, and the A-axis motor 36 is determined is described, but the present invention is not limited to this. It is preferable to judge the failure of the Z direction drive motor 30d and the magazine motor 11a. In addition to this, the failure of at least one of the X-direction drive motor 26 d, the Y-direction drive motor 22 d, and the C-axis motor 59 may be determined. At the time of stopping these motors, the attitude of the spindle head 32 or the swing table 50 can be maintained.

DESCRIPTION OF SYMBOLS 100 machine tool 10 tool magazine 11 drive part 11a magazine motor 20 base 26d X direction drive motor 22d Y direction drive motor 30d Z direction drive motor 28 column 32 spindle head 34 spindle 36 A axis motor 40 work supporting device 50 rocking stand 52 Processing table 59 C-axis motor 90 controller 91 CPU

Claims (9)

A motor for driving two or more members and having a brake,
An operating unit for operating a brake of each motor;
A load applying unit that applies a load to each motor while the brake is operated by the operating unit;
A machine tool comprising: a determination unit that determines the presence or absence of a brake failure of each motor based on the movement amount of each motor when a load is applied by the load application unit. A first moving unit configured to move at least one member to a position not interfering with each other when the two or more members are driven;
The machine tool according to claim 1, further comprising: a second moving unit that returns the member moved to the position to a position before movement after the judging unit judges presence or absence of a failure of the brake of each motor. . A spindle head for rotatably holding a spindle into which a tool is inserted, a processing table having a fixing surface for fixing a workpiece, and the processing table swinging about a swing axis parallel to the fixing surface, the processing table Equipped with a swing base on which the
The member is the spindle head,
The motor is an up and down motor for moving the spindle head up and down,
The first moving unit is
The machine tool according to claim 2, wherein the spindle head is moved to a position where the tool is replaced in the vertical direction, and is moved to a position out of the fixing surface in the lateral direction and the longitudinal direction. A rotation restraining portion for restraining rotation of the rocking shaft;
And a suppression release unit configured to release suppression of rotation of the rocking shaft,
4. The machine according to claim 3, wherein the first moving unit rotates the swinging axis released from the suppression by the suppression releasing unit such that the central axis of the fixed surface is parallel to the vertical direction. machine. The member is the swing table,
The machine tool according to claim 4, wherein the motor is a motor that drives the swing shaft. The motor comprises: left and right motors for moving the spindle head in the left and right direction, front and rear motors for moving the spindle head in the front and back direction, and rotary motor for rotating the processing table around an axis parallel to the vertical direction.
The machine tool according to any one of claims 3 to 5, wherein the actuating portion performs a brake operation on a motor selected from the left and right motors, the front and rear motors, and the rotary motor. . A tool magazine having a plurality of tool holders holding a tool and circulatingly moving, and a drive unit for driving the tool holder;
The member is the tool magazine,
The machine tool according to any one of claims 1 to 6, wherein the motor is a motor provided in the drive unit. Moving at least one member to a position where the two or more members do not interfere with each other when driven;
Activate the motor brakes to drive two or more members respectively
With the brakes applied, load each motor,
A brake failure judging method comprising judging the presence or absence of a failure of a brake of each motor based on an amount of movement of each motor when a load is applied. Moving at least one member to a position where the two or more members do not interfere with each other when driven;
Activate the motor brakes to drive two or more members respectively
With the brakes applied, load each motor,
A computer program that executes processing for determining the presence or absence of a brake failure of each motor based on the movement amount of each motor when a load is applied.

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