JP2019067394A - Controller, machine tool, control method, and computer program - Google Patents

Abstract

To provide a controller, a machine tool, etc. capable of suppressing acceleration of a main shaft.SOLUTION: A controller includes: a setting part setting, on the basis of functions related to a position of a main shaft head and an angle of a tool magazine, a border between a first range and a second range where the main shaft and the tool magazine interfere with each other; a first rotation execution part executing rotation of the tool magazine up to a tool replacement position; a second determination part determining after the execution of the rotation performed by the first rotation execution part whether or not the angle of the tool magazine is in the first range; a calculation part, upon determination at the second determination part that the angle of the tool magazine is in the first range, calculating a braking distance of the main shaft head and a movable distance between a location of the main shaft head and the border; a third determination part determining whether or not the braking distance calculated by the calculation part is greater than the movable distance; and an acceleration part, upon determination that the braking distance is not greater than the movable distance by the third determination part, executing acceleration of the main shaft head.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a control device, a machine tool, a control method, and a computer program for controlling driving of a spindle for mounting a tool and a tool magazine.

  The machine tool described in Patent Document 1 executes the movement of the spindle and the rotation of the tool magazine in parallel at the time of tool replacement. The machine tool needs to avoid interference between the tool and the spindle held by the tool magazine. The machine tool stores a table indicating the relationship between the avoidable upper and lower spindle positions and the magazine angle. The machine tool refers to the table and drives the spindle and the tool magazine without interference.

JP, 2013-205975, A

  When the number of data stored in the table is small, there is a problem that acceleration and deceleration are repeated frequently when moving the spindle, causing vibration and abnormal noise, and an increase in load on the motor. In addition, when the number of data stored in the table is increased, the burden on the worker who inputs the data increases.

  The present invention has been made in view of such circumstances, and it is an object of the present invention to provide a control device, a machine tool, a control method, and a computer program that can suppress acceleration and deceleration of a spindle.

  The control device according to the present invention comprises a spindle for mounting a tool, a spindle head capable of moving a replacement area for exchanging a tool with a machining area supported by the spindle and machined by the tool, and a plurality of tools that can be rotated. Control device for a machine tool having a flexible tool magazine, wherein the tool mounted on the spindle by the movement of the spindle head and the rotation of the tool magazine and the tool stored in the tool magazine are exchanged with the spindle head The first determination unit determines whether or not the spindle head is present in a first range in which the tools stored by the tool magazine do not interfere with each other, and the spindle head is in the first range in the first determination unit. And a controller for rotating the tool magazine within the first range when it is determined that the tool magazine is present, the control method comprising: a function related to a position of the spindle head and an angle of the tool magazine; A setting unit that sets a boundary between the range and a second range where the spindle head interferes with the tool magazine; a first rotation execution unit that executes the rotation of the tool magazine to the tool replacement position; and the first rotation execution A second determination unit that determines whether the angle of the tool magazine is within the first range after performing rotation by the unit; and the second determination unit determines that the angle of the tool magazine is within the first range If it is determined that the braking distance is determined to be present, a computing unit that computes the braking distance of the spindle head and the movable distance between the location of the spindle head and the boundary, and the braking distance computed by the computing unit An acceleration for executing acceleration of the spindle head when the third determination unit determines whether the braking distance is larger than the possible distance and the third determination unit determines that the braking distance is not larger than the movable distance. It is important to provide To.

  In the present invention, a first range in which the spindle head and the tool magazine do not interfere with each other and a boundary of a second range in which the spindle head and the tool magazine interfere with each other are set as functions. When the movement of the spindle head is performed in a range that does not interfere, the spindle head moves in the movable range determined by the function, so that the optimization of the spindle head speed is realized.

  The control device according to the present invention is characterized in that the function is calculated by linearly interpolating a plurality of coordinates indicating the position of the spindle head and the angle of the tool magazine.

  In the present invention, a function is created by linearly interpolating a plurality of coordinates indicating the position of the spindle head and the angle of the tool magazine.

  The control device according to the present invention is characterized in that the control unit according to the present invention includes a speed reduction unit that executes the speed reduction of the spindle head when the third determination unit determines that the braking distance is larger than the movable distance.

  In the present invention, if the braking distance of the spindle head is greater than the movable distance, the spindle head crosses the boundary and interferes with the tool magazine. If the braking distance is greater than the movable distance, the control device can decelerate the spindle head and avoid interference between the spindle head and the tool magazine.

  A machine tool according to the present invention is characterized by comprising a spindle head, a tool magazine, and any one of the control devices described above.

  In the present invention, when the spindle head is at a predetermined position and the angle of the tool magazine is a predetermined angle, the first range in which the spindle head and the tool magazine do not interfere and the second range in which the spindle head and the tool magazine interfere Set boundaries with functions. Use functions to achieve optimization of spindle head speed settings.

  A control method according to the present invention comprises: a spindle for mounting a tool; a spindle head capable of moving a replacement area for supporting the spindle and machining with a tool and a machining area to be exchanged with the tool; Method of controlling a machine tool having a flexible tool magazine, wherein the tool mounted on the spindle and the tool stored in the tool magazine are exchanged by the movement of the spindle head and the rotation of the tool magazine, It is determined whether or not the spindle head is present in the first range where the tools stored by the tool magazine do not interfere, and if it is determined that the spindle head is present in the first range, the first range is within the first range. In a control method for rotating a tool magazine, the first range, the spindle head, and the tool magazine are based on a function of the position of the spindle head and the angle of the tool magazine. The boundary with the interfering second range is set, the rotation of the tool magazine is performed to the tool replacement position, and after the rotation is performed, it is determined whether the angle of the tool magazine is in the first range or not. When it is determined that the angle of the tool magazine is within the first range, the braking distance of the spindle head and the movable distance between the location of the spindle head and the boundary are calculated, and the calculated braking distance is It is characterized in that it is judged whether or not it is larger than the movable distance, and when it is judged that the braking distance is not larger than the movable distance, acceleration of the spindle head is executed.

  In the present invention, a first range in which the spindle head and the tool magazine do not interfere with each other and a boundary of a second range in which the spindle head and the tool magazine interfere with each other are set as functions. When the movement of the spindle head is performed in a range that does not interfere, the spindle head moves in the movable range determined by the function, so that the optimization of the spindle head speed is realized.

  A computer program according to the present invention comprises a spindle for mounting a tool, a spindle head capable of moving a replacement area for supporting the spindle and machining with a tool and an exchange area for exchanging the tool, and a plurality of tools that can be rotated. Control device for a machine tool having a flexible tool magazine, wherein the tool mounted on the spindle by the movement of the spindle head and the rotation of the tool magazine and the tool stored in the tool magazine are exchanged with the spindle head It is determined whether or not the spindle head is present in the first range where the tools stored by the tool magazine do not interfere, and if it is determined that the spindle head is present in the first range, the first range is within the first range. A computer program executable by a control device for rotating a tool magazine, based on a function of the position of the spindle head and the angle of the tool magazine Setting a boundary between the first range and a second range where the spindle head and the tool magazine interfere with each other, performing rotation of the tool magazine to a tool replacement position, and performing rotation, an angle of the tool magazine Is determined in the first range, and when it is determined that the angle of the tool magazine is in the first range, the braking distance between the spindle head and the location between the spindle head and the boundary The movable distance of is calculated to determine whether the calculated braking distance is larger than the movable distance, and when it is determined that the braking distance is not larger than the movable distance, acceleration of the spindle head is determined. It is characterized in that processing to be executed is executed.

  In the present invention, a first range in which the spindle head and the tool magazine do not interfere with each other and a boundary of a second range in which the spindle head and the tool magazine interfere with each other are set as functions. When the movement of the spindle head is performed in a range that does not interfere, the spindle head moves in the movable range determined by the function, so that the optimization of the spindle head speed is realized.

  In the control device, the machine tool, the control method, and the computer program according to the present invention, the first range in which the spindle head and the tool magazine do not interfere and the boundary of the second range in which the spindle head and the tool magazine interfere are set by functions. Do. When the movement of the spindle head is performed in a range that does not interfere, the spindle head moves in the movable range determined by the function, so optimization of the speed of the spindle head can be realized and acceleration / deceleration of the spindle head can be suppressed.

It is a longitudinal cross-sectional view of a machine tool. FIG. 5 is a partially enlarged right side view schematically illustrating a spindle head and a tool magazine. FIG. 2 is a schematic enlarged partial sectional view of a spindle head. FIG. 1 is a block diagram schematically illustrating a control device of a machine tool. FIG. 7 is an illustration of a path showing the position of the spindle head relative to the function and the angle of the tool magazine. It is the elements on larger scale of a function and a path | route. It is a flowchart explaining the tool exchange process by a control apparatus. It is explanatory drawing of the calculation method of the damping | braking distance in, when the spindle head at present is accelerating. It is a graph explaining the calculation method of braking distance in, when the spindle head at present is constant speed. It is a flow chart explaining acceleration processing by a control device. It is a flowchart explaining the deceleration process by a control apparatus. It is a flow chart explaining rotation processing by a control device.

  A machine tool according to an embodiment of the present invention will be described below based on the drawings. FIG. 1 is a longitudinal sectional view of a machine tool, and FIG. 2 is a partially enlarged right side view schematically showing a spindle head and a tool magazine. In the following description, upper, lower, left, right, front and rear indicated by arrows in the drawings are used. As shown in FIG. 1, the machine tool is provided with a long rectangular base 1 at the front and back. The upright 2 is fixed to the rear of the base 1. A work holding unit 10 for holding a work is provided at the front of the base 1. The workpiece holding unit 10 includes a Y-direction moving unit 11 moving in the front-rear direction, an X-direction moving unit 12 moving in the left-right direction, and a table 13 fixing the workpiece. The Y-direction moving unit 11 includes a Y-axis motor 16 (see FIG. 4), and the Y-axis motor 16 moves the Y-direction moving unit 11 back and forth. The X-direction moving unit 12 includes an X-axis motor 23 (see FIG. 4), and the X-axis motor 23 moves the X-direction moving unit 12 left and right.

  The Y direction moving unit 11 is provided on the base 1, and the X direction moving unit 12 is provided on the Y direction moving unit 11. The table 13 is provided on the X-direction moving unit 12. By the left and right back and forth movement of the X direction moving part 12 and the Y direction moving part 11, the left and right front and rear positions of the work fixed to the base 13 are determined.

  A vertically movable spindle head 3 is provided on the front face of the upright 2. The Z-axis motor 33 (see FIG. 4) is provided on the upright column 2, and the Z-axis motor 33 moves the spindle head 3 up and down. The spindle head 3 holds the vertically extending spindle 4 rotatably about its axis. The lower end of the spindle 4 is at substantially the same position as the lower end of the spindle head 3. The spindle motor 8 is provided at the upper end of the spindle head 3, and the spindle motor 8 rotates the spindle 4. The two support plates 7 project forward from the upright column 2 and are arranged side by side. The support plate 7 supports the tool magazine 6, and the tool magazine 6 holds the tool 5.

  As shown in FIG. 2, the tool magazine 6 includes a frame 61 and a plurality of arms 62. The frame 61 is circular in a front view and rotatable about an axis. The plurality of arms 62 are provided on the outer periphery of the frame 61, and the arms 62 hold the tool 5. The magazine motor 60 rotates the tool magazine 6 and sends a predetermined arm 62 to the lowermost position of the tool magazine 6, that is, the exchange position.

  The tool 5 held by the arm 62 is mounted on the spindle 4 while the spindle head 3 is moving downward from the tool change origin toward the base 13. The arm 62 holds the tool 5 mounted on the spindle 4 while the spindle head 3 moves upward from near the base 13 toward the tool replacement origin. The control device 50 (see FIG. 4) is provided on the rear side of the upright 2. The tool change origin is the uppermost end position where the spindle head 3 can move upward, and does not interfere with the spindle head 3 even if the tool magazine 6 rotates.

  P1 in FIG. 2 indicates a tool change origin, P2 indicates a Z-axis in-position position, P3 indicates a tool magazine rotatable position, P4 indicates a Z-axis origin, and indicates the position of the spindle head 3 (lower end of the spindle head 3).

  The spindle head 3 performs a machining operation in a machining area below the Z-axis origin P4, which is the Z-axis machine origin. The spindle head 3 performs the tool 5 exchange operation in the tool exchange area above the Z-axis origin P4. The machine origin is a position at which the machine coordinates of the X axis and Y axis are 0, and the upper limit position at which the machine coordinates of the Z axis can be machined.

  An area between the tool change origin P1 and the Z-axis in-position position P2 is an area in which the tool magazine 6 can rotate. That is, when the spindle head 3 exists in the region between the tool change origin P1 and the Z-axis in-position position P2, the spindle head 3 and the tool magazine 6 do not interfere with each other. When the spindle head 3 mounted with the tool 5 is raised and the spindle head 3 exists in the region between the Z-axis in-position position P2 and the tool magazine rotatable position P3, the tool magazine 6 can rotate to a predetermined angle (FIG. 5) reference).

  FIG. 3 is a schematic enlarged partial sectional view of the spindle head 3. L0 (reference line) in FIG. 3 is along the axis of the main shaft 4. L1 (tool attachable line) indicates the axis of the tool 5 held by the arm 62, which is in the position described below. The arm 62 on L1 is at a position where the spindle head 3 may start to descend to the Z-axis origin regardless of the position of the spindle head 3, and is at the position farthest from the reference line L0. L2 (Z-axis movable line) indicates the axis of the tool 5 held by the arm 62, and the arm 62 is in the position described below. L2 indicates the limit position of the arm 62 where the spindle head 3 interferes with the tool held by the arm 62 when the spindle head 3 is positioned at the Z-axis in-position position P2, and when the arm 62 is positioned at L2, the spindle When the head 3 is lowered from the Z-axis in-position position P2, the arm 62 and the spindle head 3 interfere with each other. The acute angle formed by L0 and L1 is θ4, and the acute angle formed by L0 and L2 is θ3.

  If the desired tool 5 is present between L0 and L1, the main shaft 4 mounts the desired tool 5 and does not interfere with the tool magazine 6 even if the main shaft 4 is lowered. If the desired tool 5 is present between L1 and L2, the spindle head 3 does not interfere with the tool magazine 6 even when it is lowered to a predetermined position.

  FIG. 4 is a block diagram schematically showing the control device 50 of the machine tool. As shown in FIG. 4, the control device 50 includes a CPU 51, a storage unit 52, a RAM 53, and an input / output interface 54. The storage unit 52 is a rewritable memory, such as an EPROM or an EEPROM. The storage unit 52 stores a machining program for machining a workpiece, a function indicating the positional relationship between the spindle head 3 and the tool magazine 6, an operation program of the spindle head 3 and the tool magazine 6, and the like. The control device 50 controls the machine tool based on the program stored in the storage unit 52. The control device 50 may be provided with a ROM in which a program is stored in advance.

  When the operator operates the operation unit 14, a signal is input from the operation unit 14 to the input / output interface 54. The operation unit 14 is a keyboard, a button, a touch panel or the like. The input / output interface 54 outputs a signal to the display unit 15. The display unit 15 displays characters, figures, symbols and the like. The display unit 15 is, for example, a liquid crystal display panel.

  The controller 50 includes an X-axis control circuit 55 corresponding to the X-axis motor 23, a servo amplifier 55a, and a differentiator 23b. The X-axis motor 23 includes an encoder 23a. The X-axis control circuit 55 outputs a command indicating the amount of current to the servo amplifier 55 a based on the command from the CPU 51. The servo amplifier 55 a receives the command and outputs a drive current to the X-axis motor 23. The encoder 23 a outputs a position feedback signal to the X-axis control circuit 55. The X-axis control circuit 55 performs position feedback control based on the position feedback signal. The encoder 23a outputs a position feedback signal to the differentiator 23b, and the differentiator 23b converts the position feedback signal into a velocity feedback signal and outputs the velocity feedback signal to the X-axis control circuit 55. The X-axis control circuit 55 performs feedback control of the velocity based on the velocity feedback signal. The current detector 55b detects the value of the drive current output from the servo amplifier 55a. The current detector 55 b feeds back the value of the drive current to the X-axis control circuit 55. The X-axis control circuit 55 executes current control based on the value of the drive current.

  The controller 50 includes a Y-axis control circuit 56 corresponding to the Y-axis motor 16, a servo amplifier 56a, a differentiator 16b, and a current detector 56b. The Y-axis motor 16 includes an encoder 16a. The Y-axis control circuit 56, the servo amplifier 56a, the differentiator 16b, the Y-axis motor 16, the encoder 16a, and the current detector 56b are the same as those of the X-axis, and the description thereof is omitted. The controller 50 includes a Z-axis control circuit 57 corresponding to the Z-axis motor 33, a servo amplifier 57a, a current detector 57b, and a differentiator 33b. The Z-axis motor 33 includes an encoder 33a. The Z-axis control circuit 57, the servo amplifier 57a, the differentiator 33b, the Z-axis motor 33, the encoder 33a, and the current detector 57b are the same as those of the X-axis, and the description thereof is omitted. The controller 50 includes a magazine control circuit 58 corresponding to the magazine motor 60, a servo amplifier 58a, a current detector 58b, and a differentiator 60b. The magazine motor 60 includes an encoder 60a. The magazine control circuit 58, the servo amplifier 58a, the differentiator 60b, the magazine motor 60, the encoder 60a, and the current detector 58b are the same as those of the X axis, and the description thereof is omitted. The controller 50 includes a spindle control circuit 79 corresponding to the spindle motor 8, a servo amplifier 79a, a current detector 79b, and a differentiator 80b. The spindle motor 8 includes an encoder 80a. The spindle control circuit 79, the servo amplifier 79a, the differentiator 80b, the spindle motor 8, the encoder 80a and the current detector 79b are the same as those of the X axis, and the description thereof is omitted.

  FIG. 5 is an explanatory view of a path showing the function and the position of the spindle head 3 with respect to the angle of the tool magazine 6, and FIG. 6 is a partially enlarged view of the function and the path. At the time of tool change, the CPU 51 sets in the RAM 53 a function D related to the vertical position of the spindle head 3 and the angle of the tool magazine 6. In FIG. 5, the P axis indicates the position of the spindle head 3 and the θ axis indicates the angle of the tool magazine 6. The dotted line C in FIG. 5 indicates one half of the angle at which the tool magazine 6 rotates for tool exchange, and the angle on the left side of the dotted line C indicates the rotational angle at which the tool magazine 6 rotates from the reference line L0. The angle on the right side indicates the rotation angle up to the reference line L0.

  Therefore, the left side θ axis from dotted line C has a larger value on the right side than the left side value, and the θ axis on the left side of dotted line C has a smaller value on the right side than the left side value. The function D indicates a boundary between a first range where the spindle head 3 and the tool magazine 6 do not interfere and a second range where the spindle head 3 and the tool magazine 6 interfere.

  The range above the function D in FIG. 5 is the first range, and the range below the function D is the second range. The function D can be obtained by linear interpolation of a plurality of coordinates d indicating the angle θ and the upper and lower position P. When the rotation angle is 0 when the spindle head 3 is lifted, the spindle head 3 is positioned at the magazine shaft rotatable position P3 and the coordinate d1 is determined. Since the maximum rotatable angle of the tool magazine 6 at the Z-axis in-position position P2 is θ3, the angle θ3 and the position P2 correspond to each other, and the coordinate d2 is determined. When the remaining rotation angle is 0 when the spindle head 3 is lowered, the spindle head 3 is located at the magazine shaft rotatable position P3 and the coordinate d4 is determined. Since the maximum rotatable angle of the tool magazine 6 at the Z-axis in-position position P2 is θ3, the angle θ3 and the position P2 correspond to each other, and the coordinate d3 is determined. The angle θ3 when the spindle head 3 ascends is the angle at which the tool magazine 6 is rotated from the reference line L0, and the angle θ3 when the spindle head 3 descends is the remaining rotation angle up to the reference line L0.

  As shown in FIG. 5, when the predetermined position of the spindle head 3 is R1 and the point on the function D having the same location as R1 is R2, the angle between R1 and R2 interferes with the spindle head 3 Instead, the tool magazine 6 indicates the angle at which it can rotate. The predetermined position R1 is in the region between the position P2 and the position P3. As shown in FIG. 6, assuming that the position of the spindle head 3 at a predetermined angle θ and the position of the spindle head 3 indicated by the function are R3 and R4, respectively, the distance between R3 and R4 does not interfere with the tool magazine 6. , Indicates the distance the spindle head 3 can move. Positions R3 and R4 exist between positions P2 and P3. The encoder 33a detects the position of the spindle head 3, and the encoder 60a detects a predetermined angle θ.

  FIG. 7 is a flowchart for explaining the tool replacement process by the control device 50. As shown in FIG. 7, the control device 50 executes a tool replacement process. When starting the tool change process, the spindle head 3 mounts the tool 5 and is located in the processing area. The arm 62 holding the tool 5 is located at the exchange position.

  The CPU 51 outputs a movement command to the tool change origin P1 to the Z-axis control circuit 57 (S1), and the spindle head 3 is lifted. The CPU 51 receives a signal from the encoder 33a, and determines whether or not the location of the spindle head 3 is at or above the Z-axis in-position P2 (S2). S2 corresponds to the first determination unit. When the spindle head 3 is positioned at the Z-axis in-position position P2 or more, even if the tool magazine 6 rotates, it does not interfere with the spindle head 3. If the location of the spindle head 3 is not located above the Z-axis in-position position P2 (S2: NO), the CPU 51 determines whether the location of the spindle head 3 is located above the magazine shaft rotatable position P3 (S9) ). S9 corresponds to a second determination unit.

  If the spindle head 3 is not positioned above the magazine shaft rotatable position P3 (S9: NO), the CPU 51 returns the process to S2. The spindle head 3 continues to ascend, and passes the tool 5 mounted on the spindle 4 to the arm 62 below the magazine shaft rotatable position P3. When the spindle head 3 is positioned at the magazine shaft rotatable position P3 or more (S9: YES), the CPU 51 executes the rotation process (S10). The rotation process will be described later.

  If the spindle head 3 is positioned above the Z-axis in-position position P2 (S2: YES), the CPU 51 moves the arm 62 holding the tool to be used next to the replacement position. The rotation command is output to (S3).

  The CPU 51 takes in the signal of the encoder 60a, and determines whether the location angle of the tool magazine 6 is less than or equal to the angle θ4 (S4, see FIGS. 3 and 5). S4 corresponds to a third determination unit. If the location angle of the tool magazine 6 is less than or equal to the angle θ4 (S4: YES), the CPU 51 lowers the spindle head 3 to the Z-axis origin (S12), and ends the processing.

  If the location angle of the tool magazine 6 is not equal to or less than the angle θ4 (S4: NO), the CPU 51 determines whether the location angle of the tool magazine 6 is equal to or less than the angle θ3 (S5). S5 corresponds to a fourth determination unit. If the location angle of the tool magazine 6 is not equal to or less than the angle θ3 (S5: NO), the CPU 51 returns the process to S4. The tool magazine 6 continues to rotate.

  When the location angle of the tool magazine 6 is less than the angle θ3 (S5: YES), as shown in FIG. 6, the CPU 51 measures the distance between the location R3 of the spindle head 3 and the position R4 indicated by the function D The distance between the position of the spindle head 3 at the time when the stop command is output to the Z-axis control circuit 57 and the position at which the spindle head 3 stops, that is, the braking distance is calculated (S6). S6 corresponds to the calculation unit.

  The CPU 51 determines whether the braking distance is larger than the descent possible distance (S7). S7 corresponds to a fifth determination unit. If the braking distance is not greater than the drivable distance (S7: NO), the CPU 51 executes an acceleration process (S11). S11 corresponds to an acceleration unit. If the braking distance is larger than the drivable distance (S7: YES), the CPU 51 executes the deceleration processing (S8). S8 corresponds to the reduction gear unit.

  FIG. 8 is an explanatory view of a calculation method of the braking distance when the spindle head 3 at the current time is accelerating, and FIG. 9 is a calculation method of the braking distance when the spindle head 3 at the current time is constant. Is a graph. 8 and 9 Vmax is the maximum speed of the spindle head 3, Vnow is the current speed of the spindle head 3, Amax is the maximum acceleration of the spindle head 3, Anow is the acceleration of the spindle head 3 at present, Tnow is the current, Jmax represents the maximum slope of acceleration. The Z-axis control circuit 57 takes in the output of the encoder 33a and calculates the velocity Vnow and the acceleration Anow of the spindle head 3 at the present time. Vmax and Amax are stored in advance in the storage unit 52.

  As shown in FIG. 8, when the spindle head 3 accelerating at the inclination Jmax starts braking from the present time Tnow, the acceleration gradually decreases, the rate of increase of the velocity also gradually decreases, and the acceleration becomes 0 at time T1. . Reverse acceleration is applied to the spindle head 3 from time point T1 to time point T2. The magnitude of the reverse acceleration gradually increases. The speed of the spindle head 3 gradually decreases from the speed at time T1. At time point T2, the reverse acceleration gradually decreases. The speed of the spindle head 3 becomes 0 at time T3 and the spindle head 3 stops. The acceleration is also zero.

  The area L1 of velocity and time between Tnow and T1 is a distance necessary to make the acceleration zero. The area L2 of velocity and time between T1 and T3 is the distance necessary to bring the velocity at time T1 to zero. The sum of the area L1 and the area L2 is the braking distance.

  As shown in FIG. 9, when the spindle head 3 moving at a constant speed starts braking from the present time Tnow, an acceleration in the reverse direction to that at the start of movement is applied to the spindle head 3. The magnitude of the reverse acceleration increases until time T4, and during the time from T4 to T5, the magnitude of the reverse acceleration becomes constant, and the speed of the spindle head 3 gradually decreases. The magnitude of the reverse acceleration gradually decreases from time T5, the velocity of the spindle head 3 becomes zero at time T6, the spindle head 3 stops, and the acceleration also becomes zero. The area L2a of the velocity and time between Tnow and T6 is the distance necessary to make the velocity at time Tnow zero. That is, when the spindle head 3 is moving at a constant speed, there is no distance necessary to make the acceleration zero.

  FIG. 10 is a flowchart for explaining the acceleration process by the control device 50. If the braking distance is not greater than the drivable distance (S7: NO), the spindle head 3 can accelerate, so the CPU 51 executes an acceleration process (S11). As shown in FIG. 10, the CPU 51 determines whether the current velocity Vnow of the spindle head 3 is smaller than the maximum velocity Vmax (S21). If the current velocity Vnow is smaller than the maximum velocity Vmax (S21: YES), the CPU 51 accelerates the spindle head 3 (S22), and returns the process to S4 in FIG. If the current velocity Vnow is not smaller than the maximum velocity Vmax (S21: NO), the CPU 51 returns the process to S4 of FIG.

  FIG. 11 is a flowchart illustrating the deceleration processing by the control device 50. In the case of YES at S7, the CPU 51 executes deceleration processing. As shown in FIG. 11, the CPU 51 determines whether or not the spindle head 3 is accelerating (S31). When the spindle head 3 is accelerating (S31: YES, refer to FIG. 8), the CPU 51 decreases the acceleration with the negative maximum inclination Jmax (S32), and returns the process to S4 of FIG. If the spindle head 3 is not accelerating (S31: NO, see FIG. 9), the CPU 51 determines whether the speed of the spindle head 3 is 0 (S33). If the speed of the spindle head 3 is not 0 (S33: NO), the CPU 51 decelerates the spindle head 3 with the negative maximum inclination Jmax and the maximum acceleration Amax (S34), and returns the process to S4 in FIG. If the speed of the spindle head 3 is 0 (S33: YES), the CPU 51 returns the process to S4 of FIG.

  FIG. 12 is a flowchart illustrating rotation processing by the control device 50. The controller 50 executes a rotation process. As shown in FIG. 12, in S10 of FIG. 7, the CPU 51 takes in the outputs of the encoders 33a and 60a, and acquires the location of the spindle head 3 and the location angle of the tool magazine 6. The CPU 51 calculates the difference between the position angle of the tool magazine 6 and the position indicated by the function D corresponding to the position position of the spindle head 3 (hereinafter referred to as a rotatable angle) (see FIG. 5). The CPU 51 calculates the difference between the angle of the tool magazine 6 at the time of outputting the stop command to the magazine control circuit 58 and the angle at which the tool magazine 6 stops, that is, the braking angle (S41). Calculation of the braking angle is performed in the same manner as the braking distance (see FIGS. 8 and 9).

  The CPU 51 determines whether the braking angle is larger than the rotatable angle (S42). If the braking angle is not larger than the rotatable angle (S42: NO), the CPU 51 determines whether the current rotational speed Rnow of the tool magazine 6 is smaller than the maximum rotational speed Rmax (S43). The maximum rotation speed Rmax is stored in advance in the storage unit 52. If the rotational speed Rnow is not smaller than the maximum rotational speed Rmax (S43: NO), the CPU 51 returns the process to S2 of FIG.

  If the rotational speed Rnow is smaller than the maximum rotational speed Rmax (S43: YES), the CPU 51 accelerates the tool magazine 6 (S44), and returns the process to S2 of FIG. If the braking angle is larger than the rotatable angle (S42: YES), the CPU 51 determines whether the tool magazine 6 is accelerating (S45). When the tool magazine 6 is accelerating (S45: YES), the CPU 51 decreases the rotational acceleration with the negative maximum inclination RJmax (S46), and returns the process to S2 of FIG. The maximum inclination RJmax indicates the maximum value of the inclination of the rotational acceleration RA of the tool magazine. 8 and 9 can be applied to S45 and S46 by reading the acceleration A and the maximum inclination Jmax in FIGS. 8 and 9 as the rotational acceleration RA and the maximum inclination RJmax.

  If the tool magazine 6 is not accelerating (S45: NO), the CPU 51 determines whether the rotational speed of the tool magazine 6 is zero (S47). If the rotational speed of the tool magazine 6 is not 0 (S47: NO), the CPU 51 decelerates the tool magazine 6 with the negative maximum inclination RJmax of the tool magazine 6 and the negative maximum rotational acceleration RAmax of the tool magazine 6 (S48). Return the process to S2 of 7. If the rotational speed of the tool magazine 6 is 0 (S47: YES), the CPU 51 returns the process to S2 of FIG.

  The machine tool according to the embodiment sets a first range in which the spindle head 3 and the tool magazine 6 do not interfere with a boundary of a second range in which the spindle head 3 and the tool magazine 6 interfere with each other by the function D. Since the spindle head 3 moves to the movable position determined by the function when the spindle head 3 is moved within the range that does not interfere, the speed of the spindle head 3 can be optimized and acceleration / deceleration of the spindle head 3 can be suppressed. .

  The machine tool linearly interpolates a plurality of coordinates indicating the position of the spindle head 3 and the angle of the tool magazine 6 to create a function D.

  The machine tool uses the symmetry of the function D and easily creates the function D based on two coordinates. If the braking distance of the spindle head 3 is not larger than the movable distance, that is, if the braking distance is shorter than the movable distance, the spindle head 3 stops without reaching the boundary. If the braking distance is shorter than the movable distance, the machine tool executes acceleration of the spindle head 3 and moves the spindle head 3 to a position closer to the boundary.

  If the braking distance of the spindle head 3 is larger than the movable distance, the spindle head 3 crosses the boundary and interferes with the tool magazine 6. If the braking distance is greater than the movable distance, the machine tool decelerates the spindle head 3 and avoids interference between the spindle head 3 and the tool magazine 6.

3 Spindle head 5 Tool 6 Tool magazine 50 Control device

Claims (6)

A machine tool comprising: a spindle for mounting a tool; a spindle head capable of moving the machining area for supporting the spindle and machining with the tool and an exchange area for exchanging the tool; and a rotatable tool magazine for accommodating a plurality of tools. When replacing the tool mounted on the spindle with the movement of the spindle head and the rotation of the tool magazine and the tool stored in the tool magazine, the tool housed in the spindle head and the tool magazine is The first determination unit determines whether the spindle head is present in a first range that does not interfere, and the first determination unit determines that the spindle head is present in the first range. In a control device for rotating the tool magazine within a range,
A setting unit that sets a boundary between the first range and a second range where the spindle head and the tool magazine interfere with each other based on a function of the position of the spindle head and the angle of the tool magazine;
A first rotation execution unit that rotates the tool magazine to a tool replacement position;
A second determination unit that determines whether the angle of the tool magazine is within the first range after execution of rotation by the first rotation execution unit;
When it is determined in the second determination unit that the angle of the tool magazine is in the first range, the braking distance of the spindle head and the movable distance between the location of the spindle head and the boundary are calculated. Operation unit,
A third determination unit that determines whether the braking distance calculated by the calculation unit is larger than the movable distance;
A control device comprising: an acceleration unit that accelerates the spindle head when the third determination unit determines that the braking distance is not larger than the movable distance. The control device according to claim 1, wherein the function is calculated by linearly interpolating a plurality of coordinates indicating the position of the spindle head and the angle of the tool magazine. The control device according to claim 1, further comprising a decelerating unit that decelerates the spindle head when the third determination unit determines that the braking distance is larger than the movable distance. Spindle head,
Tool magazine,
A machine tool comprising the control device according to any one of claims 1 to 3. A machine tool comprising: a spindle for mounting a tool; a spindle head capable of moving the machining area for supporting the spindle and machining with the tool and an exchange area for exchanging the tool; and a rotatable tool magazine for accommodating a plurality of tools. In the control method, when the tool mounted on the spindle and the tool stored in the tool magazine are exchanged by the movement of the spindle head and the rotation of the tool magazine, the tool stored in the spindle head and the tool magazine is It is determined whether or not the spindle head is present in a first range that does not interfere, and when it is determined that the spindle head is present in the first range, the control method rotates the tool magazine within the first range. ,
Setting a boundary between the first range and a second range where the spindle head and the tool magazine interfere with each other, based on a function of the position of the spindle head and the angle of the tool magazine;
Execute rotation of the tool magazine to the tool replacement position,
After performing the rotation, it is determined whether the angle of the tool magazine is in the first range,
When it is determined that the angle of the tool magazine is in the first range, the braking distance of the spindle head and the movable distance between the location of the spindle head and the boundary are calculated.
It is determined whether the calculated braking distance is larger than the movable distance.
The control method is characterized in that, when it is determined that the braking distance is not larger than the movable distance, acceleration of the spindle head is performed. A machine tool comprising: a spindle for mounting a tool; a spindle head capable of moving the machining area for supporting the spindle and machining with the tool and an exchange area for exchanging the tool; and a rotatable tool magazine for accommodating a plurality of tools. When replacing the tool mounted on the spindle with the movement of the spindle head and the rotation of the tool magazine and the tool stored in the tool magazine, the tool housed in the spindle head and the tool magazine is A control device that rotates the tool magazine within the first range by determining whether the spindle head is present in the first range that does not interfere, and determining that the spindle head is present in the first range. In the executable computer program:
Setting a boundary between the first range and a second range where the spindle head and the tool magazine interfere with each other, based on a function of the position of the spindle head and the angle of the tool magazine;
Execute rotation of the tool magazine to the tool replacement position,
After performing the rotation, it is determined whether the angle of the tool magazine is in the first range,
When it is determined that the angle of the tool magazine is in the first range, the braking distance of the spindle head and the movable distance between the location of the spindle head and the boundary are calculated.
It is determined whether the calculated braking distance is larger than the movable distance.
A computer program comprising: executing acceleration processing of the spindle head when it is determined that the braking distance is not larger than the movable distance.

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