JP2022162819A - Tool changer and machine tool - Google Patents

Abstract

To provide a tool changer, a machine tool, and a method of operating a tool changer capable of avoiding an interference between an exchange arm and a shutter even when malfunction of the exchange arm occurs.SOLUTION: A tool changer is equipped with a shutter, a first servo motor that drives the shutter, an exchange arm, a second servo motor that drives the exchange arm to rotate, and a control device. The exchange arm rotates around a first axis to move from a tool attaching position to a stand-by position. The control device makes the first servo motor start the closing operation of the shutter before rotary movement of the exchange arm from the tool attaching position to the stand-by position is completed. The control device determines whether or not a rotation angle of the exchange arm reaches a retreat angle when the shutter during the closing operation reaches a predetermined third position. The control device stops the shutter at a position where it does not interfere with the exchange arm when it is determined that the rotation angle of the exchange arm does not reach a predetermined retreat angle.SELECTED DRAWING: Figure 1

Description

The present invention relates to a tool changer, a machine tool, and a method of operating a tool changer.

A technique for exchanging tools using a tool exchange device is known.

As a related technique, Patent Literature 1 discloses an automatic tool changer. The automatic tool changer described in Patent Document 1 includes a first actuator that rotates a tool change arm, and an openable/closable cover that is arranged between the tool change arm at a standby position and a tool spindle of a machine tool. . In the automatic tool changer described in Patent Document 1, the cover is opened in synchronism with the first actuator turning the tool change arm from the standby position to the tool gripping position, and the first actuator moves the tool change arm to the tool. The cover is closed in synchronism with the turning from the gripping position to the standby position.

In the automatic tool changer described in Patent Document 1, synchronization between the tool change arm and the cover is performed purely mechanically. For this reason, the tool exchange arm and the cover cannot be controlled independently, and versatility is low. Therefore, it is conceivable to synchronize the tool exchange arm and the cover by making the tool exchange arm and the cover independently controllable and devising a control algorithm.

However, when the tool changing arm and the cover are independently controllable, there is a risk that the tool changing arm and the cover will collide due to malfunction of the tool changing arm. In particular, conventionally, this type of cover is driven using a hydraulic actuator or an air actuator, so it is difficult to grasp the position of the cover accurately and in real time, which makes it difficult to reliably avoid collisions. Can not.

Microfilm of Japanese Utility Model Application No. 63-132357 (Japanese Utility Model Application No. 2-53331).

SUMMARY OF THE INVENTION It is an object of the present invention to provide a tool changer, a machine tool, and an operation method of the tool changer capable of avoiding interference between the change arm and the shutter even when the change arm malfunctions. .

A tool changer in some embodiments includes a shutter capable of closing an opening between a machining head to which a tool can be attached and a tool holding member capable of holding a tool, and a first servo motor that drives the shutter. , an exchange arm for exchanging tools between the machining head and the tool holding member; a second servo motor for rotationally driving the exchange arm; a control device that receives a signal and receives from the second servomotor a second signal indicating a rotation angle of the exchange arm, and controls the first servomotor and the second servomotor; . The shutter is movable between a first position closing the opening and a second position opening the opening. The exchange arm can rotate about a first axis and move from a tool attachment position for attaching a tool to the machining head to a standby position where it does not interfere with the shutter at the first position. The control device transmits a control signal to the first servomotor to instruct the first servomotor to close the shutter before the rotation of the exchange arm from the tool mounting position to the standby position is completed. When the operation is started and the shutter reaches a predetermined third position during the closing operation based on the first signal and the second signal, the rotation angle of the exchange arm reaches a predetermined retraction angle. When it is determined that the rotation angle of the replacement arm has not reached the predetermined retraction angle, shutter stop processing is executed to stop the shutter at a position not interfering with the replacement arm.

A machine tool according to some embodiments includes a work support device for supporting a work, a machining head to which a tool can be attached, a first driving device for relatively moving the machining head with respect to the work support device, and a tool. A partition having an opening disposed between a retainable tool holding member, a magazine for storing tools, a first chamber in which the machining head is arranged, and a second chamber in which the tool holding member is arranged. A wall and a tool changer are provided. The tool changing device includes a shutter capable of closing the opening, a first servo motor for driving the shutter, a changing arm for changing tools between the machining head and the tool holding member, and the changing arm. , a rotationally driven second servomotor, and a first signal indicating the position of the shutter is received from the first servomotor, and a second signal indicating the rotation angle of the exchange arm is received from the second servomotor. and a control device that controls the first servomotor and the second servomotor. The shutter is movable between a first position closing the opening and a second position opening the opening. The exchange arm can rotate about a first axis and move from a tool attachment position for attaching a tool to the machining head to a standby position where it does not interfere with the shutter at the first position. The control device transmits a control signal to the first servomotor to instruct the first servomotor to close the shutter before the rotation of the exchange arm from the tool mounting position to the standby position is completed. When the operation is started and the shutter reaches a predetermined third position during the closing operation based on the first signal and the second signal, the rotation angle of the exchange arm reaches a predetermined retraction angle. When it is determined that the rotation angle of the replacement arm has not reached the predetermined retraction angle, shutter stop processing is executed to stop the shutter at a position not interfering with the replacement arm.

In some embodiments of the method of operating a tool changer, the tool changer comprises a shutter capable of closing an opening between a machining head capable of attaching a tool and a tool holding member capable of holding a tool; An exchange arm for exchanging tools between the head and the tool holding member, and a control device. The shutter is movable between a first position closing the opening and a second position opening the opening. The exchange arm can rotate about a first axis and move from a tool attachment position for attaching a tool to the machining head to a standby position where it does not interfere with the shutter at the first position. The operating method includes a first receiving step in which the control device receives a first signal indicating the position of the shutter, and a second receiving step in which the control device receives a second signal indicating the rotation angle of the exchange arm. an exchange arm moving step of moving the exchange arm from the tool mounting position to the standby position; and a shutter movement step of moving the shutter from the second position to the first position. The shutter moving step is started before the replacement arm moving step is completed. The shutter moving step determines whether or not the rotation angle of the exchange arm reaches a predetermined retraction angle when the shutter reaches a predetermined third position based on the first signal and the second signal. has a determination step of determining In the determination step, when it is determined that the rotation angle of the replacement arm has not reached the predetermined retraction angle, the control device performs shutter stop processing to stop the shutter at a position that does not interfere with the replacement arm. Run.

According to the present invention, it is possible to provide a tool changer, a machine tool, and an operating method of the tool changer that can avoid interference between the change arm and the shutter even when the change arm malfunctions.

FIG. 1 is a schematic perspective view schematically showing the tool changer in the first embodiment. FIG. 2 is a schematic perspective view schematically showing the tool changer in the first embodiment. FIG. 3 is a schematic perspective view schematically showing the tool changer in the first embodiment. FIG. 4 is a diagram schematically showing the relationship between the position of the shutter and the angular position of the replacement arm during the closing operation of the shutter. FIG. 5 is a diagram explaining that the shutter is stopped at a position where it does not interfere with the replacement arm. FIG. 6 is a diagram schematically showing a state in which the rotation angle of the replacement arm matches the retraction angle. FIG. 7 is a diagram schematically showing the relationship between the position of the shutter and the angular position of the replacement arm during the closing operation of the shutter. FIG. 8 is a diagram schematically showing the relationship between the position of the shutter and the angular position of the replacement arm during the closing operation of the shutter. FIG. 9 is a diagram schematically showing the relationship between the position of the shutter and the angular position of the replacement arm during the opening operation of the shutter. FIG. 10 is a diagram schematically showing how the shutter is being opened. FIG. 11A is a diagram schematically showing how a tool changing operation is being executed. FIG. 11B is a diagram schematically showing how the tool changing operation is being executed. FIG. 12 is a diagram schematically showing how the shutter is being closed. FIG. 13 is a flow chart showing an example of an operating method of the tool changer in the embodiment. FIG. 14 is a flow chart showing an example of an operating method of the tool changer in the embodiment. FIG. 15 is a flow chart showing a modification of the operating method of the tool changer in the embodiment. FIG. 16 is a schematic perspective view schematically showing a machine tool according to the second embodiment.

Hereinafter, a tool changer 1, a machine tool 100, and an operation method of the tool changer in some embodiments will be described with reference to the drawings. In the following description of the embodiments, portions and members having the same functions are denoted by the same reference numerals, and repeated descriptions of the portions and members denoted by the same reference numerals are omitted.

(First embodiment)
A tool changer 1 according to a first embodiment will be described with reference to FIGS. 1 to 12. FIG. 1 to 3 are schematic perspective views schematically showing the tool changer 1 according to the first embodiment. FIG. 4 is a diagram schematically showing the relationship between the position of the shutter 40 and the angular position of the exchange arm 60 during the closing operation of the shutter 40. As shown in FIG. FIG. 5 is a diagram explaining that the shutter 40 is stopped at the position PE where it does not interfere with the exchange arm 60. As shown in FIG. FIG. 6 is a diagram schematically showing a state in which the rotation angle of the replacement arm 60 matches the retraction angle α. 7 and 8 are diagrams schematically showing the relationship between the position of the shutter 40 and the angular position of the exchange arm 60 during the closing operation of the shutter 40. FIG. FIG. 9 is a diagram schematically showing the relationship between the position of the shutter 40 and the angular position of the replacement arm 60 during the opening operation of the shutter 40. As shown in FIG. FIG. 10 is a diagram schematically showing how the shutter 40 is being opened. 11A and 11B are diagrams schematically showing how the tool C is being replaced. FIG. 12 is a diagram schematically showing a state in which the closing operation of the shutter 40 is being executed.

The tool changer 1 according to the first embodiment includes a shutter 40 , a first servomotor 50 , a change arm 60 , a second servomotor 70 and a control device 8 .

As illustrated in FIG. 2, the shutter 40 can open the opening OP between the machining head 2 to which the tool C can be attached and the tool holding member 30 to which the tool C can be held. Further, as illustrated in FIG. 3, the shutter 40 can close the opening OP between the machining head 2 to which the tool C can be attached and the tool holding member 30 to which the tool C can be held. Further, the shutter 40 is movable between a first position P1 (see FIG. 3) for closing the opening OP and a second position P2 (see FIG. 2) for opening the opening OP. .

In the example shown in FIG. 2, a partition wall 49 is arranged between the first chamber SP1 in which the machining head 2 is arranged and the second chamber SP2 in which the tool holding member 30 and/or the magazine 3 are arranged, An opening OP is provided in the partition wall 49 .

When the shutter 40 is in the first position P1 that closes the opening OP, the first chamber SP1 is isolated from the second chamber SP2. When the work is processed by the tool C attached to the processing head 2 while the shutter 40 closes the opening OP, chips and the like may scatter from the first chamber SP1 to the second chamber SP2. prevented. Further, the exchange arm 60 can exchange the tool C between the machining head 2 and the tool holding member 30 while the shutter 40 opens the opening OP.

A first servomotor 50 drives the shutter 40 . More specifically, the first servomotor 50 linearly moves the shutter 40 relative to the partition wall 49 . The first servomotor 50 can move the shutter 40 from a first position P1 that closes the opening OP to a second position P2 that opens the opening OP. It can be moved to P1.

In the example shown in FIG. 2, the first servomotor 50 and the shutter 40 are connected via a mechanical mechanism 59 that converts the rotation of the rotor and output shaft of the first servomotor 50 into linear motion of the shutter 40. be done. Mechanical mechanism 59 may include a ball screw and may include multiple gears.

The exchange arm 60 exchanges tools C between the machining head 2 and the tool holding member 30 . More specifically, the exchange arm 60 can transfer the second tool C2 received from the tool holding member 30 to the machining head 2, and can transfer the first tool C1 received from the machining head 2 to the tool holding member 30. . FIG. 2 shows a state immediately after the exchange arm 60 transfers the second tool C2 to the machining head 2 and the first tool C1 to the tool holding member 30. As shown in FIG.

The exchange arm 60 rotates around the first axis AX1, and moves from the tool mounting position E3 (see FIG. 2) where the tool C is mounted to the machining head 2, to the standby position E1 where the shutter 40 does not interfere with the shutter 40 at the first position P1. (See FIG. 3). The exchange arm 60 is supported by an exchange arm support device 65 so as to be rotatable around the first axis AX1, for example.

A second servomotor 70 rotates the exchange arm 60 . More specifically, the second servo motor 70 rotates the exchange arm 60 relative to the exchange arm support device 65 around the first axis AX1.

The control device 8 receives a first signal indicating the position of the shutter 40 from the first servomotor 50, and receives from the second servomotor 70 the rotation angle of the exchange arm 60 (more specifically, the rotation angle around the first axis AX1). receive a second signal indicative of the angle of rotation of the .

The controller 8 can identify the position of the shutter 40 in real time based on the first signal received from the first servomotor 50 . More specifically, the control device 8 can identify how far the shutter 40 has moved from the reference position. The reference position may be the first position P1, the second position P2, or any other position.

The control device 8 can specify the rotation angle of the exchange arm 60 in real time based on the second signal received from the second servomotor 70 . More specifically, the control device 8 can identify how many degrees the replacement arm 60 has rotated around the first axis AX1 from the reference position. The reference position may be the tool mounting position E3, the standby position E1, or any other position.

The control device 8 controls the first servomotor 50 and the second servomotor 70 .

The control device 8 controls driving of the first servomotor 50 by transmitting a control signal to the first servomotor 50 . The control signal may include a signal to rotate the rotor of first servomotor 50 in a first rotational direction and rotate the rotor of first servomotor 50 in a second rotational direction (a direction opposite to the first rotational direction). may include a signal to rotate the rotor to , may include a signal to accelerate the rotation of the rotor, may include a signal to rotate the rotor at a constant speed, or may include a signal to decelerate the rotor good. Further, the control device 8 stops driving the first servomotor 50 by transmitting a drive stop signal to the first servomotor 50 .

The control device 8 controls driving of the second servomotor 70 by transmitting a control signal to the second servomotor 70 . The control signal may include a signal to rotate the rotor of the second servomotor 70 in a first rotational direction and rotate the rotor of the second servomotor 70 in a second rotational direction (opposite to the first rotational direction). may include a signal to rotate the rotor to , may include a signal to accelerate the rotation of the rotor, may include a signal to rotate the rotor at a constant speed, or may include a signal to decelerate the rotor good. Further, the control device 8 stops driving the second servomotor 70 by transmitting a drive stop signal to the second servomotor 70 .

In the example shown in FIG. 4, the control device 8 controls the first servomotor 50 before the exchange arm 60 completes its rotational movement (in other words, before the exchange arm 60 reaches the standby position E1). A signal is sent to initiate the closing action of the shutter 40 . More specifically, the control device 8 controls the movement of the exchange arm 60 from the tool mounting position E3 (in other words, the angle corresponding to the tool mounting position E3) to the standby position E1 (in other words, the angle corresponding to the standby position E1). Before completing the rotational movement to , a closing operation start command is sent to the first servomotor 50 to cause the first servomotor 50 to start the closing operation of the shutter 40 . By starting the closing operation of the shutter 40 before the exchange arm 60 reaches the standby position E1, the opening OP is quickly closed by the shutter 40 after the tool C is exchanged. Therefore, it is possible to quickly start the next processing while preventing chips and the like from scattering from the first chamber SP1 to the second chamber SP2.

In the example shown in FIG. 4, the control device 8 determines whether or not the rotation angle of the replacement arm 60 has reached the predetermined retraction angle α when the shutter 40 in the closing operation reaches the predetermined third position P3. judge.

When the control device 8 determines that the rotation angle of the replacement arm 60 has reached the predetermined retraction angle α, the control device 8 continues the closing operation processing of the shutter 40 . When the replacement arm 60 reaches the predetermined retraction angle α, the shutter 40 and the replacement arm 60 do not come into contact with each other even if the shutter 40 is moved to the closed position.

On the other hand, when the control device 8 determines that the rotation angle of the replacement arm 60 has not reached the predetermined retraction angle α, it executes shutter stop processing. The shutter stopping process is a process of stopping the shutter 40 at the position PE (see FIG. 5) where it does not interfere with the replacement arm 60 . By executing the shutter stop processing, contact between the shutter 40 and the exchange arm 60 is prevented. The position PE at which the exchange arm 60 does not interfere is a position before the shutter 40 during the closing operation reaches the interference position PF at which it interferes with the exchange arm 60 .

In the first embodiment, the shutter 40 is driven by the first servomotor 50 and the exchange arm 60 is driven by the second servomotor 70 . In this case, the control device 8 receives a first signal indicating the position of the shutter 40 from the first servomotor 50 and a second signal indicating the rotation angle of the exchange arm 60 from the second servomotor 70. The position of shutter 40 and the rotation angle of exchange arm 60 can be specified in real time. Further, the control device 8 can accurately determine whether or not the shutter 40 in the closing operation has reached the predetermined third position P3 based on the first signal, and based on the second signal, the replacement Whether or not the rotation angle of the arm 60 has reached the predetermined retraction angle α can be accurately determined. Furthermore, since the shutter stop processing is executed based on these accurate determinations, the contact between the shutter 40 and the exchange arm 60 is avoided more reliably.

Further, in the first embodiment, erroneous detection of the position of the shutter 40 is less likely to occur. On the other hand, when the position of the shutter 40 is specified using only the signal from the light-receiving sensor or the limit switch, there is a possibility that the position of the shutter 40 is erroneously detected due to chips or the like adhering to the shutter 40 .

Further, in the first embodiment, since the position of the shutter 40 is specified by the signal from the first servomotor 50, a sensor for specifying the position of the shutter 40 (the above optical sensor or limit switch) This eliminates the need to adjust the installation position of the

Furthermore, in the first embodiment, since the position of the shutter 40 is specified based on the first signal received from the first servo motor 50, the arrival of the shutter 40 should be detected (the first position P1 , second position P2, third position P3, etc.).

In the first embodiment, the control device 8 determines whether or not the rotation angle of the exchange arm 60 reaches the predetermined retraction angle α when the shutter 40 in the closing operation reaches the predetermined third position P3. judge. As illustrated in FIG. 6, the retraction angle α is preferably set to an angle that reliably prevents contact between the exchange arm 60 and the shutter 40 . More specifically, the retraction angle α is set so that the entire replacement arm 60 is retracted toward the tool holding member 30 from the opening OP when the rotation angle of the replacement arm 60 reaches the retraction angle α. is preferably set. If the entire replacement arm 60 is retracted from the opening OP, contact between the replacement arm 60 and the shutter 40 cannot occur.

Next, optional additional configurations that can be employed in the first embodiment will be described with reference to FIGS. 1 to 12. FIG.

(Processing head 2)
The machining head 2 may be included in the tool changer 1 . Alternatively, the machining head 2 may not be included in the tool changer 1 but may be included in the machine tool 100 as a component of the machine tool 100 described below. In the example shown in FIG. 2, a tool C can be attached to the machining head 2 . The machining head 2 may support the tool C so that the tool C can rotate around the rotation axis AX. In other words, the processing head 2 may be a processing head that processes the workpiece by rotating the tool C around the rotation axis AX.

(Tool holding member 30)
The tool holding member 30 may be included in the tool changer 1 . Alternatively, the tool holding member 30 may not be included in the tool changer 1 but may be included in the machine tool 100 as a component of the machine tool 100 to be described later. The tool holding member 30 can hold the tool C. As shown in FIG. The tool holding member 30 is provided in the magazine 3 that stores the tools C, for example. Alternatively, the tool holding member 30 may be provided in a tool holding device separate from the magazine 3 . In this case, transfer of the tool C from the magazine 3 to the processing head 2 or transfer of the tool C from the processing head 2 to the magazine 3 is performed via the tool holding device.

(Magazine 3)
A magazine 3 may be included in the tool changer 1 . Alternatively, the magazine 3 may not be included in the tool changer 1 but may be included in the machine tool 100 as a component of the machine tool 100 to be described later. In the example shown in FIG. 1, the magazine 3 can store a plurality of tools C. In the example shown in FIG. The magazine 3 includes a plurality of tool holders 33 holding a plurality of tools C, respectively. Moreover, the magazine 3 can move a plurality of tool holders 33 along the circulation path.

(Shutter 40)
The shutter 40 is movable between a first position P1 (closed position) and a second position P2 (open position). The direction from the first position P1 to the second position P2, in other words, the direction in which the shutter 40 opens is defined as the first direction DR1, and the direction from the second position P2 to the first position P1, in other words, the direction in which the shutter 40 is opened is defined as the first direction DR1. is defined as a second direction DR2. In the example illustrated in FIG. 1, the first direction DR1 and the second direction DR2 are parallel to the horizontal direction. Alternatively, the first direction DR1 and the second direction DR2 may be parallel to the vertical direction.

(First Encoder 51 and Second Encoder 71)
In the example illustrated in FIG. 1 , the first servomotor 50 comprises a first encoder 51 . The first encoder 51 acquires the rotation angle of the rotor of the first servomotor 50 (or the number of rotations and the rotation angle of the rotor), and uses a signal corresponding to the rotation angle as the first signal indicating the position of the shutter 40. , to the control device 8 .

In the example illustrated in FIG. 1 , the second servomotor 70 comprises a second encoder 71 . The second encoder 71 acquires the rotation angle of the rotor of the second servomotor 70 (or the number of rotations and the rotation angle of the rotor), and outputs a signal corresponding to the rotation angle to the second encoder indicating the rotation angle of the exchange arm 60 . It is transmitted to the control device 8 as a signal.

(Replacement arm support device 65)
In the example shown in FIG. 1, the exchange arm support device 65 supports the exchange arm 60 so as to be rotatable around the first axis AX1 and movable in a direction parallel to the first axis AX1. In the example illustrated in FIG. 1, the first axis AX1 is parallel to the moving direction of the shutter 40 (in other words, the first direction DR1 or the second direction DR2). Alternatively, the first axis AX1 may be tilted with respect to the moving direction of the shutter 40 .

(Replacement arm 60)
In the example shown in FIG. 1, the exchange arm 60 includes a first arm 61 and a second arm 62. As shown in FIG. A first gripping portion 61a for gripping the tool C is provided at the tip of the first arm 61, and a second gripping portion 62a for gripping the tool C is provided at the tip of the second arm 62. As shown in FIG. In the example shown in FIG. 1, the angle between the direction in which the first arm 61 extends from the first axis AX1 and the direction in which the second arm 62 extends from the first axis AX1 is 180 degrees. . In other words, the first arm 61 and the second arm 62 are arranged on a straight line. The angle between the direction in which the first arm 61 extends from the first axis AX1 and the direction in which the second arm 62 extends from the first axis AX1 may be an angle other than 180 degrees. do not have. The first arm 61 and the second arm 62 may be configured by one integrally molded component, or the first arm 61 and the second arm 62 may be configured by separate components.

In the example shown in FIG. 2, the exchange arm 60 can hold the second tool C2 attached to the machining head 2 and the first tool C1 held by the tool holding member 30 at the same time.

(Opening operation of shutter 40)
An example of the opening operation of the shutter 40 will be described. As illustrated in FIG. 9, when the shutter 40 is opened, the shutter 40 moves from the first position P1 (closed position) to the second position P2 (open position) via the fourth position P4. ). In the example shown in FIG. 9, at the timing T1 when the shutter 40 passes the fourth position P4, the exchange arm 60 starts moving from the standby position E1 to the tool receiving position E2. By starting the movement of the exchange arm 60 before the shutter 40 reaches the second position P2 (open position), the total time required for exchanging the tool C can be shortened.

As illustrated in FIGS. 10(b) to 10(d), when the shutter 40 is opened, the exchange arm 60 moves from the standby position E1 to the tool receiving position E2. Further, when the exchange arm 60 moves from the standby position E1 to the tool receiving position E2, the exchange arm 60 passes through the second area AR2 (see the area surrounded by the dashed line in FIG. 10(b)). .

As illustrated in FIG. 10B, the fourth position P4 is set to a position that does not interfere with the second area AR2 (in other words, a position closer to the first direction DR1 than the second area AR2). preferably. By setting the fourth position P4 to a position that does not interfere with the second area AR2, the contact between the shutter 40 and the exchange arm 60 is reliably avoided during the opening operation of the shutter 40 . For example, it is assumed that the shutter 40 stops due to malfunction after the shutter 40 passes the fourth position P4. Even in this case, the stopped shutter 40 and the moving exchange arm 60 do not come into contact with each other. Note that in the example illustrated in FIG. 5, the fourth position P4 is set closer to the second direction DR2 than the third position P3 described above.

Next, the opening operation control of the shutter 40 by the control device 8 will be described. The control device 8 transmits a control signal (more specifically, an opening operation command) to the first servomotor 50 to cause the first servomotor 50 to open the shutter 40 (in other words, to move the shutter 40 to the first position). movement from position P1 to second position P2).

After starting the opening operation of the shutter 40, the control device 8 repeatedly receives the first signal indicating the position of the shutter 40 from the first servomotor 50 (more specifically, the first encoder 51). Further, based on the first signal received from the first servomotor 50, the controller 8 controls the timing T1 when the shutter 40 passes through a predetermined fourth position P4 between the first position P1 and the second position P2. (See FIG. 9).

Timing T1 is specified based on the first signal received from the first servomotor 50, the shutter 40 (more specifically, the edge 40e of the shutter 40 on the second direction DR2 side (see FIG. 5)). is performed by repeatedly determining whether or not the fourth position P4 has been passed.

At timing T1, the control device 8 transmits a control signal (more specifically, a first movement start command) to the second servomotor 70 to move the second servomotor 70 from the standby position E1 to the tool receiving position. Initiate movement of exchange arm 60 to E2.

In the example shown in FIG. 9, after the shutter 40 starts moving from the first position P1 toward the second position P2, the control device 8 causes the exchange arm 60 to move from the standby position E1 toward the tool receiving position E2. The first servomotor 50 and the second servomotor 70 are controlled to start Note that the control device 8 may control the first servomotor 50 and the second servomotor 70 so that the exchange arm 60 reaches the tool receiving position E2 before the shutter 40 reaches the second position P2. Well, the first servomotor 50 and the second servomotor 70 may be controlled so that the exchange arm 60 reaches the tool receiving position E2 after the timing at which the shutter 40 reaches the second position P2.

(conversion mechanism or drive)
11A shows how the first tool C1 and the second tool C2 are exchanged between the machining head 2 and the tool holding member 30. FIG. In order to cause the change arm 60 to change the tool C, the tool changer 1 converts the rotation of the rotor and the output shaft of the second servomotor 70 into linear motion of the change arm 60 in the direction along the first axis AX1. A conversion mechanism 75 may be provided. The conversion mechanism 75 may include a cam interposed between the output shaft of the second servomotor 70 and the exchange arm 60 , and is interposed between the output shaft of the second servomotor 70 and the exchange arm 60 . may include gears that When the tool changer 1 includes the conversion mechanism 75, the second servo motor 70 can rotate the exchange arm 60 around the first axis AX1 and move the exchange arm 60 along the first axis AX1. be able to.

In the example shown in FIG. 11A, the second servo motor 70 moves the exchange arm 60 along the first axis AX1 between the axial first position F1 and the axial second position F2 via the conversion mechanism 75. It is possible to move in parallel directions. The first axial position F1 is a position where the exchange arm 60 approaches the working head 2 and the tool holding member 30, and the second axial position F2 is closer to the working head 2 and the tool holding member 30 than the first axial position F1. This position is far from the tool holding member 30 .

Alternatively, as shown in FIG. 11B, the tool changer 1 may include, in addition to the second servomotor 70, a drive device 76 that moves the change arm 60 along the first axis AX1. The second servomotor 70 rotationally drives the exchange arm 60 around the first axis AX1. On the other hand, the driving device 76 moves the replacement arm 60 in a direction parallel to the first axis AX1. The driving device 76 may be a servomotor or a hydraulic actuator (eg, an air actuator or a hydraulic actuator). In the example shown in FIG. 11B, the drive device 76 moves the exchange arm 60 between the first axial position F1 and the second axial position F2 in a direction parallel to the first axis AX1. The first axial position F1 is a position where the exchange arm 60 approaches the working head 2 and the tool holding member 30, and the second axial position F2 is closer to the working head 2 and the tool holding member 30 than the first axial position F1. This position is far from the tool holding member 30 .

(Closing operation of shutter 40)
An example of the closing operation of the shutter 40 will be described. As illustrated in FIG. 4, when the shutter 40 is closed, the shutter 40 moves from the second position P2 (open position) to the first position P1 (closed position) via the third position P3. ).

In the example shown in FIG. 4, the timing T2 at which the closing operation of the shutter 40 is started is earlier than the timing T5 at which the replacement arm 60 reaches the standby position E1. By advancing the timing T2, the opening OP is quickly closed by the shutter 40 after the tool C is replaced. Therefore, it is possible to quickly start the next processing while preventing chips and the like from scattering from the first chamber SP1 to the second chamber SP2.

Next, the closing operation control of the shutter 40 by the control device 8 will be described. The control device 8 transmits a control signal (more specifically, a closing operation start command) to the first servomotor 50, and instructs the first servomotor 50 to perform a closing operation of the shutter 40 (in other words, to move the shutter 40 to the second position). 2) is started to move from the position P2 to the first position P1.

The timing T2 at which the control device 8 starts the closing operation of the shutter 40 may be the timing when the exchange arm 60 reaches the tool mounting position E3, or may be another timing. In the example shown in FIG. 4, the timing T2 is before the timing T3 at which the control device 8 starts moving the exchange arm 60 from the tool mounting position E3 to the standby position E1. Since the timing T2 is earlier than the timing T3, the shutter 40 closes the opening OP more quickly after the tool C is replaced. Therefore, it is possible to start the next machining more quickly while preventing chips and the like from scattering from the first chamber SP1 to the second chamber SP2. However, in the first embodiment, it is not essential that the timing T2 is earlier than the timing T3. In other words, the timing T2 may be after the timing T3 or may be simultaneous with the timing T3.

After starting the closing operation of the shutter 40, the control device 8 repeatedly receives the first signal indicating the position of the shutter 40 from the first servomotor 50 (more specifically, the first encoder 51). Also, the control device 8 repeatedly executes the first determination process based on the first signal received from the first servo motor 50 . In the first determination process, the control device 8 receives a first signal from the first servomotor 50, and based on the first signal, the shutter 40 reaches the third position P3 (in other words, the determination position). This is the process of determining whether or not there is. By executing the first determination process, the control device 8 can specify the timing T4 at which the shutter 40 reaches the third position P3.

Based on the first signal received from the first servomotor 50, the control device 8 determines that the shutter 40 in the closing operation has reached the third position P3 (in other words, the determination position). A second determination process is executed based on the second signal received from the servo motor 70 . In the second determination process, the control device 8 receives a second signal from the second servomotor 70 and determines whether or not the rotation angle of the exchange arm 60 has reached a predetermined retraction angle α based on the second signal. This is the processing for determination. The second determination process is executed at timing T4.

When the control device 8 determines that the rotation angle of the exchange arm 60 has reached the retraction angle α based on the second signal received from the second servomotor 70, the control device 8 continues the closing operation processing of the shutter 40 (FIG. 4). ). More specifically, controller 8 repeatedly receives a first signal indicating the position of shutter 40 . The controller 8 controls the speed of the shutter 40 based on the first signal. Further, when the control device 8 determines that the shutter 40 has reached the first position P1 based on the first signal, it transmits a driving stop signal to the first servomotor 50 . Thus, the shutter 40 stops at the first position P1, and the closing operation of the shutter 40 is completed.

On the other hand, when the control device 8 determines that the rotation angle of the exchange arm 60 has not reached the retraction angle α based on the second signal received from the second servomotor 70, the control device 8 executes shutter stop processing (see FIG. 7). reference.). The shutter stop processing is processing for stopping the shutter 40 at a position PE that does not interfere with the exchange arm 60 . As illustrated in FIG. 5, the position PE that does not interfere with the replacement arm 60 is a position where the replacement arm 60 does not interfere with the first area AR1. The first area AR1 is defined as an area through which the replacement arm 60 passes when the replacement arm 60 moves from the tool mounting position E3 to the standby position E1. The control device 8 stops the shutter 40 at the position PE that does not interfere with the first area AR1 (in other words, the position on the first direction DR1 side of the first area AR1), so that the shutter 40 and the replacement arm 60 contact can be reliably avoided.

Additionally, as illustrated in FIG. 8, when the rotation angle of the exchange arm 60 reaches the retraction angle α (see arrow A) during execution of the shutter stop processing, the control device 8 stops the shutter. The process may be stopped and the closing operation of the shutter 40 resumed.

More specifically, the control device 8 repeatedly executes the above-described second determination process during execution of the shutter stop processing. In other words, the control device 8 receives the second signal from the second servomotor 70 while the shutter 40 is being stopped, and based on the second signal, the rotation angle of the replacement arm 60 is adjusted to the predetermined retraction angle. It is repeatedly determined whether or not α has been reached.

When the control device 8 determines that the rotation angle of the exchange arm 60 has reached the retraction angle α, it stops the shutter stop processing and restarts the operation of moving the shutter 40 to the first position P1. The operation of moving the shutter 40 to the first position P<b>1 is restarted by the control device 8 sending a control signal (more specifically, a closing operation command) to the first servomotor 50 . The first servo motor 50 that receives the control signal moves the shutter 40 to the first position P1 (closed position).

When the shutter stopping process is completed (in other words, when the shutter 40 stops at the position PE that does not interfere with the exchange arm 60), the control device 8 may issue an alarm. Issuance of the alarm may include generation of a warning sound, lighting of a warning lamp, or display of a warning message.

Alternatively, instead of issuing an alarm immediately after the completion of the shutter stop processing, the above-described second determination processing may be repeatedly executed for a predetermined period even after the completion of the shutter stop processing. More specifically, after the shutter stop processing is completed and the shutter 40 is stopped, the control device 8 receives the second signal from the second servomotor 70, and determines the rotation angle of the exchange arm 60 based on the second signal. has reached a predetermined retraction angle α.

When the control device 8 determines that the rotation angle of the replacement arm 60 has reached the retraction angle α, it restarts the operation of moving the shutter 40 to the first position P1. The operation of moving the shutter 40 to the first position P<b>1 is restarted by the control device 8 sending a control signal (more specifically, a closing operation command) to the first servomotor 50 . The first servo motor 50 that receives the control signal moves the shutter 40 to the first position P1 (closed position).

On the other hand, when the control device 8 determines that the rotation angle of the exchange arm 60 has not reached the retraction angle α, it repeats the above-described second determination step until a predetermined period of time elapses.

If the rotation angle of the replacement arm 60 does not reach the retraction angle α before the predetermined period elapses, the control device 8 issues an alarm. Issuance of the alarm may include generation of a warning sound, lighting of a warning lamp, or display of a warning message. Note that there is no particular limitation on the starting point from which the counting of the predetermined period is started. The predetermined period may be counted after the shutter 40 stops, or may be counted from timing T4 when the shutter 40 reaches the third position P3.

In the above example, when the rotation angle of the replacement arm 60 reaches the retraction angle α during execution of the shutter stop processing or after the shutter stop processing is completed and the shutter 40 is stopped, the control device 8 closes the shutter 40. The operation of moving to the first position P1 is restarted. In this case, the operation of the tool changer 1 can be continued when the malfunction of the exchange arm 60 is minor. For example, it is conceivable that the operation delay of the exchange arm 60 is temporary, such as when the exchange arm 60 bites chips. In such a case, in the example described above, the operation of the tool changer 1 can be continued without being stopped.

(Method of operation of tool changer)
Next, an example of a method for operating the tool changer according to the embodiment will be described with reference to FIGS. 1 to 14. FIG. 13 and 14 are flowcharts showing an example of a method of operating the tool changer according to the embodiment. In the operating method of the tool changer according to the embodiment, the tool changer may be the tool changer 1 according to the first embodiment, or may be another tool changer. The tool changer comprises (1) a shutter 40 capable of closing an opening OP between a machining head to which a tool can be attached and a tool holding member capable of holding the tool; (3) a control device 8;

In the method of operation of the tool changer, the controller 8 receives a first signal indicating the position of the shutter 40 from a first servomotor 50 (or any detector capable of detecting the position of the shutter 40). 1 receive step). The first receiving step is repeatedly performed during execution of the operating method of the tool changer (more specifically, during movement of the shutter 40). It is preferable that the controller 8 can identify the position of the shutter 40 in real time by repeatedly performing the first receiving step.

In the operation method of the tool changer, the control device 8 outputs a second signal indicating the rotation angle of the change arm 60 from the second servomotor 70 (or any detector capable of detecting the rotation angle of the change arm 60). Receive (second receiving step). The second receiving step is repeatedly performed during execution of the method of operation of the tool changer (more specifically, during rotational movement of the change arm 60). It is preferable that the controller 8 can identify the rotation angle of the exchange arm 60 in real time by repeatedly performing the second receiving step.

In the first step ST1, the opening operation of the shutter 40 is started. FIG. 10(a) shows how the first step ST1 is being executed. In a first step ST1, the control device 8 transmits a control signal (more specifically, an opening operation start command) to the shutter driving device such as the first servomotor 50 to drive the shutter such as the first servomotor 50. Causes the device to begin opening the shutter 40 .

By executing the first step ST1, the first shutter movement process is started. The first shutter moving step is a step of moving the shutter 40 from the first position P1 (closed position) to the second position P2 (open position). In the first shutter movement step, the control device 8 transmits a control signal (more specifically, an opening operation command) to the shutter drive device such as the first servo motor 50, and the first servo motor receives the control signal. A shutter driving device such as a motor 50 moves the shutter 40 from the first position P1 to the second position P2.

During execution of the first shutter moving process, in the second step ST2, the timing T1 at which the shutter 40 passes through a predetermined fourth position P4 between the first position P1 and the second position P2 is identified. A second step ST2 is a timing specifying step. FIG. 10(b) shows how the timing identification step is being executed. In the timing specifying step, the control device 8 specifies the timing at which the shutter 40 passes through the fourth position P4 based on the first signal indicating the position of the shutter 40 .

In the third step ST3, movement of the exchange arm 60 is started from the standby position E1 toward the tool receiving position E2. FIG. 10(c) shows how the third step ST3 is being executed. In the third step ST3, the control device 8 sends a control signal (more specifically, a first movement start command). A change arm drive, such as the second servo motor 70, which receives the control signal, initiates movement of the change arm 60 from the standby position E1 to the tool receiving position E2.

By executing the third step ST3, the first exchange arm moving process is started before the opening operation of the shutter 40 is completed (in other words, before the shutter 40 reaches the second position P2). The first exchange arm moving step is a step of moving the exchange arm 60 from the standby position E1 to the tool receiving position E2. In the first exchange arm movement process, the control device 8 transmits a control signal (more specifically, a first movement command) to the exchange arm driving device such as the second servomotor 70, and receives the control signal. The exchange arm driving device such as the second servomotor 70 moves the exchange arm 60 from the standby position E1 to the tool receiving position E2. The first exchange arm moving step includes rotating the exchange arm 60 in the first rotation direction around the first axis AX1.

In the first exchange arm moving step, the exchange arm 60 reaches the tool receiving position E2 (see FIG. 10(d)) before the shutter 40 reaches the second position P2 (see FIG. 10(e)). ). Alternatively, the first change arm movement step may include allowing change arm 60 to reach tool receiving position E2 after shutter 40 reaches second position P2, and shutter 40 reaches second position P2. Reaching P2 may also include reaching change arm 60 at tool receiving position E2.

In the fourth step ST4, the exchange arm 60 (more specifically, the first arm 61) grips the first tool C1 attached to the machining head 2. As shown in FIG. A fourth step ST4 is a first tool gripping step. FIG. 10(d) shows how the first tool gripping step is being executed.

The first tool gripping process may be executed simultaneously with the completion of the above-described first exchange arm moving process (in other words, at the same time when the exchange arm 60 reaches the tool receiving position E2). may be performed after completion of the replacement arm movement step.

In the fifth step ST5, the exchange arm 60 (more specifically, the second arm 62) grips the second tool C2 held by the tool holding member 30. As shown in FIG. A fifth step ST5 is a second tool gripping step. The second tool gripping process is executed simultaneously with, for example, the fourth step ST4 (first tool gripping process).

In a sixth step ST6, the first tool C1 is removed from the machining head 2 and the second tool C2 is removed from the tool holding member 30. As shown in FIG. A sixth step ST6 is a tool removal step. The tool removing process includes moving the exchange arm 60 in a direction parallel to the first axis AX1. FIG. 11A(a) shows the state before the tool removing process is executed, and FIG. 11A(b) shows the state after the tool removing process is executed.

In the tool removing process, the control device 8 sends a control signal to the exchange arm driving device (eg, the second servomotor 70 or the driving device 76, etc.). An exchange arm drive device (such as the second servo motor 70 or the drive device 76) that receives the control signal moves the exchange arm 60 from the first axial position F1 to the second axial position F2. As a result, the first tool C<b>1 placed on the machining head 2 is removed from the machining head 2 , and the second tool C<b>2 placed on the tool holding member 30 is removed from the tool holding member 30 . The removal of the first tool C1 from the machining head 2 and the removal of the second tool C2 from the tool holding member 30 are preferably performed simultaneously. However, if the angle formed between the first arm 61 and the second arm 62 is an angle other than 180 degrees, removal of the first tool C1 from the machining head 2 is It may be executed at a timing different from the removal of the second tool C2.

In the seventh step ST7, the second tool C2 is transferred to a position facing the machining head 2, and the first tool C1 is transferred to a position facing the tool holding member 30. As shown in FIG. The seventh step ST7 is a tool transfer step. In the tool transfer step, it is preferable that the transfer of the first tool C1 and the transfer of the second tool C2 are performed at the same time. FIG. 11A(b) shows the state before the tool transfer process is executed, and FIG. 11A(c) shows the state after the tool removal process is executed.

In the tool transfer process, the control device 8 sends a control signal to the exchange arm driving device such as the second servo motor 70 . The exchange arm driving device such as the second servomotor 70 that receives the control signal rotates the exchange arm 60 around the first axis AX1 (more specifically, rotates it around the first axis AX1 by 180 degrees), The second tool C<b>2 is moved to a position facing the machining head 2 . The exchange arm 60 may move the first tool C1 to a position facing the tool holding member 30 at the same time as moving the second tool C2 to a position facing the machining head 2 . In the tool transfer step, the rotating direction of the exchange arm 60 about the first axis AX1 may be the first rotating direction or the second rotating direction opposite to the first rotating direction.

In an eighth step ST8, the second tool C2 is attached to the machining head 2 and the first tool C1 is attached to the tool holding member 30. As shown in FIG. The eighth step ST8 is a tool mounting step. In the tool mounting step, mounting of the second tool C2 to the machining head 2 and mounting of the first tool C1 to the tool holding member 30 are preferably performed simultaneously. FIG. 11A(d) shows the state after the tool mounting process is executed.

In the tool mounting process, the control device 8 sends a control signal to the exchange arm driving device (eg, the second servomotor 70 or the driving device 76, etc.). An exchange arm drive device (eg, the second servo motor 70 or the drive device 76) that receives the control signal moves the exchange arm 60 from the second axial position F2 to the first axial position F1 (more specifically, Move to tool mounting position E3). As a result, the second tool C<b>2 is attached to the machining head 2 . Also, the first tool C<b>1 is attached to the tool holding member 30 .

The tool mounting process may include the machining head 2 clamping the second tool C2. The second tool C2 is fixed to the machining head 2 by clamping the second tool C2 with the machining head 2 . The tool mounting step may also include the tool holding member 30 clamping the first tool C1.

In the ninth step ST9, the closing operation of the shutter 40 is started. The ninth step ST9 is a closing operation start step. FIG. 12(a) shows a state during execution of the closing operation start step. In the closing operation start step, the control device 8 transmits a control signal (more specifically, a closing operation start command) to the shutter driving device such as the first servomotor 50 to drive the shutter such as the first servomotor 50. Initiate the device to close the shutter 40 .

By executing the ninth step ST9, the second shutter movement process is started. The second shutter moving step is a step of moving the shutter 40 from the second position P2 (open position) to the first position P1 (closed position). In the second shutter movement step, the control device 8 transmits a control signal (more specifically, a closing operation command) to the shutter drive device such as the first servo motor 50, and the first servo motor receives the control signal. A shutter driving device such as motor 50 moves shutter 40 from second position P2 to first position P1.

The second shutter movement process is started before the process of moving the exchange arm 60 from the tool mounting position E3 to the standby position E1 (in other words, the second exchange arm movement process) is completed. In the example shown in FIG. 4, the timing T2 at which the second shutter movement process is started is before the timing T3 at which the movement of the exchange arm 60 from the tool mounting position E3 to the standby position E1 is started. Alternatively, the timing T2 at which the second shutter movement process is started may be after the timing T3 or may be simultaneous with the timing T3.

The timing T2 at which the second shutter movement process is started may be the timing when the exchange arm 60 reaches the tool mounting position E3, or may be another timing.

In the tenth step ST10, movement of the exchange arm 60 is started from the tool mounting position E3 toward the standby position E1. FIG. 12(b) shows how the tenth step ST10 is being executed. In a tenth step ST10, the control device 8 transmits a control signal (more specifically, a second movement start command) to the replacement arm drive device such as the second servomotor 70 or the like. A change arm drive, such as the second servomotor 70, which receives the control signal, initiates movement of the change arm 60 from the tool mounting position E3 to the standby position E1.

By executing the tenth step ST10, the second exchange arm moving process is started. The second exchange arm moving step is a step of moving the exchange arm 60 from the tool mounting position E3 to the standby position E1. In the second exchange arm movement step, the control device 8 transmits a control signal (more specifically, a second movement command) to the exchange arm driving device such as the second servo motor 70, and receives the control signal. The exchange arm driving device such as the second servo motor 70 moves the exchange arm 60 from the tool mounting position E3 to the standby position E1. The second exchange arm moving step includes rotating the exchange arm 60 about the first axis AX1 in a second rotational direction (in other words, a direction opposite to the first rotational direction).

As illustrated in FIG. 4, the timing T3 at which the second exchange arm moving process is started is before the second shutter moving process is completed (in other words, the timing at which the shutter 40 reaches the first position P1). before T6). The timing T3 at which the second exchange arm moving process is started is the timing at which the control device 8 confirms that the machining head 2 has clamped the tool C (more specifically, the second tool C2). good too. By starting the movement of the exchange arm 60 after the clamping is confirmed, the transfer of the tool C from the exchange arm 60 to the machining head 2 is reliably performed.

After execution of the closing operation start step (ninth step ST9), the shutter 40 reaches a predetermined third position P3 based on the first signal indicating the position of the shutter 40 and the second signal indicating the rotation angle of the exchange arm 60. Then, it is determined whether or not the rotation angle of the replacement arm 60 has reached a predetermined retraction angle α. More specifically, the control device 8 executes the eleventh step and the twelfth step ST12, and determines whether or not the rotation angle of the exchange arm 60 has reached the predetermined retraction angle α.

In an eleventh step ST11, the control device 8 determines whether or not the shutter 40 has reached a predetermined third position P3. The eleventh step ST11 is a first determination step. FIGS. 12(c) and 12(d) show how the first determination step is being executed. In a first determination step, the control device 8 receives a first signal indicating the position of the shutter 40 from the first servo motor 50 or any detector, and based on the received first signal, the shutter 40 moves to the third position. It is determined whether or not the position P3 (in other words, determination position) has been reached.

When the control device 8 determines that the closing shutter 40 has reached the third position P3, it executes the twelfth step ST12. On the other hand, when the control device 8 determines that the shutter 40 in the closing operation has not reached the third position P3, it again executes the eleventh step ST11.

In a twelfth step ST12, the control device 8 determines whether or not the rotation angle of the replacement arm 60 has reached a predetermined retraction angle α. A twelfth step ST12 is a second determination step. In the second determination step, the control device 8 receives a second signal indicating the rotation angle of the exchange arm 60 from the second servomotor 70 or any detector, and determines the angle of the exchange arm 60 based on the received second signal. It is determined whether or not the rotation angle has reached a predetermined retraction angle α.

When the controller 8 determines that the rotation angle of the replacement arm 60 has reached the predetermined retraction angle α, it executes the thirteenth step ST13. On the other hand, when the control device 8 determines that the rotation angle of the exchange arm 60 has not reached the predetermined retraction angle α, it executes the fourteenth step ST14.

In a thirteenth step ST13, the control device 8 transmits a control signal to the shutter driving device such as the first servomotor 50, and the shutter driving device such as the first servomotor 50 which receives the control signal causes the shutter 40 to move to the first position. Position P1 (closed position) is reached. For example, in the thirteenth step ST13, the controller 8 receives a first signal indicating the position of the shutter 40 from the first servomotor 50 or any detector, and based on the received first signal, the shutter 40 It is determined whether or not the first position P1 (closed position) has been reached. When the control device 8 determines that the shutter 40 has reached the first position P<b>1 , it causes the shutter drive device such as the first servo motor 50 to stop moving the shutter 40 . FIG. 12(f) shows the state after the thirteenth step ST13 is executed.

In a fourteenth step ST14, the control device 8 executes shutter stop processing. A fourteenth step ST14 is a shutter stop processing step. In the shutter stop processing step, the controller 8 controls the shutter 40 to stop at a position where it does not interfere with the exchange arm 60 (a position PE where it does not interfere with the first area AR1 illustrated in FIG. 12D). A stop command is transmitted to a shutter driving device such as the servo motor 50 . A shutter driving device such as the first servomotor 50 that receives the stop command decelerates the shutter 40 and stops the shutter 40 at a position where it does not interfere with the exchange arm 60 . After the shutter 40 has stopped, the controller 8 issues an alarm.

By executing the second exchange arm moving process, the exchange arm 60 reaches the standby position E1 (see FIG. 12(e)), and by executing the second shutter moving process, the shutter 40 is moved to the first position P1. When reached (see FIG. 12(f)), the method of operation of the tool changer described above ends. In the examples shown in FIGS. 12(e) and 12(f), the timing T5 at which the exchange arm 60 reaches the standby position E1 is earlier than the timing T6 at which the shutter 40 reaches the first position P1. Alternatively, the timing T5 at which the exchange arm 60 reaches the standby position E1 may be later than the timing T6 or may be simultaneous with the timing T6.

(Modified example of operation method of tool changer)
A modification of the operation method of the tool changer will be described with reference to FIGS. 8 and 15. FIG. FIG. 15 is a flow chart showing a modification of the operating method of the tool changer in the first embodiment.

A modified example of the operation method of the tool changer is when the rotation angle of the exchange arm 60 reaches the predetermined retraction angle α during execution of the 14th step ST14 (shutter stop processing) or after execution of the shutter stop processing step. , the shutter 40 is moved to the first position P1 (closed position), which is different from the operation method of the tool changer described above. Otherwise, the variant of the method of operation of the tool changer is similar to the method of operation of the tool changer described above.

In a modified example of the operation method of the tool changer, the above-described 12th step ST12 (second determination step) is repeatedly performed while the 14th step ST14 (shutter stop processing step) is being performed. More specifically, during execution of the shutter stop processing step, the control device 8 receives a second signal indicating the rotation angle of the exchange arm 60 from the second servo motor 70 or any detector, and determines the received second signal. Based on the signal, it is determined whether or not the rotation angle of the replacement arm 60 has reached a predetermined retraction angle α. When the control device 8 determines that the rotation angle of the replacement arm 60 has reached the predetermined retraction angle α, it executes the thirteenth step ST13 to bring the shutter 40 to the first position P1 (closed position).

In a modified example of the operation method of the tool changer, the twelfth step ST12 (second determination step) described above may be repeatedly performed for a predetermined period after the completion of the shutter stop processing step. More specifically, for a predetermined period of time after completion of the stopping process, controller 8 receives and receives a second signal indicative of the rotation angle of exchange arm 60 from second servomotor 70 or any detector. Based on the second signal, it is determined whether or not the rotation angle of the replacement arm 60 has reached the predetermined retraction angle α. When the control device 8 determines that the rotation angle of the replacement arm 60 has reached the predetermined retraction angle α, it executes the thirteenth step ST13 to bring the shutter 40 to the first position P1 (closed position). On the other hand, if the rotation angle of the exchange arm 60 does not reach the retraction angle α before the predetermined period elapses, the controller 8 issues an alarm.

(Second embodiment)
A machine tool 100 according to a second embodiment will be described with reference to FIGS. 1 to 16. FIG. FIG. 16 is a schematic perspective view schematically showing the machine tool 100 according to the second embodiment.

In the second embodiment, the points different from the first embodiment will be mainly described. On the other hand, in the second embodiment, repetitive explanations of matters already explained in the first embodiment will be omitted. Therefore, it goes without saying that the matters already explained in the first embodiment can be applied to the second embodiment even if they are not explicitly explained in the second embodiment.

In the second embodiment, a machine tool 100 includes (1) a work support device 110 that supports a work W, (2) a machining head 2 to which a tool C can be attached, and (3) the machining head 2 as a work support device. 110, (4) a tool holding member 30 capable of holding a tool C, (5) a magazine 3 for storing the tool C, and (6) a machining head 2 are arranged. (7) the tool changer 1;

The processing head 2, the tool holding member 30, the magazine 3, the partition wall 49, and the tool changer 1 (including the control operation of the first servomotor 50 and the second servomotor 70 by the control device 8) are described in the first embodiment. Since the configuration has already been described in the form, a repeated description of these configurations (including the control operation of the first servomotor 50 and the second servomotor 70 by the control device 8) will be omitted.

The work support device 110 supports a work W, which is an object to be processed. The work support device 110 may include a table on which the work W is fixed.

The first drive device 120 moves the machining head 2 relative to the work support device 110 . The first driving device 120 may be a device that moves the machining head 2 three-dimensionally. In other words, the first driving device 120 can move the machining head 2 along the X axis, move the machining head 2 along the Y axis, and move the machining head 2 along the Z axis. It may be possible to move in the direction along In the example shown in FIG. 16, the Y-axis is the direction parallel to the vertical direction, the Z-axis is the direction parallel to the horizontal direction, and the X-axis is the direction perpendicular to both the Y-axis and the Z-axis. be.

The machining head 2 may comprise a second driving device 130 that rotates the tool C around the rotation axis AX.

In the example illustrated in FIG. 16 , the machine tool 100 comprises a machine tool controller 140 that controls the first drive 120 and/or the second drive 130 . The controller 8 that controls the first servomotor 50 and the second servomotor 70 may be included in the machine tool controller 140 . In other words, the machine tool controller 140 may constitute the controller 8 of the tool changer 1 . Alternatively, the controller 8 described above may be provided independently of the machine tool controller 140 . In this case, the control device 8 and the machine tool control device 140 are connected to each other such that the control device 8 and the machine tool control device 140 cooperate to control each component of the machine tool 100. is preferably configured to

Additionally, the machine tool controller 140 may control the operation of the work support device 110, the operation of the tool holding member 30, the operation of the magazine 3, and the like.

The second embodiment has the same effect as the first embodiment.

The present invention is not limited to the above embodiments or modifications, and it is obvious that each embodiment or modification can be modified or changed as appropriate within the scope of the technical idea of the present invention. Also, various techniques used in each embodiment or each modification can be applied to other embodiments or other modifications as long as there is no technical contradiction. Furthermore, any additional configuration in each embodiment or each modification can be omitted as appropriate.

Reference Signs List 1: Tool changer 2: Machining head 3: Magazine 8: Control device 30: Tool holding member 33: Tool holder 40: Shutter 40e: Edge 49: Partition wall 50: First servo motor 51: First encoder 59: Machine target mechanism 60 : replacement arm 61 : first arm 61 a : first gripping portion 62 : second arm 62 a : second gripping portion 65 : replacement arm support device 70 : second servo motor 71 : second encoder 75 : conversion mechanism 76 : Drive device 100 : Machine tool 110 : Work support device 120 : First drive device 130 : Second drive device 140 : Machine tool control device C : Tool C1 : First tool C2 : Second tool OP : Opening SP1 : Second Room 1 SP2: Room 2 W: Work

Claims (7)

a shutter capable of closing an opening between a machining head capable of attaching a tool and a tool holding member capable of holding the tool;
a first servo motor that drives the shutter;
an exchange arm for exchanging tools between the machining head and the tool holding member;
a second servo motor that rotationally drives the exchange arm;
receiving a first signal indicating the position of the shutter from the first servomotor; receiving a second signal indicating the rotation angle of the exchange arm from the second servomotor; a control device that controls the second servomotor,
the shutter is movable between a first position that closes the opening and a second position that opens the opening;
The exchange arm rotates about a first axis and is movable from a tool mounting position for mounting a tool on the processing head to a standby position where it does not interfere with the shutter at the first position,
The control device is
sending a control signal to the first servomotor to cause the first servomotor to start closing the shutter before the rotational movement of the exchange arm from the tool mounting position to the standby position is completed;
Based on the first signal and the second signal, it is determined whether or not the rotation angle of the exchange arm has reached a predetermined retraction angle when the shutter in the closing operation reaches a predetermined third position. death,
A tool changer that executes shutter stop processing for stopping the shutter at a position that does not interfere with the exchange arm when it is determined that the rotation angle of the exchange arm has not reached the predetermined retraction angle. The predetermined retraction angle is set such that when the replacement arm reaches the predetermined retraction angle, the entire replacement arm is retracted toward the tool holding member from the opening. A tool changer according to claim 1. The control device is
identifying a timing at which the shutter passes through a predetermined fourth position between the first position and the second position based on the first signal when the shutter is opened;
3. The tool changer according to claim 1, wherein at said timing, a control signal is sent to said second servomotor to start movement of said change arm from said standby position to said tool receiving position. The control device is
determining whether or not the rotation angle of the replacement arm has reached the predetermined retraction angle based on the second signal during execution of the shutter stop processing;
4. The apparatus according to any one of claims 1 to 3, wherein when the rotation angle of the replacement arm reaches the predetermined retraction angle, the shutter stopping process is stopped and the operation of moving the shutter to the first position is restarted. A tool changer according to paragraph. The control device is
determining whether or not the rotation angle of the exchange arm has reached the predetermined retraction angle based on the second signal after the shutter stop processing is completed and the shutter is stopped;
5. The tool changer according to any one of claims 1 to 4, wherein the operation of moving the shutter to the first position is restarted when the rotation angle of the exchange arm reaches the predetermined retraction angle. a work support device for supporting a work;
a processing head to which a tool can be attached;
a first driving device that relatively moves the machining head with respect to the work supporting device;
a tool holding member capable of holding a tool;
a magazine for storing tools;
a partition wall having an opening disposed between a first chamber in which the machining head is arranged and a second chamber in which the tool holding member is arranged;
a tool changer and
The tool changer is
a shutter capable of closing the opening;
a first servo motor that drives the shutter;
an exchange arm for exchanging tools between the machining head and the tool holding member;
a second servo motor that rotationally drives the exchange arm;
receiving a first signal indicating the position of the shutter from the first servomotor; receiving a second signal indicating the rotation angle of the exchange arm from the second servomotor; a control device that controls the second servomotor,
the shutter is movable between a first position that closes the opening and a second position that opens the opening;
The exchange arm rotates about a first axis and is movable from a tool mounting position for mounting a tool on the processing head to a standby position where it does not interfere with the shutter at the first position,
The control device is
sending a control signal to the first servomotor to cause the first servomotor to start closing the shutter before the rotational movement of the exchange arm from the tool mounting position to the standby position is completed;
Based on the first signal and the second signal, it is determined whether or not the rotation angle of the exchange arm has reached a predetermined retraction angle when the shutter in the closing operation reaches a predetermined third position. death,
A machine tool that executes shutter stop processing for stopping the shutter at a position that does not interfere with the exchange arm when it is determined that the rotation angle of the exchange arm has not reached the predetermined retraction angle. A method of operating a tool changer, comprising:
The tool changer is
a shutter capable of closing an opening between a machining head capable of attaching a tool and a tool holding member capable of holding the tool;
an exchange arm for exchanging tools between the machining head and the tool holding member;
a controller and
the shutter is movable between a first position that closes the opening and a second position that opens the opening;
The exchange arm rotates about a first axis and is movable from a tool mounting position for mounting a tool on the processing head to a standby position where it does not interfere with the shutter at the first position,
The method of operation includes:
a first receiving step in which the controller receives a first signal indicative of the position of the shutter;
a second receiving step in which the controller receives a second signal indicating the rotation angle of the exchange arm;
an exchange arm moving step of moving the exchange arm from the tool mounting position to the standby position;
a shutter moving step of moving the shutter from the second position to the first position;
The shutter moving step is started before the replacement arm moving step is completed,
The shutter moving step determines whether or not the rotation angle of the exchange arm reaches a predetermined retraction angle when the shutter reaches a predetermined third position based on the first signal and the second signal. Having a determination step of determining
In the determination step, when it is determined that the rotation angle of the replacement arm has not reached the predetermined retraction angle, the control device performs shutter stop processing to stop the shutter at a position that does not interfere with the replacement arm. How the tool changer operates.

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