JP2023026158A - Processing device, processing device control method, and program - Google Patents

Abstract

To suppress lengthening of a processing time by a processing device.SOLUTION: In an exchange operation for exchanging a tool gripped on a spindle with any tool of a plurality of tools stored in a tool magazine, the following two modes can be selectively executed. Firstly, in a first mode, after the exchanged tool is gripped by the spindle, a tip of the tool gripped on the spindle is detected by a touch sensor, and thereafter, processing is started by use of the tool. In a second mode, after the exchanged tool is gripped by the spindle, processing is started by use of the tool without performance of detection of the tip of the tool gripped on the spindle by the touch sensor.SELECTED DRAWING: Figure 4

Description

The present invention relates to a processing apparatus capable of processing an object to be processed, a method of controlling the processing apparatus, and a program.

2. Description of the Related Art Conventionally, as a processing device, there has been known a device that performs cutting on an object to be processed (work) by rotating a spindle to which a tool is attached. As such a processing apparatus, a configuration is known in which a touch sensor detects a tool when exchanging a tool to be attached to a spindle with a tool stored in a tool magazine (for example, Patent Document 1).

WO2016/203569

Here, if the tool is detected by the touch sensor as described in Patent Document 1 every time the tool is replaced, the processing time of the processing apparatus becomes long.

The machining apparatus of the present invention comprises a spindle capable of gripping a tool, a tool magazine storing a plurality of tools, tip detection means capable of detecting the tip of the tool gripped by the spindle, the spindle, the tool magazine, and A case for housing the leading end detecting means and a tool gripped by the spindle in a replacement operation for replacing the tool held by the spindle with one of a plurality of tools stored in the tool magazine, wherein the replaced tool is gripped by the spindle a first mode in which the tip of the tool gripped by the spindle is detected by the tip detection means and then machining is started using the tool; and a control means capable of selectively executing a second mode in which machining using the tool is started without detecting the tip of the tool gripped by the spindle by the detection means. and

A method of controlling a processing apparatus according to the present invention includes a spindle capable of gripping a tool, a tool magazine storing a plurality of tools, tip detection means capable of detecting the tip of the tool gripped by the spindle, and the spindle. , and a housing that houses the tool magazine and the tip detection means, wherein the tool to be gripped by the spindle is any one of a plurality of tools stored in the tool magazine. In the exchanging operation for exchanging the tool, after the exchanged tool is gripped by the spindle, the tip of the tool gripped by the spindle is detected by the tip detection means, and then machining is started using the tool. 1 mode, and a second mode in which after the exchanged tool is gripped by the spindle, machining using the tool is started without detecting the tip of the tool gripped by the spindle by the tip detection means, and executing the selected first mode or second mode.

A method of controlling a processing apparatus according to the present invention includes a spindle capable of gripping a tool, a tool magazine storing a plurality of tools, tip detection means capable of detecting the tip of the tool gripped by the spindle, and the spindle. a housing for housing the tool magazine and the tip detection means; a sensor for confirming that the tools stored in the tool magazine have not been replaced; In the exchanging operation for exchanging the tool with any one of the plurality of tools, after the exchanged tool is gripped by the spindle, the tip detecting means detects the tip of the tool gripped by the spindle, a first mode in which machining is started using the tool; and a second mode for starting machining, comprising: executing the first mode or the second mode according to a detection result of the sensor. Characterized by

ADVANTAGE OF THE INVENTION According to this invention, it can suppress that processing time by a processing apparatus becomes long.

1 is an external perspective view of a processing apparatus according to an embodiment; FIG. 1 is a perspective view of a processing device according to an embodiment; FIG. FIG. 2 is a control block diagram in the processing device according to the embodiment; 4 is a flowchart of a tool replacement operation according to the embodiment;

An embodiment will be described with reference to FIGS. 1 to 4. FIG. First, the overall configuration of the processing apparatus 100 of this embodiment will be described with reference to FIGS. 1 and 2. FIG.

[Processing equipment]
FIG. 1 is an external perspective view of a processing apparatus 100 according to this embodiment. As shown in FIG. 1, the processing apparatus 100 accommodates a processing apparatus main body in an exterior cover 101 as a housing. That is, the exterior cover 101 has a spindle, a tool magazine, etc., which will be described later, arranged therein, and forms a machining space for tools. The exterior cover 101 is provided with an opening/closing door 102 that can be opened and closed. The opening/closing door 102 is opened to allow access to the inside of the housing, that is, to the machining space, and allows workpieces to be exchanged and tools to be manually exchanged. Further, the opening/closing door 102 is closed during processing of the workpiece.

The opening/closing door 102 is provided with a translucent window 103 . An opening/closing rod 104 is connected to a portion of the opening/closing door 102 where the window 103 is not provided. A tray 105 is provided below the translucent window 103 . Further, the opening/closing of the opening/closing door 102 is detected by an opening/closing detection sensor 110 as opening/closing detection means. The opening/closing detection sensor 110 is provided with a magnet 111 provided on one of the opening/closing door 102 and the main body portion 106 of the outer cover 101, and on the other side of the opening/closing door 102 and the main body portion 106, and detects when the opening/closing door 102 is closed. and a magnetic sensor 112 as a magnetic detection means capable of detecting the magnetism of the magnet 111 . In this embodiment, a magnet 111 is provided on the door 102 side, and a magnetic sensor 112 is provided on the main body 106 side. Note that the opening/closing detection sensor for detecting opening/closing of the opening/closing door 102 may have any configuration other than such a configuration as long as it can detect opening/closing of the opening/closing door 102 . For example, an electrical contact may be provided for each of the opening/closing door 102 and the main body 106 so that the opening/closing door 102 is closed when the opening/closing door 102 is closed. Therefore, the flag may be detected by a photointerrupter.

As shown in FIG. 2, the processing apparatus 100 includes a frame 1 as a moving mechanism support member, a first moving mechanism 10, a second moving mechanism 20, and a third moving mechanism 30 supported by the frame 1, respectively, and an object to be processed. A support mechanism 40 that supports a workpiece W as an object, a first rotation mechanism (rotation device) 50 and a second rotation mechanism 60 as rotating means capable of rotating the support mechanism 40, a tool magazine 70, and an electrical unit 80. and A moving device 200 as moving means for relatively moving a main shaft 11 and a holding device 41, which will be described later, in three axial directions of X, Y, and Z by means of a first moving mechanism 10, a second moving mechanism 20, and a third moving mechanism 30. configure.

The frame 1 is mounted on a base 2 having a cavity inside, and as shown in FIG. 4. In this embodiment, the first frame portion 3 is arranged along the vertical direction, and the second frame portion 4 is arranged along the horizontal direction.

The first moving mechanism 10 is supported by the first surface 3a of the first frame portion 3 of the frame 1 via the second moving mechanism 20, and rotates the main shaft 11 in the Z-axis direction (vertical direction, first direction). It is movable. A tool 12 is detachably attached to the spindle 11 via a tool holder. That is, the spindle 11 can grip the tool 12 . The spindle 11 is rotationally driven by a motor 13 . The first moving mechanism 10 has a motor 14 and a guide shaft (not shown) arranged in the Z-axis direction. By driving the motor 14, the main shaft 11 is reciprocated (lifted and lowered) in the Z-axis direction along the guide shaft. ). The main shaft 11 is movably supported by a guide shaft via a Z-axis support member (not shown). The guide shaft and Z-axis support member are covered with a cover 17 .

The second moving mechanism 20 is supported on the first surface 3a of the first frame portion 3 of the frame 1, and moves the first moving mechanism 10 in the X-axis direction (horizontal direction, second direction) perpendicular to the Z-axis direction. The main shaft 11 can be moved together with . The second moving mechanism 20 has a motor 21 and a guide shaft (not shown) arranged in the X-axis direction, and driven by the motor 21 reciprocates the first moving mechanism 10 along the guide shaft in the X-axis direction. move.

The third moving mechanism 30 is supported on the second surface 4a of the second frame portion 4 of the frame 1, and supported in the Y-axis direction (horizontal direction, third direction) orthogonal to the Z-axis direction and the X-axis direction. Mechanism 40 is movable. The third moving mechanism 30 has a motor (not shown) and a guide shaft (not shown) arranged in the Y-axis direction, and the motor drives the support mechanism 40 to reciprocate along the guide shaft in the Y-axis direction. move.

The third moving mechanism 30 also includes a support plate portion 31 that supports the second rotation mechanism 60, and the support plate portion 31 reciprocates along the guide shaft in the Y-axis direction. As shown in FIG. 2, the support mechanism 40 side of the gantry 2 in the Y-axis direction is open. The third moving mechanism 30 can move the support mechanism 40 in the Y-axis direction together with the second rotating mechanism 60 and the first rotating mechanism 50, as will be described later in detail.

The support mechanism 40 supports a work W as an object to be cut by the tool 12, such as a dental prosthesis. Such a support mechanism 40 has a holding device 41 as a holding portion that holds the work W, and both ends thereof are connected to the rotating portions 51 of the first rotating mechanism 50, respectively, and supports the work W via the holding device 41. and a support portion 42 .

The first rotation mechanism 50 as a rotation device can rotate the support mechanism 40 about the a-axis as a rotation axis orthogonal to the Z-axis direction. In this embodiment, the a-axis is parallel to the X-axis direction. Such a first rotating mechanism 50 has a support frame 53 that rotatably supports the rotating parts 51 and 52 and a motor that drives the rotating part 51 to rotate. The support frame 53 is formed in a substantially U-shape so as to surround the periphery of the support mechanism 40, and includes a first support portion 53a that supports the motor and the rotating portion 51 on one side (driving side) and the other side (driven side). and a connecting portion 53c connecting the first supporting portion 53a and the second supporting portion 53b.

The rotating portion 51 supported by the first support portion 53a and the rotating portion 52 supported by the second support portion 53b are arranged so as to face each other in the a-axis direction and rotatably around the a-axis as the rotation axis. It is Both ends of the support mechanism 40 in the a-axis direction are supported by the rotating parts on both sides. Thereby, the first rotation mechanism 50 supports the support mechanism 40 so as to be rotatable about the a-axis (X-axis).

The first rotating mechanism 50 can rotate at least 180 degrees and can turn over the workpiece W supported by the supporting mechanism 40 . In this embodiment, the first rotation mechanism 50 can rotate the support mechanism 40 by 360° around the a-axis. Since the extension of the a-axis passes through the center of the work W in the thickness direction supported by the support mechanism 40, the distance from the a-axis, which is the central axis of rotation, to the front surface is the same as the distance from the a-axis to the back surface. be. Therefore, even if the work W is turned upside down, the positional relationship between the center of the work W in the thickness direction and the tool 12 does not change.

The second rotating mechanism 60 can rotate the support mechanism 40 about the Z-axis direction and the b-axis as another rotating axis orthogonal to the a-axis. In this embodiment, the b-axis is parallel to the Y-axis direction. Such a second rotating mechanism 50 has a rotating portion to which the support frame 53 of the first rotating mechanism 50 is attached, and a motor that rotates the rotating portion. The rotating part is attached to the connecting part 53c of the support frame 53, and can rotate the support frame 53 around the b-axis by being rotationally driven by the motor. Therefore, the second rotation mechanism 60 supports the support mechanism 40 together with the first rotation mechanism 50 so as to be rotatable around the b-axis (Y-axis).

A tool magazine 70 as a tool holding section can store a plurality of tools, is arranged adjacent to the first rotating mechanism 50, and is supported by a supporting member, which is a supporting plate portion of the third moving mechanism 30. 31 supported. Therefore, the tool magazine 70 can be moved in the Y-axis direction together with the support mechanism 40 and the like by the third moving mechanism 30 . However, even if the support mechanism 40 rotates about the a-axis, the tool magazine 70 does not rotate, and even if the support mechanism 40 rotates about the b-axis, the tool magazine 70 does not rotate. That is, the tool magazine 70 is supported by the support plate portion 31 so as to maintain a predetermined posture even when the support mechanism 40 rotates about the a-axis and the b-axis. The tool magazine 70 can be moved in the Y-axis direction together with the support mechanism 40 and the like by the third moving mechanism 30 .

In the tool magazine 70, a plurality of types of tools each formed integrally with the tool holder 12a are held and arranged in a plurality of rows along the Y-axis direction. Also, the tool attached to the spindle 11 can be replaced. The tool holder 12a is a portion held by the spindle 11, and may be formed integrally with the tool or may be formed separately. In this embodiment, the tool 12 is attached to a tool holder 12a with a chuck, and a chuck portion for holding the tool of the spindle 11 holds the tool holder 12a via the tool holder 12a. However, the tool may be attached directly to the spindle 11. The tool may be exchanged by an operator or automatically by the processing apparatus 100 . In this embodiment, the tool is automatically gripped and released by the spindle 11 in order to automatically replace the tool.

When the tool is automatically replaced, the second moving mechanism 20 and the third moving mechanism 30 move the empty space of the tool magazine 70 where no tools are placed below the spindle 11 . In other words, the spindle 11 is moved relative to the tool magazine 70 on the XY plane. Then, the spindle 11 is lowered (moved in the Z-axis direction) by the first moving mechanism 10, and a detachable device such as a chuck provided on the spindle 11 is operated to remove the tool 12 attached to the spindle 11. are placed in the empty space of the tool magazine 70. Next, the first moving mechanism 10 raises the spindle 11, and the second moving mechanism 20 and the third moving mechanism 30 move the position of the tool magazine 70 where the tool 12 to be replaced is arranged below the spindle 11. Then, the spindle 11 is lowered again by the first moving mechanism 10, and the tool 12 to be replaced is attached to the spindle 11 by operating the attachment/detachment device. Note that the tool 12 is, for example, a drill or an end mill.

In this embodiment, before and after the tool is stored or taken out, the tip of the tool 12 gripped by the spindle 11 is brought into contact with a touch sensor 96 as tip detection means capable of detecting the tip of the tool 12. , an operation is performed to confirm whether or not the tool 12 is gripped. That is, when the tool 12 is gripped by the spindle 11 using the touch sensor 96 in the exchange operation for replacing the tool gripped by the spindle 11 with one of the plurality of tools stored in the tool magazine 70, the tool 12 is gripped by the spindle 11. It is possible to execute an operation to check whether or not there is. At this time, the Z-direction center (a-axis) of the workpiece and the tip of the tool are aligned. The touch sensor 96 is provided at a position adjacent to the tool magazine 70, as shown in FIG. In particular, in this embodiment, the touch sensor 96 is arranged on the second support portion 53b that supports the rotating portion 52 on the driven side. A detailed description of the tool changing operation will be given later.

The electrical unit 80 is attached inside the frame 1 . In other words, the electrical unit 80 is arranged on the opposite side of the first surface 3 a of the first frame portion 3 and on the opposite side of the second surface 4 a of the second frame portion 4 . Such an electrical unit 80 controls the processing apparatus 100, and calculates the pulses to be output to the motors from the signals of the rotary encoders of the corresponding motors and the control board that controls the driving of the motors of the main axis and each axis. , each having a plurality of control units that appropriately control the rotation of the corresponding motors.

Moreover, the processing apparatus 100 of this embodiment is an NC processing apparatus that performs automatic processing under computer control. Specifically, machining data is created by a CAD/CAM system using an external terminal such as a personal computer, and the workpiece W is machined by numerical control based on this data. For this purpose, the processing apparatus 100 is connected to an external terminal such as a personal computer that issues commands to the processing apparatus 100 . The processing apparatus 100 itself may be provided with a computer equipped with a CPU and a memory capable of numerical control. Control means, which will be described later, may be provided in either the processing device or a computer connected to the processing device.

For example, when creating a dental prosthesis with the processing apparatus 100, the data of the dental prosthesis measured by the three-dimensional measuring device is transferred to the CAD/CAM system, and processing data is created by the CAD/CAM system. Then, based on this processing data, the processing apparatus 100 is controlled to cut the workpiece W with the tool 12, thereby producing a dental prosthesis.

Next, a control configuration within the electrical unit 80 will be described with reference to FIG. The electrical unit 80 includes a CPU 85 as control means, an input/output port (I/O) 86i, control units 84x, 84y, and 84z for each motor, a main axis control unit 84c, an a-axis control unit 84a, and a b-axis control unit. 84b and the like. The CPU 85 performs various calculations using the memory 86m based on the input data and signals, and instructs the connected control units 84x, 84y, 84z, 84a, 84b, and 84c as servo amplifiers of the number of revolutions and positions. to send.

The I/O 86i is connected to the air blower 87, the dust collector 88, and the touch sensor 96 of the processing machine body. The air blow section 87 blows air onto the tool 12 attached to the spindle 11 to cool the tool 12 and remove chips adhering to the tool 12 . In addition, foreign matter such as chips removed from the tool 12 and chips present in the first rotating mechanism 50 as the work holding device after machining are sucked from the chip suction part 89 provided in the work holding device, and dust is collected. Collected by device 88 . A touch sensor (tool length sensor) 96 as tip detection means is used to confirm whether or not the tool 12 is gripped by the spindle 11 during the tool changing operation, as described above. Additionally, the length of tool 12 is detected and signaled to CPU 85 .

Motor controllers 84 x , 84 y and 84 z provided in the CPU 85 drive the X, Y and Z motors based on commands from the CPU 85 . The motors 21, 32 and 14 are provided with encoders 21a, 32a and 14a as position detection means, respectively. The encoders 21a, 32a, and 14a detect, for example, the number of rotations, the rotation angle, and the rotation direction of the rotation shafts of the motors 21, 32, and 14, respectively. Then, by driving the motors 21, 32, and 14, the actual movement amounts of the stages x, y, and z (actual positions, relative positions of the main shaft 11 to the holding device 41) are detected.

The main shaft control unit 84c controls a motor (not shown) that rotates the main shaft 11 to control the rotation speed of the main shaft (spindle). The a-axis and b-axis control units 84 a and 84 b drive the a-axis and b-axis motors 54 and 62 based on commands from the CPU 85 . These motors 54 and 62 are also provided with encoders 54a and 62a, and the rotation angles of the support mechanism 40 about the a-axis and the b-axis can be detected.

By controlling each part of the processing apparatus 100 by the CPU 85 in this manner, the workpiece W held as described above is processed in a predetermined manner. Each operation and process to be described later are executed by the CPU 85 developing a program in a storage means such as the memory 86m.

[Tool change operation]
As described above, in this embodiment, the touch sensor 96 is used to replace the tool gripped by the spindle 11 with one of the plurality of tools stored in the tool magazine 70 . 11 can perform an operation to check whether the tool 12 is gripped. That is, in the replacement operation, the CPU 85 detects the tip of the tool 12 gripped by the spindle 11 by the touch sensor 96 after gripping the replaced tool 12 by the spindle 11, and then starts machining using the tool 12. It is possible to execute a first mode to After returning the tool 12 gripped by the spindle 11 to the tool magazine 70 , the CPU 85 performs an operation to confirm whether or not the tool 12 is gripped by the spindle 11 using the touch sensor 96 .

Specifically, in the replacement operation, the spindle 11 and the tool magazine 70 are relatively moved so that the position where the tool 12 to be replaced in the tool magazine 70 is located below the spindle 11 . Then, after the main spindle 11 is lowered and the tool 12 to be replaced with the main spindle 11 is gripped, the main spindle 11 is raised. Next, the support mechanism 40 provided with the main shaft 11 and the touch sensor 96 is relatively moved so that the touch sensor 96 is positioned below the main shaft 11 . Then, the spindle 11 is lowered to bring the tip of the tool 12 gripped by the spindle 11 into contact with the touch sensor 96 . With this operation, if the tool 12 is gripped by the spindle 11 , the tip of the tool 12 contacts the touch sensor 96 , so that it can be confirmed that the tool 12 is gripped by the spindle 11 . Also, at this time, the length of the tool 12 from the Z-axis position of the spindle 11, that is, the tool length can be measured. After the touch sensor 96 confirms that the tool 12 is gripped by the spindle 11, the tool 12 is used to start machining.

On the other hand, when returning the tool 12 gripped by the spindle 11 to the tool magazine 70 , the spindle 11 and the tool are moved so that an empty space for storing the tool 12 in the tool magazine 70 is positioned below the spindle 11 . The magazine 70 is relatively moved. Then, the spindle 11 is lowered, the tool 12 is inserted into the empty space, and the chuck of the spindle 11 is released. After that, the main shaft 11 is raised, and the support mechanism 40 provided with the main shaft 11 and the touch sensor 96 is relatively moved so that the touch sensor 96 is positioned below the main shaft 11 . Then, the spindle 11 is lowered toward the touch sensor 96 . At this time, if the tool 12 is still gripped by the spindle 11 , the tip of the tool 12 contacts the touch sensor 96 , so that it is detected that the tool 12 has not come off the spindle 11 . On the other hand, if nothing touches the touch sensor 96 even when the spindle 11 is lowered by a predetermined amount, it can be determined that the tool 12 has come off the spindle 11 with certainty.

In this manner, when the tool 12 is to be replaced, the touch sensor 96 is used to confirm whether or not the tool is gripped by the spindle 11 . In particular, during the exchange operation, after the replaced tool 12 is gripped by the spindle 11, the touch sensor 96 detects the tip of the tool 12 gripped by the spindle 11. This is because there is a possibility of forgetting to place the tool 12 in the The processing apparatus 100 operates by executing the numerical control program as described above, and during this operation, the tool 12 may be replaced according to the program. At this time, the position where the tool 12 is stored in the tool magazine 70 is determined in advance, and the CPU 85 relatively moves the spindle 11 and the tool magazine 70 assuming that the tool is at this position. However, if the user forgets to put the tool 12 in the position or puts the tool in the wrong position, the tool 12 cannot be gripped by the spindle 11 even if the replacement operation is performed. Therefore, in order to confirm whether or not the tool 12 is actually gripped by the spindle 11, after gripping the spindle 11 and before starting the descent, the touch sensor 96 is used for confirmation as described above. there is

Here, when a certain tool 12 is replaced for the first time, confirmation by the touch sensor 96 is performed. Problems are unlikely to occur even if confirmation by the touch sensor 96 is not performed in the operation. That is, if it can be confirmed that the tool 12 has been gripped by the spindle 11 during the first exchange operation, the tool 12 has not been forgotten in the tool magazine 70 and is stored in the correct position in the tool magazine 70. It can be confirmed that Since the user cannot access the machining space unless the opening/closing door 102 is opened, the tools in the tool magazine 70 cannot be exchanged. , and the storage location of the tool magazine 70 does not change. Therefore, in this embodiment, as will be described later in detail, when the same tool is replaced after the second time and the open/close door 102 is kept closed from the previous replacement operation to the current replacement operation for the same tool. , the confirmation by the touch sensor 96 can be omitted.

On the other hand, confirmation by the touch sensor 96 after returning the spindle 11 to the tool magazine 70 is not omitted for the following reasons. That is, after the tool 12 is released from the spindle 11, the touch sensor 96 is used to check whether the tool is attached to the spindle 11. This is because the tool 12 cannot be released because a foreign object is caught between the spindle 11 and the tool 12. This is because there may not be. Since the pinching of foreign matter is affected by the machining situation and the cleaning situation, and the timing of occurrence is not fixed, in this embodiment, the checking operation by the touch sensor 96 after returning the spindle 11 to the tool magazine 70 is not omitted. .

[First Mode and Second Mode]
In this embodiment, as described above, the CPU 85 detects the tip of the tool 12 gripped by the spindle 11 by the touch sensor 96 after gripping the replaced tool 12 by the spindle 11 in the tool 12 replacement operation. , a first mode in which machining is started using the tool 12 can be executed. In addition to this, in the tool 12 replacement operation, the CPU 85 does not detect the tip of the tool 12 gripped by the spindle 11 by the touch sensor 96 after gripping the replaced tool 12 by the spindle 11 . A second mode of starting machining with 12 can be implemented. That is, the CPU 85 can selectively execute the first mode and the second mode in the tool 12 replacement operation.

A specific operation when executing the second mode will be described. First, in the exchange operation, the spindle 11 and the tool magazine 70 are relatively moved so that the position of the tool magazine 70 where the tool 12 to be exchanged is located below the spindle 11 . Then, after the main spindle 11 is lowered and the tool 12 to be replaced with the main spindle 11 is gripped, the main spindle 11 is raised. After that, the machining is started using the tool 12 without performing the confirmation operation by the touch sensor 96 . In order to confirm that the tool 12 is gripped by the spindle 11 when the second mode is executed, the spindle 11 and the touch sensor 96 are provided so that the touch sensor 96 is positioned below the spindle 11. It is possible to omit a series of operations such as relatively moving the supported support mechanism 40 and lowering the main shaft 11 to bring the tip of the tool 12 gripped by the main shaft 11 into contact with the touch sensor 96 . As a result, the time required from gripping the tool 12 to the spindle 11 to starting the descent can be shortened compared to the first mode, and the machining time can be shortened.

[Selection part]
In this embodiment, as shown in FIG. 3, a selection unit 120 is provided as selection means capable of selecting either the first mode or the second mode. The selection unit 120 is, for example, a program that enables mode selection by an external terminal such as a personal computer connected to the processing apparatus 100 . For example, the user selects the second mode by checking a check box for selecting the second mode displayed on the screen of the personal computer, and selects the first mode by unchecking the check box. be. Note that the selection unit 120 is a physical switch such as an operation button provided in the processing apparatus 100, or if the processing apparatus 100 has an operation screen, even if it is a soft switch that can be selected on the operation screen. good.

[Control of exchange operation]
In this embodiment, when the same tool 12 is replaced for the second time or later, and the opening/closing door 102 remains closed from the previous replacement operation to the same tool 12 until the current replacement operation, the CPU 85 performs the current replacement operation. A second mode can be executed in the exchange operation of the . That is, when the tool 12 is replaced for the first time, the confirmation operation is performed by the touch sensor 96, and from this confirmation operation, the open/close door 102 cannot be opened. When performing the replacement operation, it is considered that there is no problem even if the confirmation operation by the touch sensor 96 is not performed. For this reason, in the present embodiment, it is possible to execute the second mode in which the confirmation operation by the touch sensor 96 is not performed during the replacement operation.

Further, in this embodiment, mode selection is possible by the selection unit 120 as described above. Therefore, the CPU 85 executes the second mode when the selector 120 selects the second mode in addition to the above conditions. That is, in this embodiment, the second mode is executed when the following three conditions are satisfied. First, the first condition is that the current replacement operation is the second or subsequent replacement operation for the same tool 12 . The second condition is that the opening/closing door 102 remains closed from the previous replacement operation for the same tool 12 to the current replacement operation. A third condition is a condition that the second mode is selected by the selection unit 120 .

On the other hand, when the first mode is selected by the selection unit 120, the CPU 85 performs the opening and closing operation from the previous replacement operation to the current replacement operation for the same tool 12 in the second and subsequent replacement operations for the same tool 12. The first mode is executed even if the door 102 remains closed. In other words, if at least one of the first to third conditions described above is not satisfied, the first mode is executed in the current replacement operation.

In the case of a configuration without the selection unit 120, if the first condition and the second condition are satisfied, the second mode is executed, and if at least one of the first condition and the second condition is not satisfied, the second mode 1 mode may be executed. In this embodiment, it is confirmed that the tool has not been replaced by the user or the like using the sensor on the opening/closing door. etc., and a sensor for confirming that the tool has not been replaced may be used. A magnetic sensor can also be used if the tool magazine is constructed of a non-magnetic material and the tools are constructed of a magnetic material.

Moreover, in this embodiment, it is sufficient to reduce the number of times of confirmation of tool attachment, and confirmation of tool attachment may be performed a certain number of times or under certain conditions just in case. That is, when the replacement operation in the second mode is performed a predetermined number of times while the open/close door 102 is closed, the CPU 85 determines that even if the selection unit 120 selects the second mode, the next replacement operation is performed. You may make it perform a 1st mode in operation. For example, if the same tool 12 is replaced five times or more with the opening/closing door 102 closed, the next replacement operation for the same tool 12 will be performed even if the first to third conditions are satisfied. Mode may be executed, and confirmation operation may be performed by the touch sensor 96 just in case. In addition, when the material of the workpiece is resin or when specific conditions such as a long processing time are satisfied, there is a possibility that a foreign object may be caught between the spindle 11 and the tool 12. Even if the conditions are satisfied, the frequency of executing the first mode may be increased. For example, if a specific condition is not met, the first mode is executed when the same tool 12 is replaced five times or more with the opening/closing door 102 closed, whereas the specific condition is met. In some cases, the first mode may be executed when the same tool 12 is changed three times or more while the opening/closing door 102 is closed.

Next, an example of the control flow of the replacement operation of the tool 12 of this embodiment will be described with reference to FIG. When the tool 12 replacement operation is executed according to the program, the CPU 85 sets the spindle 11 and the tool magazine 70 so that the position where the tool 12 to be replaced is arranged in the tool magazine 70 below the spindle 11 as described above. Then, the spindle 11 is lowered to grip the tool 12 to be replaced with the spindle 11 (S1). Next, the CPU 85 confirms whether or not the opening/closing door 102 has been closed during the processing by the program (S2). If the opening/closing door 102 has been opened even once (N in S2), the attachment of the tool to the spindle 11 is confirmed by the touch sensor 96 (S3). That is, the first mode is executed. It should be noted that the fact that the opening/closing door 102 is opened and the timing of the opening are stored in the memory 86m.

On the other hand, in S2, if the opening/closing door 102 has never been opened during machining (Y in S2), it is confirmed whether or not the gripped tool 12 is the same tool that has been replaced for the second time or later (S4). . If the same tool is not replaced for the second time or later, for example, if the gripped tool 12 is different from the tool 12 that was replaced while the open/close door 102 was closed, or if the tool 12 is replaced for the first time. Then (N in S4), the attachment of the tool to the spindle 11 is confirmed by the touch sensor 96 (S3).

In S4, if the same tool is replaced for the second time or later (Y in S4), the state of mode selection by the selector 120 is checked (S5). That is, it is checked whether the second mode is set, in other words, whether the same tool 12 is set not to be checked by the touch sensor 96 after the second time. If the first mode is selected in S5 (N in S5), the attachment of the tool to the spindle 11 is confirmed by the touch sensor 96 (S3). On the other hand, if the second mode is selected in S5, if the setting is such that the same tool is not checked for the second time or later (Y in S5), machining with that tool 12 is started (S6). That is, the second mode is executed.

After finishing the machining with the tool 12, the tool 12 is returned to the tool magazine 70 (S7). Then, it is confirmed by the touch sensor 96 whether or not the tool is gripped by the spindle 11, that is, whether the tool is released from the spindle 11 (S8).

It should be noted that the order of confirmation of S2, S4, and S5 described above may be other than the flow described above, and the order may be changed as appropriate. The point is that the second mode should be executed when all three conditions are met.

As described above, in the case of this embodiment, when the same tool 12 is exchanged, the second mode is executed when the above three conditions are satisfied. As a result, the number of confirmation operations performed by the touch sensor 96 can be reduced, and an increase in the processing time of the processing device can be suppressed.

[Other embodiments]
The present invention may be a program that causes a computer to function as control means for the processing apparatus 100 described above. In other words, it may be a program that causes a computer to execute control for causing the processing apparatus 100 to perform the operations described in each of the embodiments described above. Further, the present invention may also be a control method for a processing apparatus that performs the control of the above-described embodiments. For example, the control method includes a step of selecting either the first mode or the second mode (selection step) and a step of executing the selected first mode or second mode (execution step). can be As a control method, the first mode or the second mode is selected according to the detection result of the sensor for confirming that the tools stored in the tool magazine such as the opening/closing detection sensor 110, the area sensor, and the camera have not been replaced. It may have a step of executing two modes.

DESCRIPTION OF SYMBOLS 11... Spindle 12... Tool 41... Holding device (holding part)
70... Tool magazine 85... CPU (control means)
96... Touch sensor (tip detection means)
100 processing device 101 exterior cover (casing)
102 Open/close door 110 Open/close detection sensor (open/close detection means)
111... Magnet 112... Magnetic sensor (magnetic detection means)
120 Selection unit (selection means)
200... Moving device (moving means)
W ... work (object to be processed)

Claims (11)

a spindle capable of gripping a tool;
a tool magazine for storing a plurality of tools;
tip detection means capable of detecting the tip of the tool gripped by the spindle;
a housing that houses the spindle, the tool magazine, and the tip detection means;
In the exchanging operation for exchanging the tool held by the spindle with any one of the plurality of tools stored in the tool magazine,
a first mode in which after the replaced tool is gripped by the spindle, the tip of the tool gripped by the spindle is detected by the tip detection means, and then machining is started using the tool;
a second mode in which after the replaced tool is gripped by the spindle, machining using the tool is started without detecting the tip of the tool gripped by the spindle by the tip detecting means; and executable control means. an openable/closable door provided in the housing, the door allowing access to the inside of the housing in an opened state;
and an opening/closing detection means for detecting opening/closing of the opening/closing door,
If the opening/closing door remains closed from the previous replacement operation to the current replacement operation for the same tool in the second and subsequent replacement operations for the same tool, the control means controls the current replacement operation. The processing apparatus according to claim 1, wherein the second mode can be executed in the replacement operation. comprising selection means capable of selecting either the first mode or the second mode;
The control means controls the second and subsequent replacement operations for the same tool, and when the open/close door remains closed from the previous replacement operation for the same tool to the current replacement operation for the same tool, 3. The processing apparatus according to claim 2, wherein said second mode is executed when said second mode is selected by a selection means. When the first mode is selected by the selection means, the control means controls, in the second and subsequent replacement operations for the same tool, the replacement operation for the same tool from the previous replacement operation to the current replacement operation for the same tool. 4. The processing apparatus according to claim 3, wherein the first mode is executed even when the opening/closing door remains closed until operation. If the replacement operation in the second mode is performed a predetermined number of times with the openable/closable door closed, even if the second mode is selected by the selection means, 5. The processing apparatus according to claim 3, wherein the first mode is executed in the subsequent replacement operation. The opening/closing detection means includes a magnet provided on one of the opening/closing door and the housing, and a magnet provided on the other of the opening/closing door and the housing. 6. The processing apparatus according to any one of claims 2 to 5, further comprising magnetic detection means capable of detecting the . After the tool held by the spindle is returned to the tool magazine, the control means performs an operation to confirm whether or not the tool is held by the spindle by the tip detecting means. The processing apparatus according to any one of claims 1 to 6. a holding part that holds an object to be machined by the tool;
moving means for relatively moving the main shaft and the holding portion in three axial directions of X, Y, and Z;
The processing apparatus according to any one of claims 1 to 7, wherein the tool magazine is arranged at a position adjacent to the holding portion. A program that causes a computer to function as the control means of the processing apparatus according to any one of claims 1 to 8. a spindle capable of gripping a tool;
a tool magazine for storing a plurality of tools;
tip detection means capable of detecting the tip of the tool gripped by the spindle;
A control method for a processing apparatus comprising a housing that houses the spindle, the tool magazine, and the tip detection means,
In the exchanging operation for exchanging the tool gripped by the spindle with one of the plurality of tools stored in the tool magazine, after the replaced tool is gripped by the spindle, the tool is moved to the spindle by the tip detecting means. A first mode in which machining is started using the tool after the tip of the gripped tool is detected; a step of selecting either a second mode in which machining using the tool is started without detecting the tip;
and a step of executing the selected first mode or second mode. a spindle capable of gripping a tool;
a tool magazine for storing a plurality of tools;
tip detection means capable of detecting the tip of the tool gripped by the spindle;
a housing that houses the spindle, the tool magazine, and the tip detection means;
a sensor for confirming that the tools stored in the tool magazine have not been replaced;
In the exchanging operation for exchanging the tool gripped by the spindle with one of the plurality of tools stored in the tool magazine, after the replaced tool is gripped by the spindle, the tool is moved to the spindle by the tip detecting means. a first mode in which the tip of the gripped tool is detected and then machining is started using the tool;
a second mode in which, after the replaced tool is gripped by the spindle, machining using the tool is started without detecting the tip of the tool gripped by the spindle by the tip detecting means. A device control method comprising:
and a step of executing the first mode or the second mode according to a detection result of the sensor.

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