JP2023129068A - Control device and control method - Google Patents

Abstract

To provide a control device and a control method that are able to shorten a working time and prevent positional deviation of a workpiece.SOLUTION: A control device 7 controls a first moving mechanism for moving a workpiece, clamp mechanisms 80, 81 for clamping the first moving mechanism, and a second moving mechanism for moving a tool for machining the workpiece. In the control device, the second moving mechanism includes a shaft length moving mechanism that moves in a shaft length direction of a rotary shaft of the tool. The control device comprises a CPU 70 that determines whether or not a post-operation following an operation of the first moving mechanism is an operation of the shaft length moving mechanism, and executes, when it is determined to be the operation of the shaft length moving mechanism, the operation of the shaft length moving mechanism during an execution of the clamping operation.SELECTED DRAWING: Figure 5

Description

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

A machine tool processes a workpiece held by a holding member using a tool attached to a spindle. When machining a workpiece, the tool or the workpiece is moved by the drive shaft of the machine tool.

Patent Document 1 includes three first drive shafts related to movement of a tool, two second drive shafts related to movement of a workpiece, and a clamp mechanism capable of fixing the second drive shaft. A machine tool that prevents the second drive shaft from shifting due to vibrations, etc. that occur during workpiece processing, by using a clamp mechanism to fix the second drive shaft after the shaft has finished driving, and then processing the workpiece. Disclose.

Japanese Patent Application Publication No. 2001-198772

For example, in the above-mentioned machine tool, after driving one of the second drive shafts, a clamping operation is performed to fix the one of the second drive shafts. By performing the following operations together with other operations, the work time can be shortened.
However, if any other drive shaft is driven before the clamping operation of one second drive shaft is completed, the position of one of the second drive shafts shifts before the clamping operation, and the position of the workpiece also shifts. Problems can occur.
However, the machine tool of Patent Document 1 does not take such problems into consideration and cannot solve them.

An object of the present disclosure is to provide a control device and a control method that can shorten working time and prevent positional displacement of a workpiece.

The control device according to the present invention includes a first moving mechanism for moving a workpiece, a clamp mechanism that clamps the first moving mechanism, and a tool for processing the workpiece or a tool for moving a workpiece different from the first moving mechanism. and a second moving mechanism, wherein the second moving mechanism includes an axial length moving mechanism that moves in the axial length direction of the rotating shaft of the tool, and the post-movement that follows the operation of the first moving mechanism is a determining unit that determines whether or not the axial length moving mechanism is operating; and when the determining unit determines that the axial length moving mechanism is operating, the axial length moving mechanism is not operated during the clamping operation; and an execution unit that executes the execution.

In the present invention, the determination unit determines whether the rear movement is an operation of the axial length movement mechanism, and if the determination unit determines that the rear movement is an operation of the axial length movement mechanism, the second movement is performed after the movement of the first movement mechanism. During the execution of the clamping operation, the execution unit executes an operation of the shaft length moving mechanism that is less likely to cause a shift in the position of the workpiece. Therefore, it is possible to both shorten the working time and prevent the workpiece from shifting.

The control device according to the present invention includes a setting unit that sets a first instruction or a second instruction, and an instruction determining unit that determines whether the setting unit sets the first instruction or the second instruction. The execution unit is configured such that the instruction determination unit determines that the instruction set by the setting unit is the first instruction, and the determination unit determines that the subsequent operation is an operation of the axial length moving mechanism. If so, execution of the operation of the shaft length moving mechanism is started during execution of the clamping operation, and the execution unit determines that the instruction set by the instruction determination unit is the second instruction. In this case, the operation of one of the second moving mechanisms is started while the clamp operation is being performed.

In the present invention, when the instruction determining section determines that the instruction set by the setting section is the first instruction, and the determining section determines that the subsequent operation is an operation of the shaft length moving mechanism, the execution section starts executing the operation of the shaft length moving mechanism while the clamp operation is being executed. Therefore, it is possible to both shorten the working time and prevent the workpiece from shifting.
Further, when the instruction determination section determines that the instruction set by the setting section is the second instruction, the execution section starts executing the operation of one of the second moving mechanisms during execution of the clamp operation. Therefore, it is possible to prioritize reduction of working time.

In the control device according to the present invention, the operation of the axial length moving mechanism and the operation of any of the second moving mechanisms are movements that do not involve machining.

In the present invention, only when the axial length moving mechanism or any second moving mechanism moves, which is a movement that does not involve machining, the execution unit executes the clamping operation in parallel with the workpiece position. If the movement involves machining that is likely to cause misalignment, do not perform it in parallel with the clamping operation. Therefore, displacement of the workpiece can be prevented.

The control device according to the present invention includes a reading unit that reads each block from a plurality of blocks including one or more operations, and the determination unit is configured to read the blocks for each operation with respect to the blocks read by the reading unit. Make a judgment.

In the present invention, the reading unit reads each block from a stored program, and the determining unit determines each block read by the reading unit for each operation. Therefore, it is possible to accurately shorten the working time and prevent the workpiece from shifting.

In the control device according to the present invention, the execution unit executes an operation of the second movement mechanism related to movement of the tool to a machining start position on the workpiece during execution of the clamp operation, and After completion, the second movement mechanism performs an operation related to movement of the tool accompanied by machining of the workpiece.

In the present invention, when the setting section receives the parallel instruction, the execution section executes the operation of the second movement mechanism related to moving the tool to the machining start position on the workpiece in parallel with the clamping operation, and The operation of the second moving mechanism related to the movement of the tool that involves machining is performed after the clamping operation is completed. Therefore, it is possible to both shorten the working time and prevent the workpiece from shifting.

The control method according to the present invention includes a first moving mechanism for moving a workpiece, a clamping mechanism that clamps the first moving mechanism, and an axial length movement that moves in the axial length direction of a rotating shaft of a tool that processes the workpiece. a second movement mechanism for moving a workpiece different from the tool or the first movement mechanism, the control method including a second movement mechanism for moving a workpiece different from the tool or the first movement mechanism, wherein a post-operation following the operation of the first movement mechanism is an operation of the axial length movement mechanism. If it is the operation of the axial length moving mechanism, the axial length moving mechanism is operated while the clamping operation is being performed.

In the present invention, it is determined whether or not the rear movement is an operation of the shaft length movement mechanism, and if it is determined that the rear movement is an operation of the shaft length movement mechanism, after the movement of the first movement mechanism, the clamping operation is being performed. Then, the shaft length moving mechanism is operated in a manner that is less likely to cause a shift in the position of the workpiece. Therefore, it is possible to both shorten the working time and prevent the workpiece from shifting.

According to the present invention, it is possible to provide a control device and a control method that can shorten working time and prevent displacement of a workpiece.

FIG. 2 is a perspective view schematically showing a machine tool. FIG. 3 is a perspective view of the machine tool body. FIG. 2 is a perspective view of the machine tool main body with a part of the machine tool main body omitted. FIG. 2 is a perspective view schematically showing a workpiece holding device. FIG. 2 is a block diagram schematically showing the configuration of main parts of the machine tool. It is a time chart showing a specific example of the operation of the machine tool. It is a time chart showing a specific example of the operation of the machine tool. It is a time chart showing a specific example of the operation of the machine tool. It is a flow chart explaining processing work of a machine tool. It is a flow chart explaining processing work of a machine tool. FIG. 6 is an exemplary diagram showing an example of a setting screen that accepts selection of either the first instruction or the second instruction.

Embodiments of the present invention will be described below based on the drawings.
FIG. 1 is a perspective view schematically showing a machine tool 100. In the following description, the up and down, left and right, and front and rear directions indicated by arrows in the figures will be used. The left and right direction of the machine tool 100 is the X direction, the front and back direction is the Y direction, and the up and down direction is the Z direction.

The machine tool 100 includes a machine tool body 1 (see FIG. 2) and a body cover 10 that covers the machine tool body 1. The main body cover 10 has an operation panel 90 on the front portion that receives user instructions. The machine tool 100 has a control device 7 at the rear of the main body cover 10 that controls the operation of the machine tool 100. FIG. 2 is a perspective view of the machine tool body 1, and FIG. 3 is a perspective view of the machine tool body 1 with a part of the machine tool body 1 omitted.

The machine tool main body 1 includes a pedestal 11, a spindle base 12, and a workpiece base 13. The pedestal 11 has a substantially rectangular parallelepiped shape that is long in the front-rear direction. The main shaft base 12 is located at the rear upper part of the pedestal 11 and has a substantially rectangular parallelepiped shape that is long in the front-rear direction. The dimension of the main shaft base 12 in the front-rear direction is smaller than the dimension of the pedestal 11 in the front-rear direction.

As shown in FIG. 3, on the upper part of the spindle base 12, there are provided two support stands 12a that are long in the front-rear direction and parallel to each other. The support stand 12a supports a rail 20a, which will be described later. Two work bases 13 to which work holding devices 30 are fixed are located at the front upper part of the gantry 11 . The work holding device 30 holds a work (not shown). The two work bases 13 are spaced apart in the left and right direction. Each work base 13 has a columnar shape and includes a support stand 13a and a support stand 13b arranged in the front-rear direction. As shown in FIG. 2, the workpiece holding device 30 is located above the support stand 13a and above the support stand 13b.

The machine tool 100 includes a movement mechanism (second movement mechanism) for moving a tool 25 that processes a workpiece. The movement mechanism includes an X-direction movement device 21, a Y-direction movement device 20, and a Z-direction movement device 23.

A Y-direction moving device 20 is located above the spindle base 12. The Y-direction moving device 20 includes a pair of mutually parallel rails 20a, a plurality of blocks 20b, a Y-direction moving table 20c, a Y-axis motor 20d (see FIG. 5), and a Y-direction ball screw mechanism (not shown). The rail 20a is located above each support stand 12a and extends in the front-rear direction. Each block 20b fits into each rail 20a and is movable in the front-rear direction. The Y-direction moving table 20c is located above each block 20b. The Y-direction ball screw mechanism is provided between the pair of rails 20a such that the screw axis of the Y-direction ball screw mechanism is parallel to the rails 20a. A Y-axis motor 20d is connected to the screw shaft of the Y-direction ball screw mechanism. Hereinafter, the screw axis of the Y-direction ball screw mechanism will also be referred to as the Y-axis. By driving the Y-axis motor 20d, the Y-axis rotates around an axis extending in the front-rear direction. A nut for a Y-direction ball screw mechanism is attached to the lower part of the Y-direction moving table 20c. The nut of the Y-direction ball screw mechanism is connected to the Y-axis. Therefore, by driving the Y-axis motor 20d, the Y-direction moving table 20c moves in the front-back direction together with the block 20b.

An X-direction moving device 21 is located above the Y-direction moving table 20c. The X-direction moving device 21 includes a pair of mutually parallel rails 21a, a plurality of blocks 21b, a column stand 21c, an X-axis motor 21d (see FIG. 5), and an X-direction ball screw mechanism (not shown). The rails 21a are located above the Y-direction moving platform 20c at appropriate intervals in the front-rear direction, and extend in the left-right direction. Each block 21b fits into each rail 21a and is movable in the left and right direction. A column stand 21c is located above each block 21b. The X-direction ball screw mechanism is provided between the pair of rails 21a such that the screw axis of the X-direction ball screw mechanism is parallel to the rails 21a. The X-axis motor 21d is connected to the screw shaft of the X-direction ball screw mechanism. Hereinafter, the screw axis of the X-direction ball screw mechanism will also be referred to as the X-axis. By driving the X-axis motor 21d, the X-axis rotates around an axis extending in the left-right direction.

A nut of the X-direction ball screw mechanism is located at the bottom of the column stand 21c. The nut of the X direction ball screw mechanism is connected to the X axis. A column 22 extending in the vertical direction is provided on the top of the column stand 21c. Therefore, by driving the X-axis motor 21d, the column 22 moves in the left-right direction together with the block 21b and the column stand 21c. By driving the Y-axis motor 20d, the column 22 moves in the front-back direction together with the column stand 21c, the block 21b, the Y-direction moving table 20c, and the block 20b. The column 22 is moved in the front-back direction and the left-right direction by the Y-direction moving device 20 and the X-direction moving device 21.

A Z-direction moving device 23 (axial length moving mechanism) is located at the front of the column 22 . The Z-direction moving device 23 includes a pair of mutually parallel rails 23a, a plurality of blocks 23b, a spindle head stand 23c, a Z-axis motor 23d (see FIG. 5), and a Z-direction ball screw mechanism (not shown). Each rail 23a is located at the front of the column 22 at appropriate intervals in the left-right direction, and extends in the up-down direction. Each block 23b fits into each rail 23a and is movable in the vertical direction. The spindle head stand 23c is located at the front of each block 23b. The Z direction ball screw mechanism is provided between the pair of rails 23a such that the screw axis of the Z direction ball screw mechanism is parallel to the rails 23a. A Z-axis motor 23d is connected to the screw shaft of the Z-direction ball screw mechanism. Hereinafter, the screw axis of the Z-direction ball screw mechanism will also be referred to as the Z-axis. By driving the Z-axis motor 23d, the Z-axis rotates around an axis extending in the vertical direction. A nut for a Z-direction ball screw mechanism is attached to the rear part of the spindle head stand 23c. The nut of the Z direction ball screw mechanism is connected to the Z axis. Therefore, by driving the Z-axis motor 23d, the spindle head stand 23c moves in the vertical direction together with the block 23b.

The spindle head 24 is located at the front of the spindle head stand 23c. The main shaft head 24 rotatably holds a main shaft (not shown) extending in the vertical direction about a shaft extending in the vertical direction. A spindle motor 24a connected to the spindle is located above the spindle head 24. By driving the main shaft motor 24a, the main shaft rotates around an axis extending in the vertical direction. The tool 25 is attached to and detached from the lower end of the main shaft. The control device 7 drives and controls the Y-axis motor 20d, the X-axis motor 21d, and the Z-axis motor 23d, and the spindle head 24 (the spindle and the tool 25) moves in the front-back direction, left-right direction, and up-down direction.

As shown in FIG. 2, a workpiece holding device 30 is arranged below the main shaft. The tool 25 is rotated by the rotation of the main shaft, and processes the workpiece held by the workpiece holding device 30.

FIG. 4 is a perspective view schematically showing the workpiece holding device 30. The work holding device 30 includes a gear box 31, a bearing box 34, a work moving mechanism 37 (first moving mechanism), a swinging body 40, and a rotary table 50. The workpiece moving mechanism 37 includes an A-axis motor 36 and a C-axis motor 60. Further, the work holding device 30 includes a clamp mechanism for fixing the A-axis and the C-axis. The clamp mechanism includes an A-axis clamp operation mechanism 80 and a C-axis clamp operation mechanism 81, which will be described later.

The gear box 31 accommodates a shaft portion 41 disposed on the right side of the rocking body 40, and supports the shaft portion 41 so as to be rotatable around an axis extending in the left-right direction. The shaft portion 41 has a cylindrical shape. The rotation axis of the shaft portion 41 extends in the left-right direction. Hereinafter, the rotation axis of the shaft portion 41 will also be referred to as the A-axis. The A-axis motor 36 is located at the front of the gear box 31. The A-axis motor 36 is connected to a gear (not shown) provided inside the gear box 31. The A-axis motor 36 has a rotating shaft extending in the front-rear direction and drives a gear. The gear is composed of, for example, a known roller gear camshaft (not shown) and a cam follower (not shown), and converts the rotation of the rotating shaft of the A-axis motor 36 into rotation around the A-axis. By driving the A-axis motor 36, the shaft portion 41 rotates around the A-axis. A mounting seat 31a for fixing the gear box 31 to the work base 13 on the right side is located at the bottom of the gear box 31.

The bearing box 34 accommodates the shaft portion 41 disposed on the left side of the rocking body 40, and rotatably supports the rotation axis (A-axis) of the shaft portion 41. A mounting seat 34a for fixing the bearing box 34 to the work base 13 on the left side is located at the lower part of the bearing box 34. The shaft portion 41 of the gear box 31 and the shaft portion 41 of the bearing box 34 are located on the same axis.

The rocking body 40 includes a substrate portion 42 located between two shaft portions 41 and a connecting portion 43 that connects the substrate portion 42 and each shaft portion 41. The substrate portion 42 has a flat rectangular parallelepiped shape, and both edges in the left and right direction are connected to connecting portions 43, respectively, and each connecting portion 43 connects the substrate portion 42 to the corresponding shaft portion 41.

A C-axis motor 60 is located at the bottom of the substrate portion 42, and a disk-shaped rotary table 50 that holds a workpiece on its upper surface is located at the top of the substrate portion 42. The rotating shaft of the C-axis motor 60 passes through the substrate portion 42 in the vertical direction and is connected to the rotating shaft of the rotating table 50 . The rotation axis of the C-axis motor 60 is located on the same axis as the rotation axis of the rotary table 50. Hereinafter, the rotation axis of the C-axis motor 60 will also be referred to as the C-axis. The C-axis is perpendicular to the A-axis. The C-axis rotates by driving the C-axis motor 60, and the turntable 50 rotates around the C-axis.

When the shaft portion 41 rotates around the A-axis due to the drive of the A-axis motor 36, the swinging body 40 swings around the A-axis, and the workpiece held by the rotary table 50 also swings around the A-axis together with the swinging body 40. . Furthermore, the workpiece rotates around the C-axis together with the rotary table 50 by driving the C-axis motor 60 . Since the oscillator 40 oscillates, the C-axis direction changes. In FIG. 4, the axial length direction of the C-axis is parallel to the vertical direction.

FIG. 5 is a block diagram schematically showing the configuration of main parts of the machine tool 100. FIG. 5 shows the connection relationship between the control device 7, the Z-axis motor 23d, the X-axis motor 21d, the Y-axis motor 20d, the A-axis motor 36, and the C-axis motor 60.

The machine tool 100 includes an A-axis clamp mechanism 80 that can fix the A-axis (shaft portion 41). The A-axis clamp mechanism 80 uses compressed air supplied by a compressor, for example, to fix the A-axis (clamp operation) and release the clamped state. The A-axis clamping mechanism 80 fixes the A-axis by engaging a piston provided at a fixed portion that rotatably supports the A-axis with a disk-shaped plate that rotates together with the A-axis. The piston moves between a position in which it engages and a position in which it disengages with the disc-shaped plate by supplying compressed air. When the A-axis clamp mechanism 80 fixes the A-axis, the A-axis cannot rotate. Therefore, the swinging body 40 does not swing. For example, when processing a workpiece, the A-axis clamp mechanism 80 clamps the A-axis to prevent the rotation table 50 (workpiece) from shifting due to vibrations generated during processing the workpiece.

The machine tool 100 includes a C-axis clamp mechanism 81 that can fix the C-axis. The C-axis clamping mechanism 81 uses compressed air supplied by a compressor, for example, to clamp the C-axis and release the clamped state. The C-axis clamp mechanism 81 is similar to the one for the A-axis described above. When the C-axis clamping mechanism 81 clamps the C-axis, the C-axis cannot rotate and the rotary table 50 does not rotate. For example, when processing a workpiece, the C-axis clamp mechanism 81 clamps the C-axis to prevent the position of the rotary table 50 (workpiece) from shifting due to vibrations generated during processing the workpiece.

The control device 7 includes a CPU 70 (execution section), a RAM 71, a nonvolatile storage section 72, and an input/output interface 73. The CPU 70, RAM 71, storage section 72, and input/output interface 73 are communicably connected.

The storage unit 72 is, for example, an EEPROM, an EPROM, or a flash memory. The storage unit 72 may be a hard disk. The storage unit 72 stores a control program for controlling the machine tool 100 and various information necessary for executing the control program. The control program includes a program for processing the workpiece. The program is an NC program. The program uses G code or M code. The machine tool 100 may store, in the storage unit 72, a control program read from a storage medium 72a readable by the machine tool 100.

The input/output interface 73 is connected to the Y-axis motor 20d, the X-axis motor 21d, the Z-axis motor 23d, the main shaft motor 24a, the A-axis motor 36, the A-axis clamp mechanism 80, the C-axis motor 60, and the C-axis clamp mechanism 81. Hereinafter, the Y-axis motor 20d, the X-axis motor 21d, the Z-axis motor 23d, the main shaft motor 24a, the A-axis motor 36, and the C-axis motor 60 are also collectively referred to as drive motors.
Further, the input/output interface 73 is connected to the encoder 9. An encoder 9 is provided for each drive motor. In FIG. 5, the encoders 9 of each drive motor are collectively shown. Although each drive motor and each encoder 9 are connected, the connection lines between each drive motor and each encoder 9 are omitted in FIG. The input/output interface 73 is connected to the operation panel 90.

The CPU 70 reads the control program stored in the storage unit 72 into the RAM 71 and controls various operations of the machine tool 100. The CPU 70 controls the Y-axis motor 20d, the X-axis motor 21d, the Z-axis motor 23d, the main shaft motor 24a, the A-axis motor 36, the A-axis clamp mechanism 80, the C-axis motor 60, and the C-axis clamp mechanism 81 via the input/output interface 73. control.

The CPU 70 obtains position information (amount of rotation) of the rotor of each drive motor from the encoder 9 via the input/output interface 73. The CPU 70 controls the drive of each drive motor based on the acquired position information. Therefore, the CPU 70 controls the drive (rotation) of the X-axis, Y-axis, Z-axis, main axis, A-axis, and C-axis. Note that the axes related to the movement of the tool 25 (X-axis, Y-axis, and Z-axis) are also referred to as tool movement axes, and the axes related to movement of the workpiece (A-axis and C-axis) are also referred to as workpiece movement axes. The Z-axis, A-axis, and C-axis are referred to as drive axes.

When machining a workpiece, the CPU 70 controls driving of at least one of the X-axis, Y-axis, Z-axis, main axis, A-axis, and C-axis based on a program, and at least one of the tool 25 and the workpiece moves. The movement of the work includes rocking the work and rotating the work.
For example, the CPU 70 determines the drive motor of the drive shaft to be controlled based on the program. The CPU 70 derives the determined target movement amount of the drive motor based on the program. Under the control of the CPU 70, the drive motor of the determined drive shaft starts driving. For example, the CPU 70 outputs a signal indicating the start of driving to the drive motor of the determined drive shaft. The drive motor of the drive shaft receives a signal indicating the start of driving and starts driving. The CPU 70 derives the amount of movement of the drive motor based on the position information acquired from the encoder 9. When the amount of movement reaches the target amount of movement, the CPU 70 outputs a signal indicating the end of driving.

Furthermore, the CPU 70 controls the clamping operation and release of the A-axis by the A-axis clamp mechanism 80 and the clamping operation and release of the C-axis by the C-axis clamp mechanism 81. In order to prevent the position of the rotary table 50 (workpiece) from shifting, the CPU 70 controls the A-axis clamping mechanism 80 to clamp the A-axis after completing the drive of the A-axis, and after completing the drive of the C-axis, The C-axis clamping mechanism 81 is controlled to clamp the C-axis. Hereinafter, driving of the A-axis will be explained as an example.

The CPU 70 derives a target movement amount for the A-axis motor 36 when the A-axis starts driving. After starting to drive the A-axis, the CPU 70 periodically acquires position information of the A-axis motor 36 from the encoder 9, and derives the amount of movement regarding the A-axis motor 36 based on the acquired position information. The CPU 70 calculates the difference between the derived movement amount and the target movement amount, and controls the A-axis motor 36 so that the calculated difference becomes zero. If the CPU 70 determines that the calculated difference is 0, it determines that the driving of the A-axis has ended. When determining that the driving of the A-axis has ended, the CPU 70 outputs a signal to the A-axis clamping mechanism 80 instructing the A-axis clamping mechanism 80 to perform an A-axis clamping operation.

Operation panel 90 accepts user instructions. For example, the user uses the operation panel 90 to set whether or not parallel instructions (non-concurrent instructions), which will be described later, are possible. The parallel instruction is an instruction to execute both the clamping operation and the subsequent operation (hereinafter referred to as post-operation) following the operation of the workpiece moving mechanism 37 after the operation of the workpiece moving mechanism 37 (driving the A-axis or C-axis) is completed. , the non-concurrent instruction is an instruction to separately execute the clamping operation and the post-operation.
For example, the operation panel 90 has a display section (not shown), and when the user turns on the power of the machine tool 100, a setting screen for setting the selection of either parallel instruction or non-parallel instruction is displayed on the display section. You may do so.

When a parallel instruction is set using the operation panel 90, the user further uses the operation panel 90 to set a first instruction or a second instruction. For example, when parallel instructions are set from the setting screen, the operation panel 90 displays on the display section a setting screen for setting the selection of either the first instruction or the second instruction. The operation panel 90 corresponds to a setting section. Note that the information set on the operation panel 90 (parallel instruction, non-concurrent instruction, first instruction, second instruction) is stored in the storage unit 72.

Depending on the settings on the operation panel 90, the CPU 70 first determines whether or not the post-movement is a movement of the tool 25 by the Z-direction moving device 23, or determines which of the movement mechanisms (tool movement axes) the post-movement is. A second determination is made as to whether or not the tool 25 is moving. Hereinafter, the moving operation of the tool 25 by the Z-direction moving device 23 will also be simply referred to as the operation of the Z-direction moving device 23, and the moving operation of the tool 25 by the moving mechanism will also simply be called the operation of the moving mechanism.

Specifically, when the first instruction is set on the operation panel 90, the CPU 70 performs the first determination. If the CPU 70 determines that the operation is the Z-direction moving device 23, the CPU 70 executes the operation of the Z-direction moving device 23 while the clamping operation is being performed.
When the second instruction is set on the operation panel 90, the CPU 70 makes a second determination. When the CPU 70 determines that one of the moving mechanisms is operating, the CPU 70 executes the operation of the moving mechanism while the clamping operation is being performed.

When the non-parallel instruction is set on the operation panel 90, the CPU 70 executes the post-operation after the clamp operation is completed.

The CPU 70 reads the program stored in the storage unit 72. The program that controls each drive axis for movement of the workpiece or tool 25 consists of multiple blocks (or lines). The CPU 70 reads the program one block at a time, performs the first judgment or the second judgment on the read blocks, and controls the drive shaft. The CPU 70 reads the block to be executed immediately or the block to be executed next.
One block may include multiple operations. If the block read by the CPU 70 includes multiple operations, the CPU 70 performs the above determination for each operation.

When processing a workpiece, the processing time can be shortened by performing the clamping operation and the post-operation in parallel. However, if any other drive shaft is driven before the clamping operation of one drive shaft is completed, the position of the first drive shaft, that is, the position of the workpiece, may shift before the clamping operation. Therefore, a problem may occur in which the clamping operation is completed with the workpiece being misaligned. The machine tool 100 of this embodiment can solve such problems.

6 to 8 are time charts showing specific examples of operations of the machine tool 100. In FIGS. 6 and 7, the X-axis and Z-axis will be used as examples of tool movement axes, and the A-axis will be used as an example of workpiece movement axes. In FIGS. 6 to 8, the horizontal axis shows the passage of time, and the vertical axis shows the working state. "In-position completed" means that the workpiece or tool 25 has reached the target position, and "in-position not completed" means that the workpiece or tool 25 has not reached the target position but is still moving. "Clamped state" is a state in which the A-axis is clamped, or a state in which the clamping operation has been completed, and "unclamped state" is a state in which the A-axis is not clamped, or a state in which the clamping action is not completed and is in progress. Show that something is true. If the difference between the target position of the moving axis and the position information acquired from the encoder 9 of the moving axis is within a predetermined value (in-position width) for a predetermined period of time, the CPU 70 It is determined that the position has been completed and that the target position has been reached.

A case where a non-concurrent instruction is set on the operation panel 90 will be explained. At this time, the machine tool 100 performs a post-operation after the clamping operation is completed.
For example, assume that the program to be executed includes (1) A-axis movement of the workpiece, and (2) X-axis movement and Z-axis movement of the tool 25. That is, the program to be executed includes two blocks (1) and (2), and block (2) includes two operations: X-axis movement and Z-axis movement.
As shown in FIG. 6A, the machine tool 100 does not perform any of the operations in block (2) during the clamping operation that follows the completion of the operation in block (1). After the clamping operation is completed, the machine tool 100 starts the two operations of block (2).

A case where selection of parallel instructions and first instruction is set on the operation panel 90 will be described. At this time, the machine tool 100 operates the Z-direction moving device 23 while performing the clamping operation.
For example, assume that the program to be executed includes (1) A-axis movement of the workpiece and (2) Z-axis rapid traverse of the tool 25. That is, the program to be executed includes two blocks (1) and (2), and blocks (1) and (2) each include one operation. Here, rapid forwarding is an operation only of movement that does not include machining such as cutting.
As shown in FIG. 6B, the machine tool 100 starts and executes the operation of block (2) (rapid traverse on the Z axis) during the clamp operation that continues after the operation of block (1) is completed. When the tool 25 moves in the Z-axis direction, there is a relatively low possibility that the position of the workpiece (A-axis and C-axis) will shift. In addition, since it is a rapid feed that does not involve machining, vibrations caused by machining do not occur. Therefore, the machine tool 100 performs the clamping operation and the Z-axis rapid traverse in parallel to reduce the working time and prevent the workpiece from shifting.

For example, assume that the program to be executed includes (1) A-axis movement of the workpiece, and (2) Z-axis rapid traverse and X-axis rapid traverse of the tool 25. That is, the program to be executed includes two blocks, and block (2) includes X-axis rapid traverse in addition to Z-axis rapid traverse.
As shown in FIG. 6C, the machine tool 100 does not perform any of the operations in block (2) during the clamping operation after the operation in block (1) is completed. If the block (2) includes an X-axis rapid traverse and the tool 25 moves in the Start two actions.

For example, assume that the program to be executed includes (1) A-axis movement of the workpiece, (2) Z-axis rapid traverse of the tool 25, and (3) X-axis rapid traverse of the tool 25. That is, the program to be executed includes three blocks, and blocks (1) to (3) each include one operation.
As shown in FIG. 7D, the machine tool 100 starts and executes the operation of block (2) (Z-axis rapid traverse) during the clamp operation that continues after the completion of the operation of block (1) (see section K); The operation 3) (X-axis rapid forwarding) is not executed. The machine tool 100 starts the operation of block (3) after the clamping operation is completed. The machine tool 100 moves the tool 25 in the Z-axis direction, where the possibility of misalignment of the workpiece position is low, in parallel with the clamping operation, and moves the tool 25, where there is a high possibility of misalignment of the workpiece position, in the Z-axis direction. Movement in the X-axis direction begins after the clamping operation is completed. Therefore, it is possible to achieve both shortening of working time and prevention of displacement of the workpiece.

For example, assume that the program to be executed includes (1) A-axis movement of the workpiece and (2) Z-axis movement of the tool 25. That is, the program to be executed includes two blocks, and blocks (1) and (2) each include one operation. However, the Z-axis movement of block (2) is not rapid forwarding, but involves cutting.
As shown in FIG. 7E, the machine tool 100 also does not perform the operation of block (2) during the clamping operation that continues after the completion of the operation of block (1). Although the operation of block (2) is Z-axis movement, it involves cutting, so there is a high possibility that the position of the workpiece will shift due to contact between the workpiece and the tool 25, so the machine tool 100 moves the block after the clamping operation is completed. Start operation (2).

Assume that the program to be executed includes (1) A-axis movement of the workpiece, and (2) Z-axis movement of the tool 25 accompanied by Z-axis rapid traverse and machining. The program to be executed includes two or more blocks, and block (2) includes Z-axis movement accompanied by cutting (hereinafter referred to as Z-axis cutting movement) in addition to Z-axis rapid traverse.
As shown in FIG. 7F, the machine tool 100 starts and executes rapid traverse of the Z axis of block (2) during the clamping operation that continues after the completion of the operation of block (1) (see section K). Z-axis cutting movement is not executed. After the clamping operation is completed, the machine tool 100 starts Z-axis cutting movement of the block (2). That is, when the tool 25 moves to the cutting start position on the workpiece, the machine tool 100 performs the clamping operation in parallel, and the Z-axis cutting movement is likely to cause a shift in the position of the workpiece. Starts after the clamping operation is completed.

A case where the selection of parallel instructions and second instructions is set on the operation panel 90 will be described. At this time, the machine tool 100 executes an operation of one of the moving mechanisms (tool moving axes) during execution of the clamping operation.

For example, assume that the program to be executed includes (1) A-axis movement of the workpiece, and (2) X-axis rapid traverse and Z-axis rapid traverse of the tool 25. That is, the program to be executed includes two blocks, and block (2) includes X-axis fast forward and Z-axis fast forward.
As shown in FIG. 8A, the machine tool 100 executes the two operations of block (2) during the clamping operation after the operation of block (1) is completed. The machine tool 100 starts two operations of block (2) during the clamping operation. Therefore, working time can be shortened.

For example, assume that the program to be executed includes (1) A-axis movement of the workpiece, (2) X-axis rapid traverse and Z-axis rapid traverse of the tool 25, and (3) X-axis rapid traverse of the tool 25. That is, the program to be executed includes three blocks, blocks (1) and (3) each include one operation, and block (2) includes X-axis fast forward and Z-axis fast forward.
As shown in FIG. 8B, the machine tool 100 starts and executes the X-axis rapid traverse and Z-axis rapid traverse of block (2) during the clamping operation that continues after the completion of the operation of block (1), and also performs the operation of block (3). (X-axis rapid forwarding) is also executed subsequently. The machine tool 100 starts two operations of block (2) and an operation of block (3) during the clamping operation. Therefore, working time can be shortened.

For example, assume that the program to be executed includes (1) A-axis movement of the workpiece, (2) Z-axis rapid traverse of the tool 25, and (3) X-axis movement of the tool 25. That is, the program to be executed includes three blocks, blocks (1) and (3) each include one operation, and block (2) includes X-axis fast forward and Z-axis fast forward. However, the X-axis movement of block (3) is not rapid forwarding.
As shown in FIG. 8C, the machine tool 100 starts and executes the operation of block (2) (X-axis rapid traverse and Z-axis rapid traverse) during the clamp operation that continues after the operation of block (1) is completed (see section K). ), the operation of block (3) (X-axis movement) is not executed. The machine tool 100 starts the operation of block (3) after the clamping operation is completed. Since the machine tool 100 starts the two operations of block (2) during the clamping operation, the working time can be reduced by the section K in FIG. 8C.

For example, assume that machine tool 100 executes a program related to a general work cycle. That is, assume that the program to be executed includes (1) A-axis movement of the workpiece, and (2) Z-axis movement (Z-axis cutting movement) accompanied by X-axis rapid traverse, Z-axis rapid traverse, and machining of the tool 25. The program to be executed includes two or more blocks, block (2) including X-axis rapid traverse, Z-axis rapid traverse and Z-axis cutting movement.
As shown in FIG. 8D, the machine tool 100 starts and executes the X-axis rapid traverse and Z-axis rapid traverse of block (2) during the clamping operation that continues after the completion of the operation of block (1). Z-axis cutting movement is not executed. After the clamping operation is completed, the machine tool 100 starts Z-axis cutting movement of the block (2). The machine tool 100 starts the X-axis rapid traverse and X-axis rapid traverse of the block (2) during the clamping operation, which can shorten the working time, and starts the Z-axis cutting movement after the clamping operation is completed, so it can prevent the workpiece from shifting. To prevent.

In the above description, the X-axis and Z-axis are used as examples of the tool movement axes, and the A-axis is used as the workpiece movement axis. Needless to say, the present invention can also be applied to the C-axis of the workpiece movement axis.

9 and 10 are flowcharts illustrating the machining operation of the machine tool 100. For convenience of explanation, the following describes a case where the selection of parallel instruction and first instruction is set on the operation panel 90, and the operation after the operation of the workpiece moving mechanism 37 is fast forwarding on the Z axis only, and the subsequent operation is on the Z axis. The case of cutting movement will be explained as an example. The processes in FIGS. 9 and 10 are executed when the user selects a machining program using the operation panel 90 and presses the start key.

For example, assume that machine tool 100 executes a machining program related to a general work cycle. The processing program is stored in the storage unit 72. The processing in the flowchart starts with the execution of the machining program.
It is assumed that the machining program includes (1) A-axis movement of the workpiece, (2) Z-axis rapid traverse and Z-axis cutting movement of the tool 25, and (3) termination. The program to be executed includes two or more blocks, and block (2) includes two operations: Z-axis rapid traverse and Z-axis cutting movement.

The user turns on the power of the machine tool 100 and sets a parallel instruction or a non-parallel instruction from the setting screen displayed on the display section of the operation panel 90.

When the parallel instruction is set, the operation panel 90 further displays a setting screen for setting the selection of either the first instruction or the second instruction on the display section. FIG. 11 is an exemplary diagram showing an example of a setting screen for setting selection of either the first instruction or the second instruction.

A soft button for accepting the first instruction or the second instruction is displayed at the upper right of the setting screen in FIG. 11, and the user selects "Method 1" or "Method 2" by operating the soft button as appropriate. can. When the user sets method 1, the CPU 70 stores it in the storage section 72 as the first instruction, and when the user sets method 2, the CPU 70 stores it in the storage section 72 as the second instruction.
Note that a dialog box explaining the "operating procedure" is displayed on the left side of the setting screen in FIG. 11.

The CPU 70 reads the first block of the machining program and sets it as the "current block" (step S101). The first block of the machining program is block (1) relating to A-axis movement of the workpiece.

The CPU 70 determines whether the block being executed is an end code (step S102). If the CPU 70 determines that the block being executed is the end code (step S102: YES), the processing of the machining program ends. If the CPU 70 determines that the block being executed is not an end code (step S102: NO), the CPU 70 reads the next block (step S103). That is, the CPU 70 reads block (2) regarding Z-axis rapid feed and Z-axis cutting movement, and temporarily stores it in the RAM 71.

Next, the CPU 70 determines whether or not the operation of the block being executed, that is, the A-axis movement of the workpiece is all completed (step S104). Since the A-axis movement of the workpiece has not yet been completed, the CPU 70 determines that all the operations of the block currently being executed have not been completed (step S104: NO), and the CPU 70 determines that all operations of the block currently being executed have not been completed. The A-axis movement is set as the operation being executed, and execution is started (step S117).

Subsequently, the CPU 70 determines whether there is a next operation in the block being executed (step S118). If the CPU 70 determines that the block currently being executed has a next operation (step S118: YES), the CPU 70 sets the next operation of the block currently being executed as a post-operation (step S119). Further, when the CPU 70 determines that there is no next operation for the block being executed (step S118: NO), the CPU 70 sets the first operation of the next block stored in the RAM 71 as the subsequent operation (step S120). Since the currently executed block (1) has no next operation, the CPU 70 sets the first operation (Z-axis fast forward) of the next block (2) as the subsequent operation.

The CPU 70 determines whether all axes have been brought into position based on the position information from the encoder 9 (step S108).
If the CPU 70 determines that all axes have not been completely in-position (step S108: NO), the CPU 70 continues the operation being executed (step S113). If the CPU 70 determines that all axes have been brought into position (step S108: YES), the CPU 70 determines whether the axes related to the operation (movement) of the block being executed are equipped with a clamp mechanism (step S109).

The operation of block (1) currently being executed is the A-axis movement of the workpiece, and the A-axis has the A-axis clamp mechanism 80. It is determined that this is the case (step S109: YES), and clamping of the A-axis is started (step S110). On the other hand, if the CPU 70 determines that the axis related to the operation (movement) of the block being executed is not equipped with a clamp mechanism (step S109: NO), the process proceeds to step S104.

After starting the A-axis clamp, the CPU 70 determines whether the instruction set on the setting screen of the operation panel 90 is method 2 (second instruction) based on the stored contents of the storage section 72 (step S111). If the CPU 70 determines that the set instruction is method 2 (step S111: YES), the process advances to step S112. In this embodiment, the case where the first instruction is received is taken as an example, and the CPU 70 determines that the received instruction is not the method 2, that is, the method 1 (step S111: NO), and the CPU 70 determines that the subsequent operation is the Z direction moving device. 23 is determined (step S114). That is, at the time of the first instruction, the CPU 70 determines whether the subsequent operation is an operation of the Z-direction moving device 23 or not. Since the current post-movement is Z-axis fast forwarding, the CPU 70 determines that the post-movement is an operation of the Z-direction moving device 23 (step S114: YES), and the process proceeds to step S112. In S111, the CPU 70 determines that the method is method 1 if it is not the method 2, but if the result in S111 is NO, a step of determining whether the method is the method 1 may be provided separately.

When the CPU 70 determines that the post-operation is not an operation of the Z-direction moving device 23 (step S114: NO), the CPU 70 determines whether the clamping operation is completed (step S115). If the CPU 70 determines that the clamping operation is not completed (step S115: NO), the CPU 70 continues the clamping operation (step S116). If the CPU 70 determines that the clamping operation is completed (step S115: YES), the process proceeds to step S104. Whether or not the clamping operation is completed may be determined based on the passage of a predetermined time from the start of clamping, or may be determined using a sensor that detects the operating position of the clamping mechanism.

In step S112, the CPU 70 determines whether the post-motion is a fast-forward motion (step S112). If the CPU 70 determines that the subsequent movement is not a fast-forward movement (step S112: NO), the process proceeds to step S115. If the CPU 70 determines that the post-motion is a fast-forward motion (step S112: YES), the process returns to step S104.

The CPU 70 again determines whether all operations of the block being executed have been completed (step S104). The operation of block (1) currently being executed is only the A-axis movement of the workpiece, which has already been completed in step S108. Therefore, the CPU 70 determines that all operations of the block currently being executed have been completed (step S104: YES), and sets the next block as the block currently being executed (step S105). That is, the CPU 70 sets block (2) as the block currently being executed.

Further, the CPU 70 determines whether the block being executed is an end code (step S106). If the CPU 70 determines that the block being executed is the end code (step S106: YES), the processing of the machining program ends. If the CPU 70 determines that the block being executed is not an end code (step S106: NO), the CPU 70 reads the next block (step S107). That is, the CPU 70 reads the block (3) regarding termination and temporarily stores it in the RAM 71. Thereafter, the process returns to step S104.

The CPU 70 determines whether all operations of the block currently being executed have been completed (step S104). Since neither the Z-axis rapid traverse nor the Z-axis cutting movement of the tool 25 in block (2) currently being executed has been completed, the CPU 70 determines that all operations in the currently executing block have not been completed (step S104). : NO), the operation to be executed in the currently executed block (Z-axis rapid feed of the tool 25) is set as the currently executed operation, and execution is started (step S117). That is, the CPU 70 executes the Z-axis rapid feed of the tool 25, which is a subsequent operation, while executing the A-axis clamping operation.

In the subsequent step S118, the CPU 70 determines that the block being executed has the next operation (step S118: YES), and sets the next operation (Z-axis cutting movement) of the block being executed as a post-operation (step S119). The process advances to step S108.

In step S108, the CPU 70 determines whether or not all axes have completed in-position (step S108), and if it is determined that all axes have completed in-position (step S108: YES), the instructions set on the setting screen are It is determined whether method 2 (second instruction) is selected (step S111). In this embodiment, the first instruction is set, and the CPU 70 determines that the set instruction is not method 2 (step S111: NO), and the process proceeds to step S114.

Since the current post-movement is a Z-axis cutting movement, the CPU 70 determines in step S114 that the post-movement is an operation of the Z-direction moving device 23 (step S114: YES), and the process proceeds to step S112. Then, the CPU 70 determines that the post-movement (Z-axis cutting movement) is not a fast-forwarding motion (step S112: NO), so the process proceeds to step S115. In step S115, the CPU 70 determines whether the clamping operation is completed (step S115). If the CPU 70 determines that the clamping operation has been completed (step S115: YES), the process proceeds to step S104.

The CPU 70 again determines whether all operations of the block currently being executed, that is, block (2), have been completed (step S104). If the CPU 70 determines that all operations of the block (2) under execution have been completed (step S104: YES), the CPU 70 sets the next block, that is, block (3), as the block under execution (step S105). The CPU 70 determines whether the block being executed is an end code (step S106). Since block (3) is the end, the CPU 70 determines that the block being executed is the end code (step S106: YES), and the processing of the machining program ends.
The CPU 70 that executes S114 corresponds to the determination section. The CPU 70 that executes S114 (YES), S112 (YES), S104 (YES), S105, and S117 corresponds to an execution unit. The CPU 70 that executes S111 corresponds to the instruction determination section. The CPU 70 that executes S103 and S107 corresponds to a reading unit.

In the above description, an example is given in which the machine tool 100 has an A-axis motor 36 and a C-axis motor 60 as the workpiece moving mechanism 37, and an A-axis clamp mechanism 80 and a C-axis clamp mechanism 81 as the clamp mechanisms. However, it is not limited to this. The workpiece moving mechanism 37 may further include a B-axis motor, and the clamping mechanism may further include a B-axis clamp mechanism. Here, the B-axis is a movement axis of the workpiece orthogonal to the A-axis and the C-axis.

7 Control device 20 Y direction movement device (second movement mechanism)
21 X-direction movement device (second movement mechanism)
23 Z direction movement device (second movement mechanism, shaft length movement mechanism)
25 Tools
37 Workpiece movement mechanism (first movement mechanism)
70 CPU (execution unit, determination unit, instruction determination unit, reading unit)
80 A-axis clamp mechanism 81 C-axis clamp mechanism 90 Operation panel (setting section)
100 Machine tools

Claims (6)

Controls a first movement mechanism for moving a workpiece, a clamp mechanism that clamps the first movement mechanism, and a second movement mechanism for moving a tool that processes the workpiece or a workpiece different from the first movement mechanism. In the control device,
The second moving mechanism includes an axial length moving mechanism that moves in the axial length direction of the rotating shaft of the tool,
a determination unit that determines whether a subsequent operation following the operation of the first movement mechanism is an operation of the axial length movement mechanism;
and an execution section that executes the operation of the axial length moving mechanism while the clamping operation is being performed when the determining section determines that the axial length moving mechanism is operating. a setting section for setting a first instruction or a second instruction;
an instruction determining unit that determines whether the setting unit has set the first instruction or the second instruction,
The executing unit determines that the instruction determining unit determines that the instruction set by the setting unit is the first instruction, and the determining unit determines that the post-motion is an operation of the axial length moving mechanism. , starts executing the operation of the shaft length moving mechanism while the clamping operation is being executed;
When the instruction determining unit determines that the instruction set by the setting unit is the second instruction, the execution unit starts executing the operation of any of the second moving mechanisms during execution of the clamping operation. The control device according to claim 1. The control device according to claim 2, wherein the operation of the axial length moving mechanism and the operation of any of the second moving mechanisms are movements that do not involve machining. comprising a reading unit that reads each block from a plurality of blocks including one or more operations,
The control device according to any one of claims 1 to 3, wherein the determination unit performs the determination for each operation with respect to the block read by the reading unit. The execution unit includes:
While performing the clamping operation, performing an operation of the second moving mechanism related to moving the tool to a processing start position on the workpiece,
The control device according to any one of claims 1 to 4, wherein after completion of the clamping operation, an operation of the second movement mechanism related to movement of the tool accompanied by machining of the workpiece is executed. The tool includes a first movement mechanism for moving the workpiece, a clamp mechanism that clamps the first movement mechanism, and an axial length movement mechanism that moves in the axial length direction of the rotation axis of the tool that processes the workpiece. In a control method for controlling a first moving mechanism and a second moving mechanism for moving a different workpiece,
determining whether a post-operation following the operation of the first movement mechanism is an operation of the axial length movement mechanism;
If the axial length moving mechanism is operated, the control method includes performing the axial length moving mechanism while the clamping operation is being performed.