JP4710294B2 - Machine tool and method for controlling machine tool - Google Patents

Description

  The present invention relates to a machine tool and a machine tool control method, and more particularly to a machine tool and a machine tool control method capable of efficiently performing a tool change preparation operation in an automatic tool changer.

  2. Description of the Related Art Conventionally, a machining center, which is a machine tool, is mainly composed of a machine tool main body that processes a workpiece and a splash cover that surrounds the machine tool main body. The tool change in the machining center is performed by an automatic tool changer provided in the machining center main body. This automatic tool changer is equipped with a tool magazine that can store a plurality of tools. Based on an instruction input from the operation panel, the automatic tool changer calculates a predetermined tool from the tool magazine and puts the calculated tool at a tool change preparation position. Move and wait. Then, a tool change operation is performed between the tool mounted on the tip of the spindle and a predetermined tool waiting at the tool change preparation position of the tool magazine. Such an automatic tool changer is mainly divided into two types according to the operation method of tool change. For example, an arm type that performs tool change by turning operation of a tool change arm provided with gripping parts at both ends for holding a tool, and conversely a tool between a tool magazine and a spindle without a tool change arm. There is an armless type that directly replaces.

As an example of the former method, a tool changer is provided between a tool magazine storing a plurality of tool pods holding tools and a spindle provided in the processing machine, and having a turning axis parallel to the axis of the spindle. A machine tool having an arm and capable of exchanging tools between a tool magazine and a spindle of a processing machine by a turning operation of the tool changing arm is known (for example, see Patent Document 1). In the machine tool described in Patent Document 1, in order to prevent chips and the like from entering the tool magazine, the part facing the processing machine of the tool magazine is covered with a cover, and the tool pot can pass through the cover. An opening was formed, and a shutter for opening and closing the opening was attached. The shutter is opened and closed by connecting a link to a shift cylinder that moves the designated tool pot to the index position.
Japanese Utility Model Publication No. 4-29960

  However, in the machine tool described in Patent Document 1, the tool preparation operation by the shift cylinder that moves the tool pot to the indexing position is performed based on the tool having the maximum tool diameter. In the case where the tool diameter held in the pot is small, the preparation operation can be performed quickly, but it is necessary to wait as long as the tool diameter is the maximum, and there is a problem that the time for tool replacement cannot be shortened.

  The present invention has been made to solve the above-described problems, and provides a machine tool and a machine tool control method capable of efficiently performing a tool change preparation operation in an automatic tool changer and reducing a tool change time. The purpose is to do.

In order to achieve the above object, a machine tool according to a first aspect of the present invention includes a bed as a base of the machine tool, a column fixed on the bed, a spindle head provided on the column, A spindle provided on the spindle head, in which a tool is detachably attached to the tip, an automatic tool changer for exchanging the tool attached to the tip of the spindle with another tool, and gripping the tool at both ends The automatic tool changer stores a plurality of tools held in a tool pot and a predetermined tool from a tool storage position in a machine tool including a tool change arm formed with a pair of holding portions. a tool magazine to move to the replacement standby position, and a cover for preventing the entry of cutting chips or the like by surrounding the pre-SL tool magazine, the tool pot and said tool change preparation position by the gripping portion of the tool changing arm And a tool pot driving means for moving between the lifting possible tool replacement position, the tool change arm is disposed between the tool change preparation position and the main axis of the distal end portion of the tool magazine, The pair of gripping portions can pivot between one tool mounted on the main shaft and another tool located at the tool changeable position, and the tool pot driving means has the tool pot driving means attached to the cover. to but when moving to the tool replacement position, and the opening tool pot can pass, and a closing member for opening and closing the opening is provided, the movement start of the tool pot according to the tool pot driving means, those the tool and the diameter of the tool is gripped in the pot, or the position of the closing member corresponding the position of the end portion of the closing member closed the opening and closing member to the center in the length direction perpendicular to the cross section of the tool Has a distance, the tool pot movement control means to control based on the opening and closing speed of the opening and closing member.

Further, the machine tool of the invention according to claim 2, in addition to the structure of the invention according to claim 1, and the diameter of the prior SL tool held by the tool pot, the opening and closing member closed the opening and closing member Based on the distance from the position of the end of the tool to the position of the opening / closing member corresponding to the center of the cross section perpendicular to the length direction of the tool, and the opening / closing speed of the opening / closing member, the opening / closing member starts to open. A movement start time determining means for determining a movement start time which is a time until the movement of the tool pot is started, the tool pot movement control means is based on the movement start time determined by the movement start time determining means, The start of movement of the tool pot by the tool pot driving means is controlled.

Further, the machine tool of the invention according to claim 3, in addition to the structure of the invention according to claim 1 or 2, wherein each tool held by the each tool pot, enter the size of the diameter of the engineering tool input The movement start time determination means determines the movement start time using data on the diameter of the tool input from the input means, and further determines the determined movement start time. The tool pot movement control means includes a movement start time storage means for storing the tool pot corresponding to the tool pot, and the tool pot movement control means performs the tool pot drive means by the tool pot driving means based on the movement start time stored in the movement start time storage means. It is characterized by controlling the start of movement.

Further, in the machine tool of the invention according to claim 4, a bed serving as a base of the machine tool, a column fixed on the bed, a spindle head provided on the column, and provided on the spindle head, A spindle on which a tool is detachably attached to the tip, an automatic tool changer for exchanging the tool attached to the tip of the spindle with another tool, and a pair of grips for gripping the tool at both ends. In a machine tool including a tool change arm to be formed , the automatic tool changer stores a plurality of tools held in a tool pot and moves a predetermined tool from a tool storage position to a tool change preparation position. a tool magazine, a cover for preventing the entry of cutting chips or the like by surrounding the pre-SL tool magazine, graspable tool change the tool pot by the gripping portion of the tool changing arm and the tool change preparation position And a tool pot driving means for moving between a potential position, the tool change arm is disposed between the tool change preparation position and the main axis of the distal end portion of the tool magazine, the pair of gripping portions Is pivotable between one tool mounted on the spindle and another tool positioned at the tool changeable position, and the tool pot is moved to a tool replaceable position on the cover by the tool pot driving means. when moving to a opening tool pot can pass, and a closing member for opening and closing the opening is provided, the movement start of the tool pot according to the tool pot driving means, is gripped by those the tool pot the length of the tool, and the distance to the position of the closing member corresponding to the tool mounting side end portion of the front climate tool pot from the position of the end of the opening and closing member closed the opening and closing member, opening and closing of the opening and closing member Speed and And a tool pot movement control means to control based.

Further, the machine tool of the invention according to claim 5, in addition to the configuration of the invention according to claim 4, the length of the previous SL tool held by the tool pot, the end of the opening and closing member closed the opening and closing member the distance from the position of the parts to the position of the closing member corresponding to the tool mounting side end portion of the front climate tool pot, based on the opening and closing speed of the opening and closing member, from the start to open said closing member of the tool pot A movement start time determining means for determining a movement start time which is a time until the movement starts,
The tool pot movement control means controls the start of movement of the tool pot by the tool pot driving means based on the movement start time determined by the movement start time determination means.

Further, the machine tool of the invention according to claim 6, in addition to the configuration of the invention according to claim 4 or 5, wherein each tool held by the each tool pot, an input means for inputting a length of Engineering tools The movement start time determination means determines the movement start time using the tool length data input from the input means, and further, the determined movement start time corresponds to each tool pot. A movement start time storage means for storing the tool pot, and the tool pot movement control means starts the movement of the tool pot by the tool pot driving means based on the movement start time stored in the movement start time storage means. It is characterized by controlling.

  Further, in the machine tool of the invention according to claim 7, in addition to the configuration of the invention according to any one of claims 1 to 6, the tool pot is lowered when the tool is changed, and the tool pot is raised when the tool is stored. It is characterized by that.

In the machine tool control method according to the eighth aspect of the present invention, a bed serving as a base of the machine tool, a column fixed on the bed, a spindle head provided on the column, and the spindle head A spindle provided with a tool detachably attached to the tip, an automatic tool changer for exchanging the tool attached to the tip of the spindle with another tool, and a pair of gripping the tool at both ends The automatic tool changer stores a plurality of tools held in a tool pot and moves a predetermined tool from a tool storage position to a tool change preparation position. magazine and, a cover for preventing the entry of cutting chips or the like by surrounding the pre-SL tool magazine, the tool replacement position capable gripping the tool pot by the gripping portion of the tool changing arm and the tool change preparation position A tool pot driving means for moving the tool pot between the opening and the opening through which the tool pot can pass when the tool pot is moved to the tool replaceable position by the tool pot driving means; An opening / closing member that opens and closes the portion, the tool change arm is disposed between the tool change preparation position of the tool magazine and the tip end portion of the spindle, and the pair of gripping portions are attached to the spindle. a machine tool control method between a pivotable with other tool lying on one of the tool and the tool replacement position, move the start of the tool pot according to the tool pot driving means, those the tool pot and the diameter of the tool is gripped in, from the position of the end of the opening and closing member closed the opening and closing member to a position of the closing member corresponding to the center in the length direction perpendicular to the cross section of the tool And distance and controlling on the basis of the opening and closing speed of the opening and closing member.

State also, the control method for a machine tool of the invention according to claim 9, in addition to the configuration of the invention according to claim 8, and the diameter of the prior SL tool held by the tool pot, closed the opening and closing member The opening / closing member opens based on the distance from the position of the end of the opening / closing member to the position of the opening / closing member corresponding to the center in the cross section perpendicular to the length direction of the tool, and the opening / closing speed of the opening / closing member. A movement start time which is a time from the start to the start of the movement of the tool pot is determined, and the movement start of the tool pot is controlled based on the determined movement start time.

Further, the machine tool control method of the invention according to claim 10, in addition to the configuration of the invention according to claim 8 or 9, wherein each tool held by the each tool pot, the size of the diameter of the engineering tools Input, using the data of the diameter size of the input tool, determine the movement start time, and further store the determined movement start time in the storage means corresponding to each tool pot, The movement start of the tool pot is controlled based on the movement start time stored in the storage means.

In the machine tool control method according to an eleventh aspect of the invention, a bed serving as a base of the machine tool, a column fixed on the bed, a spindle head provided on the column, and the spindle head A spindle provided with a tool detachably attached to the tip, an automatic tool changer for exchanging the tool attached to the tip of the spindle with another tool, and a pair of gripping the tool at both ends The automatic tool changer stores a plurality of tools held in a tool pot and moves a predetermined tool from a tool storage position to a tool change preparation position. magazine and, before Symbol a cover to prevent entry of cutting chips or the like surrounding the tool magazine, the tool replaceable position capable gripping the tool pot by the gripping portion of the tool changing arm and the tool change preparation position A tool pot driving means for moving the tool pot between the opening and the opening through which the tool pot can pass when the tool pot is moved to the tool replaceable position by the tool pot driving means, An opening / closing member that opens and closes the opening , the tool change arm is disposed between the tool change preparation position of the tool magazine and the tip of the spindle, and the pair of gripping portions are attached to the spindle. and a machine tool control method between a pivotable with other tool lying with one tool the tool replacement position, the movement initiation of the tool pot according to the tool pot driving means, those the tool the length of the tool held by the pot, the distance to the position of the closing member corresponding to the tool mounting side end portion of the front climate tool pot from the position of the end of the opening and closing member closed the opening and closing member, Open And controlling based on the opening and closing speed of the member.

Further, the control method for a machine tool of the invention according to claim 12, in addition to the configuration of the invention according to claim 11, the length of the previous SL tool held by the tool pot, the opening and closing of the closed state of the said opening and closing member the distance from the position of the end portion of the member to the position of the closing member corresponding to the tool mounting side end portion of the front climate tool pot, based on the opening and closing speed of the opening and closing member, said from the start opens the opening and closing member A movement start time that is a time until the movement of the tool pot is started is determined, and the movement start of the tool pot is controlled based on the determined movement start time.

Further, the control method for a machine tool of the invention according to claim 13, wherein in addition to the configuration of the invention according to claim 11 or 12, wherein each tool held by the each tool pot, enter the length of the factory tools The movement start time is determined using the input tool length data, and the determined movement start time is stored in the storage means in association with each tool pot, and stored in the storage means. The movement start of the tool pot is controlled based on the stored movement start time.

  In addition, in the machine tool control method according to the fourteenth aspect of the invention, in addition to the configuration of the invention according to the eighth to thirteenth aspects, the tool pot is lowered when the tool is changed, and the tool pot is raised when the tool is stored. It is characterized by that.

The machine tool of the invention according to claim 1, the start of movement of the tool pot by the tool pot driving means, and the diameter of the tool held by the person the tool pot, the entry of cutting chips or the like surrounds the tool magazine The opening / closing member corresponding to the center of the cross section perpendicular to the longitudinal direction of the tool from the position of the end of the opening / closing member in a state of closing the opening / closing member that is provided on the cover to prevent the opening through which the tool pot can pass Control based on the distance to the position and the opening / closing speed of the opening / closing member, so that the tool pot can be moved by the tool pot driving means according to the tool diameter. You can start moving the tool pot. Therefore, the efficiency of tool change can be increased and the time required for tool change can be shortened.

Further, the machine tool of the invention according to claim 2, in addition to the effect of the invention according to claim 1, and the diameter of the prior SL tool held by the tool pot, the opening and closing member closed the opening and closing member Based on the distance from the position of the end of the tool to the position of the opening / closing member corresponding to the center of the cross section perpendicular to the length direction of the tool, and the opening / closing speed of the opening / closing member, the opening / closing member starts to open. Based on the movement start time determined by the movement start time determining means for determining the movement start time which is the time until the movement of the tool pot starts, the tool pot drive means controls the start of movement of the tool pot. For small diameter tools, the tool pot can be moved quickly. Therefore, the efficiency of tool change can be increased and the time required for tool change can be shortened.

  Further, in the machine tool of the invention according to claim 3, in addition to the effect of the invention of claim 1 or 2, the movement start time determination means uses data of the diameter of the tool inputted from the input means. The movement start time is determined, the movement start time storage means stores the determined movement start time in association with each tool pot, and the tool pot movement control means stores the movement stored in the movement start time storage means. Since the movement start of the tool pot by the tool pot driving means is controlled based on the start time, the movement start time can be determined in advance for each tool, and the movement start of the tool pot can be quickly controlled. it can.

Further, prevention by the machine tool of the invention according to claim 4, the start of movement of the tool pot by the tool pot driving means, the length of the tool held by the tool pot, the entry of cutting chips or the like surrounds the tool magazine provided in the cover to a distance to the position of the closing member corresponding to the tool mounting side end portion of the front climate tool pot from the position of the end of the opening and closing member closed the opening and closing member opening and closing of the opening and closing member Since the control is based on the speed, the movement of the tool pot by the tool pot driving means can be started in accordance with the length of the tool, so that the movement of the tool pot can be started earlier with a tool having a short tool length. Therefore, the efficiency of tool change can be increased and the time required for tool change can be shortened.

In the machine tool of the invention according to claim 5, in addition to the effect of the invention of claim 4, at least the length of the tool held by the tool pot and the end of the opening / closing member in a state where the opening / closing member is closed Based on the distance from the position of the part to the position of the opening / closing member corresponding to the tool mounting side end of the tool pot and the opening / closing speed of the opening / closing member, the tool pot is moved after the opening / closing member starts to open. Since the start of movement of the tool pot by the tool pot driving means is controlled based on the movement start time determined by the movement start time determining means for determining the movement start time which is the time until the start, the tool length is short. The tool can start moving the tool pot early. Therefore, the efficiency of tool change can be increased and the time required for tool change can be shortened.

  Further, in the machine tool of the invention according to claim 6, in addition to the effect of the invention of claim 4 or 5, the movement start time determining means uses the tool length data input from the input means, The movement start time is determined, the movement start time storage means stores the determined movement start time in association with each tool pot, and the tool pot movement control means stores the movement start time stored in the movement start time storage means. Since the tool pot driving means controls the start of movement of the tool pot based on the above, the movement start time can be determined in advance for each tool, and the start of movement of the tool pot can be quickly controlled.

  In the machine tool of the invention according to claim 7, in addition to the effect of the invention according to any one of claims 1 to 6, the tool pot is lowered when the tool is changed, and the tool pot is raised when the tool is stored. Machine tools equipped with a type of tool changer can improve the efficiency of tool change and reduce the time required for tool change.

The machine tool control method according to the invention of claim 8, the start of movement of the tool pot by the tool pot driving means, and the diameter of the tool held by the person the tool pot, such as chips surrounds the tool magazine Corresponding to the center of the cross section perpendicular to the length direction of the tool from the position of the end of the opening / closing member in a state in which the opening / closing member that opens and closes the opening through which the tool pot can pass is provided. Since the control is based on the distance to the position of the opening / closing member and the opening / closing speed of the opening / closing member, the movement of the tool pot by the tool pot driving means can be started according to the diameter of the tool. , You can start moving the tool pot early. Therefore, the efficiency of tool change can be increased and the time required for tool change can be shortened.

State also, the control method for a machine tool of the invention according to claim 9, in addition to the effect of the invention according to claim 8, and the diameter of the prior SL tool held by the tool pot, closed the opening and closing member The opening / closing member opens based on the distance from the position of the end of the opening / closing member to the position of the opening / closing member corresponding to the center in the cross section perpendicular to the length direction of the tool, and the opening / closing speed of the opening / closing member. Based on the movement start time determined by the movement start time determining means for determining the movement start time, which is the time from the start to the start of the movement of the tool pot, the movement start of the tool pot by the tool pot driving means is controlled. Therefore, the tool pot can be moved quickly with a tool having a small tool diameter. Therefore, the efficiency of tool change can be increased and the time required for tool change can be shortened.

  In the machine tool control method according to the tenth aspect of the invention, in addition to the effect of the invention according to the eighth or ninth aspect, the movement start time determining means has a tool diameter input from the input means. The data is used to determine the movement start time, the movement start time storage means stores the determined movement start time in association with each tool pot, and the tool pot movement control means stores the movement start time storage means. Since the movement start time of the tool pot by the tool pot driving means is controlled based on the moved movement start time, the movement start time can be determined in advance for each tool, and the movement start time of the tool pot can be quickly controlled. It can be carried out.

Further, the control method for a machine tool of the invention according to claim 11, the start of movement of the tool pot by the tool pot driving means, the length of the tool held by the person the tool pot, the opening and closing of the closed state of the said opening and closing member the distance from the position of the end portion of the member to the position of the closing member corresponding to the tool mounting side end portion of the front climate tool pot, since the control based on the opening and closing speed of the closing member, depending on the length of the tool Thus, the movement of the tool pot by the tool pot driving means can be started, so that the movement of the tool pot can be started early with a tool having a short tool length. Therefore, the efficiency of tool change can be increased and the time required for tool change can be shortened.

Further, the control method for a machine tool of the invention according to claim 12, in addition to the effect of the invention according to claim 11, the length of the previous SL tool held by the tool pot, the opening and closing of the closed state of the said opening and closing member the distance from the position of the end portion of the member to the position of the closing member corresponding to the tool mounting side end portion of the front climate tool pot, based on the opening and closing speed of the opening and closing member, said from the start opens the opening and closing member Based on the movement start time determined by the movement start time determining means for determining the movement start time which is the time until the movement of the tool pot starts, the tool pot drive means controls the start of movement of the tool pot. With a short tool, the tool pot can be moved quickly. Therefore, the efficiency of tool change can be increased and the time required for tool change can be shortened.

  Further, in the machine tool control method according to the thirteenth aspect, in addition to the effect of the invention according to the eleventh or twelfth aspect, the movement start time determining means uses the tool length data inputted from the input means. The movement start time is determined, the movement start time storage means stores the determined movement start time in association with each tool pot, and the tool pot movement control means is stored in the movement start time storage means. Since the movement start time of the tool pot by the tool pot driving means is controlled based on the movement start time, the movement start time can be determined in advance for each tool, and the movement start of the tool pot can be quickly controlled. Can do.

  In the machine tool control method according to the fourteenth aspect of the invention, in addition to the effect of the invention according to any one of the eighth to thirteenth aspects, the tool pot is lowered when the tool is changed, and the tool pot is lowered when the tool is stored. With a machine tool equipped with a tool changer that raises the tool, the efficiency of tool change can be increased and the time required for tool change can be shortened.

  Hereinafter, a machining center 1 according to a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a front view of a machining center 1 according to the present embodiment, FIG. 2 is a partial cross-sectional view seen from the right side surface of the machining center 1, and FIG. 3 is a direction of arrows AA shown in FIG. FIG. 4 is a partial cross-sectional perspective view of the machining center 1 as viewed from below, and FIG. 5 is a partially enlarged view showing the vicinity of the magazine cover 60 and the arm cover 70 shown in FIG. 6 is a partially enlarged view showing the vicinity of the magazine cover 60 and the arm cover 70 shown in FIG. 4 (the magazine cover 60 and the arm cover 70 are closed), and FIG. FIG. 2 is a block diagram showing an electrical configuration of the machining center 1.

  The machining center 1 according to this embodiment is provided with a magazine cover 60 that protects the tool magazine and an arm cover 70 that protects the tool change arm, and can prevent chips from adhering to the tool changer. It is.

  First, the machining center 1 will be described. The machining center 1 shown in FIG. 1 moves a workpiece (not shown) and a tool 24 which are not shown in the drawing relative to each other to perform desired machining (for example, “boring”, “milling”, “drilling”, It is a machine tool capable of performing “cutting” and the like. The machining center 1 includes a machine main body for processing a workpiece, a bed 2 as a base of the machine main body, and a substantially rectangular parallelepiped box that is provided on the bed 2 and surrounds and protects the periphery of the machine main body. It is mainly composed of a splash cover 3 of the mold.

  First, the bed 2 will be described. As shown in FIG. 1, FIG. 2 and FIG. 4, this bed 2 is an iron base, and leg portions 2a are provided at the lower four corners thereof, and these four leg portions 2a are provided in a factory or the like. By being installed on the floor, the machining center 1 is installed at a predetermined location. Furthermore, as shown in FIG. 4, the core of the bed 2 is so-called “thickening” (frame structure with ribs) in order to reduce weight and increase strength.

  Next, the splash cover 3 will be described. As shown in FIGS. 1 and 2, the splash cover 3 is formed in a substantially rectangular parallelepiped box shape, and a machining area in which a workpiece is machined is provided inside the splash cover 3. As shown in FIGS. 2 and 4, an opening 6 having a substantially rectangular shape in front view is provided at the front center of the splash cover 3. Then, when the operator passes through the opening 6, the workpiece is attached to and detached from the table 26 disposed inside the splash cover 3. Further, as shown in FIG. 1, slide type opening and closing doors 4 and 5 that open and close the opening 6 are provided on the front surface of the splash cover 3. In addition, glass windows 4a and 5a are provided in the approximate center of the open / close doors 4 and 5, respectively, a handle 4b is provided in the vicinity of the right end of the open / close door 4, and the vicinity of the left end of the open / close door 5 is provided. Is provided with a handle portion 5b. Therefore, the opening 6 is opened by opening these handle portions 4b and 5b away from each other.

  As shown in FIGS. 1 and 4, an operation panel 10 having a substantially rectangular shape in front view for operating the machining center 1 is provided on the right side of the splash cover 3. A control device 13 shown in FIG. 7 is disposed inside the operation panel 10. As shown in FIG. 7, the control device 13 is composed of a microcomputer, and is basically composed of a CPU 13a, ROM 13b, RAM 13c, input interface 15a, and output interface 15b. As shown in FIG. 1 and FIG. 4, the front of the operation panel 10 is an input means having various keys such as an automatic operation key, an MDI operation key, a manual operation key, a code input key, and a start key. A keyboard 16 (see FIG. 7) is provided, and a CRT (display) 45 for displaying a setting screen or an execution operation is provided above the keyboard 16. As shown in FIG. 7, the keyboard 16 of the operation panel 10 shown in FIG. 1 is connected to the input interface 15 a of the control device 13, and the CRT 45 is connected to the output interface 15 b of the control device 13. The NC program is input to the control device 13 based on the operation of the keyboard 16.

  Although not shown in the drawings, maintenance check hatches are detachably provided on the left and right side walls of the splash cover 3 shown in FIGS. The splash cover 3 having the above configuration surrounds the periphery of the machine body and protects it from the outside, and blocks the chips and cutting fluid splashes discharged from the machine body from being scattered to the outside. It prevents the external environment from being polluted.

  Next, the machine body will be described. The machine body is accommodated inside the splash cover 3. As shown in FIGS. 2, 3, and 4, the machine main body is fixed to the upper surface of the rear portion of the bed 2 and extends substantially vertically upward, and the Z-axis direction ( Mainly composed of a spindle head 22 that is movable in the vertical direction and a tool changer (ATC) that automatically changes a tool 24 mounted on the spindle head 22 to another tool 24. Yes.

  Here, the positional relationship between the individual devices in the machine body will be described in detail. As shown in FIG. 2, on the upper surface of the column 19, a Z motor 20 (see FIG. 7) that is composed of a servo motor and is connected to the control device 13 (see FIG. 7) is mounted. Further, the Z motor 20 is provided with an encoder 20a (see FIG. 7) for detecting the rotation angle of the Z motor 20, and the encoder 20a is connected to the input interface 15a (see FIG. 7). A signal from the encoder 20a is input to the control device 13 via the input interface 15a, whereby the speed control of the Z motor 20 is performed by the control device 13. A pair of guide rails (not shown) that extend in the vertical direction and guide the spindle head 22 are fixed to the front surface of the column 19 in the vertical direction. Then, the Z motor 20 selectively rotates the feed screw (not shown) extending downward from the Z motor 20 in the forward and reverse directions, so that the spindle head 22 moves in the vertical direction. ing.

  2 and 4, a spindle 23 corresponding to a machining axis is rotatably mounted on the spindle head 22, and a tool 24 (see FIG. 2) is attached to and detached from the tip of the spindle 23. Installed as possible. The spindle 23 is rotationally driven by a spindle motor 25 (see FIG. 7), whereby the tool 24 is rotationally driven to process a workpiece fixed on the table 26. Furthermore, the spindle motor 25 is provided with an encoder 25a (see FIG. 7) for detecting the rotation angle of the spindle motor 25, and the encoder 25a is connected to the input interface 15a (see FIG. 7). A signal from the encoder 25a is input to the control device 13 via the input interface 15a, so that the speed control of the spindle motor 25 is performed by the control device 13.

  On the other hand, as shown in FIGS. 2 and 4, a table 26 is disposed below the spindle head 22. The table 26 has a work detachably fixed thereto, and is controlled to move in the X-axis direction (left-right direction) and the Y-axis direction (depth direction) by an X motor 47 and a Y motor 48 (see FIG. 7) that are servo motors. Is. A movable body 27 is provided above the bed 2, and a table 26 is disposed above the movable body 27. Further, the table 26 is guided by an X-axis guide rail (not shown) provided on the upper surface of the moving body 27, and is guided in the X-axis direction by the X motor 47. On the other hand, a pair of Y-axis guide rails (not shown) are provided on the upper portion of the bed 2, and the moving body 27 is guided in the Y-axis direction by the Y motor 48, so that the table 26 passes through the moving body 27. Guided in the Y-axis direction. Further, the X motor 47 is provided with an encoder 47a (see FIG. 7) for detecting the rotation angle of the X motor 47, and the Y motor 48 is provided with an encoder 48a (FIG. 7) for detecting the rotation angle of the Y motor 48. The encoder 47a and the encoder 48a are connected to the input interface 15a (see FIG. 7), respectively. Each signal from the encoder 47a and the encoder 48a is input to the control device 13 via the input interface 15a, so that the speed control of the X motor 47 and the Y motor 48 is performed by the control device 13. The Y-axis guide rail is provided with telescopic covers 28 and 28 for preventing chips from accumulating on the rail so as to sandwich the table 26 in the center. Further, a telescopic cover 29a and a protective cover 29b are provided on the X-axis guide rail so as to sandwich the moving body 27.

  Next, the tool changer will be described. This tool changer automatically changes the tool 24 of the main shaft 23 with another tool 24. As shown in FIGS. 2 and 4, the tool changer is mainly composed of a tool magazine 30 storing a plurality of tools 24 and a tool change arm 39 for exchanging the tools 24 of the main shaft 23. .

  First, the tool magazine 30 will be described. As shown in FIG. 2, the tool magazine 30 is fixed to the column 19 and has a substantially elliptical shape in a side view. A tool path 30a having a substantially elliptical shape when viewed from the front is formed inside the tool magazine 30, and a plurality of tool pots 31 are accommodated in the tool path 30a. Further, a tool 24 is detachably stored inside each tool pot 31. The position of the tool 24 stored in each tool pot 31 stored in the tool passage 30a shown in FIG. 2 corresponds to the “tool storage position”.

  As shown in FIG. 2, a tool changer 30 b that opens downward is provided on the lower front side of the tool magazine 30. The plurality of tool pots 31 move in the tool path 30a by driving the magazine motor 42 (see FIG. 7). Further, the magazine motor 42 is provided with an encoder 42a (see FIG. 7) for detecting the rotation angle of the magazine motor 42, and the encoder 42a is connected to the input interface 15a (see FIG. 7). A signal from the encoder 42a is input to the control device 13 via the input interface 15a, whereby the speed control of the magazine motor 42 is performed by the control device 13. The plurality of tool pots 31 are provided with a pot identification plate 33 (see FIG. 7) that moves integrally with the tool pot 31. The pot identifying plate 33 is formed with a light transmitting portion (not shown) having a different pattern for each tool pot 31 so that each tool pot 31 can be individually identified.

  Further, the tool magazine 30 is provided with an identification sensor 35 for individually identifying the tool pots 31. As shown in FIG. 7, the identification sensor 35 includes a light projecting element 35 a and a light receiving element 35 b, which are arranged to face each other with the pot identification plate 33 interposed therebetween. And the control apparatus 13 detects which tool pot 31 was conveyed to the tool exchange part 30b of the tool magazine 30 based on the signal from the light receiving element 35b. When it is detected that the magazine has been transported, the magazine motor 42 is stopped to position the predetermined tool 24 in the tool changer 30b.

  Further, as shown in FIG. 7, the RAM 13 c of the control device 13 includes a pot number of each tool pot 31, a tool number of the tool 24 arranged on the tool pot 31, a tool name, a tool diameter and a tool of the tool. A tool data table (see FIG. 12) that stores the length and the pot descent start time described later in association with each other is stored. When the predetermined tool 24 is designated, the control device 13 stores the predetermined tool 24. A tool pot 31 having a pot number corresponding to the tool number is retrieved, and the retrieved tool pot 31 is led to the above-described tool changer 30b. When the tool 24 in the tool pot 31 is replaced, the control device 13 rewrites the tool data table in the RAM 13c for the tool number of the tool 24 by a tool registration process (see the flowchart shown in FIG. 11) described later. In this way, the location of the tool can be determined. Further, the control device 13 also stores the tool number of the tool 24 attached to the spindle 23 in the tool data table, and updates and stores the tool number every time the tool is replaced.

The tool magazine 30 is provided with an air cylinder 36 (see FIG. 7) as “tool pot driving means”. The control device 13 drives the air cylinder 36 so as to move in one direction to lower the tool pot. By this mechanism, the predetermined tool pot 31 is rotated approximately 90 ° downward, and the predetermined tool 24 protrudes downward through the tool changer 30b. The position of the tool 24 corresponds to a “tool changeable position”. Further, the control device 13 drives the air cylinder 36 so as to move in one direction, whereby the predetermined tool pot 31 is rotated and returned upward. The pot lowering sensor 37a shown in FIG. 7 detects that the tool 24 of the tool magazine 30 has been lowered (projected from the tool changer 30b), and the pot raising sensor 37b Then, it is detected that the pot is lowered from the lowered state and returned to the raised position (original tool storage position).

  As shown in FIGS. 2, 3, and 4, the tool magazine 30 is provided with a substantially rectangular parallelepiped box-shaped magazine cover 60 for surrounding and protecting the tool magazine 30, and the inner wall surface of the splash cover 3. It is fixed to. The magazine cover 60 is made of an iron plate, and is intended to prevent chips and cutting fluid scattered from the processing area from adhering to and accumulating in the tool magazine 30. Further, as shown in FIGS. 4 and 5, the magazine cover 60 is opened in a stepped manner toward the tool changer arm 39 at a position facing the tool changer 30 b of the tool magazine 30 shown in FIG. 2. Opening 61 is provided. The opening 61 is provided with a stepped magazine shutter 62 that slides to open and close the opening 61. When the predetermined tool pot 31 is rotated downward by the pot lowering mechanism of the tool magazine 30 and the predetermined tool 24 protrudes downward through the tool changer 30b, the magazine shutter 62 is opened and the opening 61 is opened. Is done. Thereby, the tool 24 protruding from the tool changer 30 b protrudes downward from the opening 61. The magazine shutter 62 is opened by moving from the front surface side of the splash cover 3 toward the column 19 side, and closed by moving in the opposite direction. The magazine shutter 62 corresponds to an “opening / closing member”.

  Furthermore, as shown in FIG. 5, a resin scraper 69 formed in a step shape along the lower end of the peripheral portion of the opening 61 on the column 19 side extends slightly downward. Has been provided. A tip portion slightly extended below the scraper 69 is in contact with the upper surface of the magazine cover 60. Thus, for example, even when the magazine shutter 62 is closed, chips attached to the tool pot 31 fall downward and accumulate on the upper surface of the magazine shutter 62, but when the magazine shutter 62 is opened, the scraper Since the front end portion of 69 slides on the upper surface of the magazine shutter 62, chips accumulated on the upper surface of the magazine shutter 62 can be wiped off.

  Further, the opening / closing mechanism of the magazine shutter 62 uses a magazine shutter cylinder 64 (see FIG. 7) as a drive source. Then, the control device 13 drives the magazine shutter cylinder 64 so that the magazine shutter 62 moves in the forward and reverse directions, and operates the opening / closing mechanism of the magazine shutter 62. Therefore, the magazine shutter 62 is opened or closed by the opening / closing mechanism, and the opening 61 is opened or closed.

  Further, in the vicinity of the opening 61, a magazine shutter open sensor 66 (see FIG. 7) for detecting that the magazine shutter 62 is completely opened, and a magazine shutter for detecting that the magazine shutter 62 is completely closed. A closing sensor 67 (see FIG. 7) is provided. As shown in FIG. 7, these detection signals are output to the control device 13. The opening / closing operation of the magazine shutter 62 is performed together with the opening / closing operation of an arm shutter 72 described later, and is performed in conjunction with the tool changing operation of the tool changing device.

  Next, the tool change arm 39 will be described. As shown in FIG. 4, the tool change arm 39 is attached to a tool change unit (not shown) fixed to the column 19, and is a lower end portion of a cylindrical arm pivot shaft 38 that is rotatably and vertically movable. It is fixed to. The tool change arm 39 is provided with gripping portions 40 and 40 for gripping the tool 24 at both ends. The arm turning shaft 38 is connected to a tool change motor 44 (see FIG. 7) via a motion transmission device (not shown). This motion transmission device transmits a rotational force of the tool change motor 44 to the arm pivot shaft 38, and transmits a rotational force of the tool change motor 44 to a central shaft (not shown) provided inside the arm pivot shaft 38. And a crank mechanism that converts the rotational force of the tool change motor 44 into a linear motion force in the vertical direction and transmits it to the arm turning shaft 38. Furthermore, while the tool change motor 44 or the drive shaft driven thereby rotates once, the gripping operation of the gripping portions 40, 40, the vertical operation and the turning operation of the tool changing arm 39 are controlled. The tool change motor 44 is provided with an encoder 44a (see FIG. 7) for detecting the rotation angle of the tool change motor 44. The encoder 44a is connected to the input interface 15a (see FIG. 7). Yes. A signal from the encoder 44a is input to the control device 13 via the input interface 15a, whereby the control device 13 controls the speed of the tool change motor 44.

  As shown in FIGS. 2 and 4, the lower half of the tool change arm 39 and the arm pivot shaft 38 is provided with a substantially rectangular parallelepiped box-shaped arm cover 70 for surrounding and protecting the surroundings. The arm cover 70 is fixed to the tool change unit. The arm cover 70 is made of an iron plate, and prevents the chips and cutting fluid scattered from the machining area from adhering to the tool changing arm 39 and accumulating. Further, the arm cover 70 has a side surface portion facing the opening 61 of the magazine cover 60, a side surface portion facing the main shaft 32, and a bottom surface portion sandwiched between the two side surfaces thereof. A U-shaped opening 71 is provided. The opening 71 is provided with a substantially U-shaped arm shutter 72 that slides to open and close the opening 71. When the gripping portions 40 and 40 are turned by the turning operation of the tool changing arm 39, the arm shutter 72 is opened and the opening 71 is opened. As a result, the gripping portions 40, 40 turn inside the opening 71, so that they do not collide with the arm cover 70. The arm shutter 72 is opened by moving from the front surface side of the splash cover 3 toward the column 19 side, and is closed by moving in the opposite direction.

  Furthermore, as shown in FIG. 5, a resin scraper 79 is provided extending slightly downward at the lower end portion on the column 19 side of the edge portion surrounding the opening 71. A tip portion slightly extended below the scraper 79 is in contact with the upper surface of the arm shutter 72. Thereby, for example, even when the chips attached to the tool change arm 39 fall and accumulate on the upper surface of the arm shutter 72 when the arm shutter 72 is closed, when the arm shutter 72 is opened, the tip of the scraper 79 is By sliding on the upper surface of the arm shutter 72, the accumulated chips can be wiped off.

  The opening / closing mechanism of the arm shutter 72 uses an arm shutter cylinder 74 (see FIG. 7) as a drive source. Then, the control device 13 drives the arm shutter cylinder 74 so that the arm shutter 72 moves in the forward and reverse directions to operate the opening / closing mechanism of the arm shutter 72. Therefore, by this opening / closing mechanism, the arm shutter 72 is opened or closed, and the opening 71 is opened or closed.

  In the vicinity of the opening 71, an arm shutter opening sensor 76 (see FIG. 7) for detecting that the arm shutter 72 is completely opened, and an arm shutter for detecting that the arm shutter 72 is completely closed. A closing sensor 77 (see FIG. 7) is provided. As shown in FIG. 7, these input signals are output to the control device 13. As described above, the opening / closing operation of the arm shutter 72 is performed together with the opening / closing operation of the magazine shutter 62, and is performed in conjunction with the tool changing operation of the tool changing device. The opening / closing operation of the magazine shutter 62 and the movement of the tool pot 31 performed in conjunction with the tool changing operation are the features of the present invention. Details thereof will be described later.

  Next, the basic operation of the tool changing operation by turning the tool changing arm 39 having the above-described configuration will be described. For example, as shown in FIG. 5, in a state where the tool change arm 39 is raised to the origin, first, the tool change arm 39 turns to hold the tool on the tool magazine side and the tool mounted on the main shaft. 40, 40. Next, the tool change arm 39 is lowered and a tool removal operation is performed. After that, the tool change arm 39 turns to switch the tool on the spindle side and the tool on the magazine side. At this time, the tool change arm 39 rotates 180 degrees. Thereafter, the tool change arm 39 is raised, and the tool held by the tool change arm 39 is mounted on the tool pot 31 or the main shaft 23 on the tool magazine 30 side. Then, the tool changing arm turns by a predetermined angle, the tool is released from the gripping portions 40, 40, and one cycle of the arm turning operation of the tool changing arm 39 is completed.

  The arm sensor 46 shown in FIG. 7 is a proximity sensor (for example, a hall element) that is turned on when the tool change arm 39 is raised to the origin, and the control device 13 is based on the arm sensor 46 being turned on. Thus, it is detected that the tool change arm 39 is positioned (returned) to the origin.

  Next, the operation principle of the tool change process which is a feature of the present invention will be described with reference to FIGS. 8 is a schematic view showing a state in which the tool pot 31 holding the tool 24 is raised, FIG. 9 is a schematic view showing a state in which the tool pot 31 holding the tool 24 is lowered, and FIG. 4 is a schematic diagram showing a tool diameter of a gripped tool 24 and a state in which a magazine shutter 62 is opened.

  As shown in FIG. 5, the tool magazine 30 is surrounded and protected by a magazine cover 60, and a magazine shutter 62 that slides to open and close the opening 61 is provided in the opening 61 of the magazine cover 60. Is provided. Here, the magazine shutter 62 moves in a direction (paper surface direction in FIG. 8) orthogonal to the tool length direction of the tool 24 held by the raised tool pot 31, and the opening 61 shown in FIG. 5 is opened and closed. It is like that. As shown in FIG. 8, when the magazine shutter 62 is closed, the tool pot 31 is raised, and the tool 24 held in the tool pot 31 and the magazine shutter 62 do not interfere with each other. When the tool 24 held in the tool pot 31 is lowered in the closed state, the magazine shutter 62 comes into contact.

  At the time of tool change, as shown in FIG. 9, the magazine shutter 62 is opened, the tool pot 31 is lowered, and the arm shutter 72 is also moved and opened in the paper direction in FIG. 9, and the tool change arm is gripped by the spindle. The tool 24 that has been lowered and the tool 24 held by the lowered tool pot 31 are exchanged.

  Here, as shown in FIG. 10, the tool 24 held by the tool pot 31 can be lowered when the magazine shutter 62 is opened beyond the tool diameter of the tool 24 held by the tool pot 31. Therefore, the pot descent start time, which is the time for starting the descent of the tool pot 31 holding the tool 24 after the magazine shutter 62 starts to open, varies depending on the tool diameter. That is, when the tool diameter of the tool 24 held by the tool pot 31 is large, the pot lowering start time is delayed, and when the tool diameter of the tool 24 held by the tool pot 31 is small, the pot lowering start time is early. Become. The “pot descent start time” corresponds to the “movement start time” in the claims. In the present embodiment, since the tool pot 31 is a type in which the tool pot 31 descends and rises, the “pot descending start time” is used. However, the present invention also applies to a type in which the tool pot 31 moves in a parallel manner other than the descending type. Since it can be applied, it is set as “movement start time” in the claims.

Next, with reference to FIG. 10, a method for determining the pot descent start time based on the tool diameter will be described. Here, as shown in FIG. 10, the opening speed of the magazine shutter 62 is V [mm / sec], and the distance from the closed end (closed state) of the magazine shutter 62 to the center of the tool 24 is X [mm]. If the tool diameter of the tool 24 is d [mm], the allowance time, which is the time for allowing the magazine shutter 62 to be opened, is t [sec], and the pot descent start time is T [sec],
T = (X + d / 2) / V + t
It becomes.

For example, when V = 600 [mm / sec], X = 300 [mm], d = 50 [mm], and t = 0 [sec],
T = (300 + 50/2) /600+0=0.542 [sec].
That is, it is only necessary to start the descent of the tool pot 31 after 0.542 [sec] when the magazine shutter 62 starts to open from the closed end.

Next, the tool registration process of the present embodiment will be described with reference to the flowchart of the tool registration process shown in FIG. 11 and the tool data table shown in FIG. First, in the present embodiment, when the tool 24 stored in the tool magazine 30 is registered, the “24” of the tool 24 newly gripped in the tool pot 31 of a predetermined number from the keyboard 16 provided on the operation panel 10 is displayed. "Tool number, tool name , tool diameter, tool length, etc." are input (S1). Then, these data are stored in the tool data table stored in the RAM 13c of the control device 13. As an example of the tool data table, as shown in FIG. 12, the input of the tool number, the tool name, the tool diameter, the tool length corresponding to the pot number, and the pot descent start determined in the process of S2 described later. Time is memorized. The storage area of the pot descent start time in the tool data table of the RAM 13c corresponds to “movement start time storage means”.

  Based on the tool diameter input in S1, the CPU 13a of the control device 13 can obtain the pot lowering start time by performing the above-mentioned calculation “T = (X + d / 2) / V + t” (S2). Note that the opening speed V [mm / sec] of the magazine shutter 62 and the distance X [mm] from the closed end of the magazine shutter 62 to the center of the tool 24 are values unique to each machining center 1, and therefore are constants in advance. The margin time t [sec] is also set in advance. Therefore, if the tool diameter d [mm] of the tool 24 is input, the pot descent start time T [sec] can be obtained. The CPU 13a that executes the process of S2 corresponds to “movement start time determining means”.

  Next, the pot lowering start time T determined in S2 is stored in the pot lowering start time of the tool data table shown in FIG. 12 (S3), and the tool registration process is terminated. In addition, when there are a plurality of tools to be registered, the processes of S1 to S3 are repeated. When the tool registration process is completed, the pot descent start time is determined for each tool pot 31.

  When the tool change process is instructed by the keyboard 16 of the operation panel 10, the control device 13 stores the tool 24 (the tool on the tool magazine 30 side) to be replaced next before the tool change shutter opening / closing process. The indexing process for the tool pot 31 that has been performed is executed. In this indexing process, the pot number of the tool pot 31 in which the tool 24 to be replaced next is stored is retrieved from the tool data table, and the tool pot 31 having the retrieved pot number is moved to the tool exchanging unit 30b. In this movement control, each tool pot 31 is moved by driving the magazine motor 42. When the identification sensor 35 detects that the tool pot 31 with the corresponding pot number has reached the tool changer 30b, the drive of the magazine motor 42 is stopped, and the indexing process is completed. Then, the following tool change process is executed. In the present embodiment, the tool changing operation and the opening / closing operations of the magazine shutter 62 and the arm shutter 72 are performed in conjunction with each other.

  Next, the tool change process of the machining center 1 according to the first embodiment will be described with reference to the tool change process flowchart shown in FIG. The following processing is executed by the control device 13. First, the spindle 32 is moved to the tool change position, the spindle is rotated so that the spindle 32 is rotated to a predetermined position, and the magazine shutter 62 is driven to open the magazine shutter 62 (S20). Next, the pot descent start time of the tool to be gripped by the tool changing arm 39 next is read from the tool data table stored in the RAM 13c of the control device 13 (S21). Next, the timer T is reset as “T1 = 0”, and the timer T1 is started (S22). Next, it is determined whether the timer T1 has passed the pot descent start time read in S21 (S23). When the timer T1 has passed the pot descent start time (S23: YES), the descent of the tool pot 31 is started by driving the air cylinder 36 (S24). The CPU 13a that performs the processes of S23 and S24 corresponds to “tool pot movement control means”.

  Next, the orientation of the spindle 32 is completed, the movement to the tool change position is completed, the lowering of the tool pot 31 to the lower end is completed by the pot lowering sensor 37a, and the movement of the magazine shutter 62 to the opening end is confirmed by the magazine shutter opening sensor 66. (S25). After all are confirmed, the tool change arm 39 is turned by driving the tool change motor 44 to change the tool (S26). Next, the spindle 32 is rotated by the spindle motor 25, the spindle 32 is moved to the machining start position, and the tool pot 31 starts to rise (S27). Next, after the completion of the raising of the tool pot 31 is confirmed by the pot raising sensor 37b, the magazine shutter 62 starts to be closed by driving the magazine shutter cylinder 64 (S28). Finally, the spindle 32 is rotated, the movement of the spindle 32 to the machining start position is completed, the pot lift sensor 37b completes raising the tool pot 31 to the upper end, and the magazine shutter close sensor 67 completes moving the magazine shutter 62 to the closed end. Confirm (S29).

  As described above, in the machining center 1 according to the first embodiment of the present invention, the pot lowering start time can be determined according to the tool diameter, and the pot lowering start time can be shortened for a tool having a small tool diameter. The tool change time can be shortened.

  Next, a second embodiment of the present invention will be described with reference to FIGS. FIG. 14 is a flowchart of the tool registration process according to the second embodiment. FIG. 15 shows the tool 24 held by the tool pot 31 in a state where the tool pot 31 is raised, and the tool 24 is opened and closed in the tool length direction. It is a figure which shows the mode of the magazine shutter 62.

The mechanical configuration of the second embodiment is different only in that the magazine shutter 62 is opened and closed in the tool length direction of the tool 24 held by the raised tool pot 31. The other structure is the first structure. it is similar to the embodiment of the Ma senior Ngusenta 1. In the tool registration process, the only difference is that the pot descent start time is determined by the tool length, and the other control is the same as that of the first embodiment.

Below, the determination method of the pot fall start time by the tool length in this 2nd Embodiment is demonstrated. Here, as shown in FIG. 15, the opening speed of the magazine shutter 62 is V [mm / sec], and the distance from the closed end of the magazine shutter 62 to the attachment position of the tool 24 to the tool pot 31 is X [mm]. When the tool length of the tool 24 is L [mm], the allowance time that is a time for allowing the magazine shutter 62 to be opened is t [sec], and the pot descent start time is T [sec],
T = (X + L) / V + t
It becomes.

For example, when V = 600 [mm / sec], X = 300 [mm], L = 150 [mm], and t = 0 [sec],
T = (300 + 150) /600+0=0.750 [sec].
That is, it is only necessary to start the lowering of the tool pot 31 after 0.750 [sec] when the magazine shutter 62 starts to open from the closed end.

  Next, a tool registration process according to the second embodiment will be described with reference to the flowchart shown in FIG. In the second embodiment, as in the first embodiment, when a tool stored in the tool magazine 30 is registered, a tool pot 31 having a predetermined number is assigned from the keyboard 16 provided on the operation panel 10. "Tool number, tool name, tool diameter, tool length, etc." of the newly gripped tool 24 is input (S11). Then, these data are stored in the tool data table stored in the RAM 13c. As an example of the tool data table, as shown in FIG. 12, the input of the tool number, the tool name, the tool diameter, the tool length corresponding to the pot number, and the pot descent start determined in the process of S12 described later. Time is memorized.

  Based on the tool length input in S11, the CPU 13a of the control device 13 can obtain the pot descent start time by performing the above-mentioned calculation “T = (X + L) / V + t” (S12). Note that the opening speed V [mm / sec] of the magazine shutter 62 and the distance X [mm] from the closed end of the magazine shutter 62 to the mounting position of the tool 24 on the tool pot 31 are values specific to each machining center 1. Therefore, it is set in advance as a constant, and the margin time t [sec] is also set in advance. Accordingly, if the tool length L [mm] of the tool 24 is input, the pot descent start time T [sec] can be obtained. The CPU 13a that executes the process of S12 corresponds to “movement start time determining means”.

  Next, the pot lowering start time T determined in S12 is stored in the pot lowering start time of the tool data table shown in FIG. 12 (S13), and the tool registration process is terminated. In addition, when there are a plurality of registered tools, the processes of S11 to S13 are repeated. When the tool registration process is completed, the pot descent start time is determined for each tool pot 31.

  Note that the tool change process of the second embodiment is the same as the tool change process of the first embodiment shown in FIG. Therefore, even in a machining center configured to be opened and closed in the tool length direction of the tool 24 held by the tool pot 31 in which the opening and closing direction of the magazine shutter 62 is raised, the pot lowering start time can be determined according to the tool length. With a tool having a short tool length, the pot descent start time can be shortened, and the tool change time can be shortened.

  The present invention is not limited to the above embodiments, and various modifications can be made. For example, in the machining center 1 of the first and second embodiments, the magazine cover 60 that surrounds and protects the tool magazine 30 and the arm cover 70 that surrounds and protects the tool change arm 39 and the arm pivot shaft 38 are provided. Although provided separately, the magazine cover 60 and the arm cover 70 may be integrated into one protective cover, and the magazine shutter 62 and the arm shutter 72 may be used as one shutter as shown in FIGS. .

  In the machining centers 1 of the first and second embodiments, the tool pot 31 is configured to rotate. From the beginning, the tool magazine with the tool pot 31 facing downward is used to reach the tool changeable position. The present invention can also be applied to a tool pot 31 that moves downward and horizontally.

  Further, a sensor for measuring the tool diameter or the tool length may be provided in the vicinity of the tool changer 30b, and the tool diameter or the tool length may be stored in the tool data table by the sensor.

  Furthermore, the data measured by the sensor may be used for obtaining the movement start time of the tool pot without storing it in the tool data table.

  The machine tool of the present invention can be applied not only to a vertical machining center but also to a horizontal machining center.

It is a front view of the machining center 1 which is this embodiment. FIG. 2 is a partial cross-sectional view seen from the right side of the machining center 1. It is AA arrow direction sectional drawing shown in FIG. It is the fragmentary sectional perspective view which looked at the machining center 1 from the downward direction. FIG. 5 is a partially enlarged view showing the vicinity of the magazine cover 60 and the arm cover 70 shown in FIG. 4 (the magazine cover 60 and the arm cover 70 are opened); FIG. 5 is a partially enlarged view showing the vicinity of the magazine cover 60 and the arm cover 70 shown in FIG. 4 (the magazine cover 60 and the arm cover 70 are closed). 2 is a block diagram showing an electrical configuration of the machining center 1. FIG. 6 is a schematic view showing a state where a tool pot 31 holding a tool 24 is raised. 6 is a schematic view showing a state in which a tool pot 31 holding a tool 24 is lowered. 4 is a schematic diagram showing a tool diameter of a tool 24 held by a tool pot 31 and a state in which a magazine shutter 62 is opened. It is a tool registration process flowchart. It is a conceptual diagram of a tool data table. It is a tool exchange process flowchart. It is a flowchart of the tool registration process of 2nd Embodiment. It is a figure which shows the mode of the magazine shutter 62 opened and closed in the tool length direction of the tool 24 hold | gripped by the tool pot 31 in the state which the tool pot 31 raised. It is the schematic which shows the state which the tool pot 31 holding the tool 24 of the modification raised. It is the schematic which shows the state which the tool pot 31 holding the tool 24 of the modification fell.

DESCRIPTION OF SYMBOLS 1 Machining center 2 Bed 10 Operation panel 13 Control apparatus 16 Keyboard 19 Column 22 Spindle head 23 Spindle 24 Tool 30 Tool magazine 37a Pot descent sensor 37b Pot rise sensor 38 Arm rotation axis 39 Tool exchange arm 40 Gripping part 60 Magazine cover 61 Opening part 62 Magazine shutter 70 Arm cover 71 Opening 72 Arm shutter

Claims (14)

A bed serving as a base of a machine tool, a column fixed on the bed, a spindle head provided on the column, a spindle provided on the spindle head and having a tool detachably mounted on a tip portion thereof; In a machine tool comprising an automatic tool changer for exchanging a tool attached to the tip of the spindle with another tool, and a tool changer arm in which a pair of gripping parts for gripping the tool are formed at both ends . ,
The automatic tool changer is
A tool magazine that stores a plurality of tools held in a tool pot and moves a predetermined tool from a tool storage position to a tool replacement preparation position ;
And a cover to prevent the entry of the switching powder or the like so as to surround the previous Symbol tool magazine,
Tool pot driving means for moving the tool pot between the tool change preparation position and a tool changeable position that can be held by a holding portion of the tool change arm;
The tool change arm is disposed between the tool change preparation position of the tool magazine and a tip end portion of the main shaft, and the one tool having the pair of gripping portions mounted on the main shaft and the tool changeable position. Can swivel with other tools located at
The cover has an opening through which the tool pot can pass when the tool pot is moved to the tool replaceable position by the tool pot driving means.
An opening and closing member for opening and closing the opening,
The length of the tool the movement start of the tool pot according to the tool pot driving means, and the diameter of the tool held by the person the tool pot, the position of the end portion of the closing member closed the opening and closing member characterized by comprising a distance to the position of the closing member corresponding to the center in the direction perpendicular to the cross section, the tool pot movement control hand stage <br/> controlled based on the opening and closing speed of the opening and closing member Machine Tools. And the diameter of the tool is gripped before Symbol tool pot, from the position of the end of the opening and closing member closed the opening and closing member of said closing member corresponding to the center in the length direction perpendicular to the cross section of the tool Based on the distance to the position and the opening / closing speed of the opening / closing member, a movement start time determining means for determining a movement start time that is a time from when the opening / closing member starts to open until the tool pot starts moving,
The tool pot movement control means controls the start of movement of the tool pot by the tool pot driving means based on the movement start time determined by the movement start time determination means. Machine tools. Wherein each tool held by the each tool pot, an input means for inputting a size of the diameter of the engineering tool,
The movement start time determining means determines the movement start time using data on the diameter of the tool input from the input means,
Furthermore, it comprises a movement start time storage means for storing the determined movement start time in association with each tool pot,
3. The tool pot movement control means controls the start of movement of the tool pot by the tool pot driving means based on the movement start time stored in the movement start time storage means. The machine tool described in 1. A bed serving as a base of a machine tool, a column fixed on the bed, a spindle head provided on the column, a spindle provided on the spindle head and having a tool detachably mounted on a tip portion thereof; In a machine tool comprising an automatic tool changer for exchanging a tool attached to the tip of the spindle with another tool, and a tool changer arm in which a pair of gripping parts for gripping the tool are formed at both ends . ,
The automatic tool changer is
A tool magazine that stores a plurality of tools held in a tool pot and moves a predetermined tool from a tool storage position to a tool replacement preparation position ;
And a cover to prevent the entry of the switching powder or the like so as to surround the previous Symbol tool magazine,
Tool pot driving means for moving the tool pot between the tool change preparation position and a tool changeable position that can be held by a holding portion of the tool change arm;
The tool change arm is disposed between the tool change preparation position of the tool magazine and a tip end portion of the main shaft, and the one tool having the pair of gripping portions mounted on the main shaft and the tool changeable position. Can swivel with other tools located at
The cover has an opening through which the tool pot can pass when the tool pot is moved to the tool replaceable position by the tool pot driving means.
An opening and closing member for opening and closing the opening,
Moving the start of the tool pot according to the tool pot driving means, the length of the tool held by the person the tool pot, from said position of the end portion of the closing member in a state where the opening and closing member closed before climate tool pot tool machine tool comprising: the distance to the position of the closing member corresponding, the tool pot movement control hand stage <br/> controlled based on the opening and closing speed of the opening and closing member to the mounting end. The length of the tool is gripped before Symbol tool pot, to the position of the closing member corresponding to the tool mounting side end portion of the front climate tool pot from the position of the end of the opening and closing member closed the opening and closing member Based on the distance and the opening and closing speed of the opening and closing member, comprising a movement start time determining means for determining a movement start time that is a time from when the opening and closing member starts to open until the tool pot starts to move,
The tool pot movement control means controls the start of movement of the tool pot by the tool pot driving means based on the movement start time determined by the movement start time determination means. Machine tools. Wherein each tool held by the each tool pot, an input means for inputting a length of Engineering tools,
The movement start time determining means determines the movement start time by using the tool length data input from the input means,
Furthermore, it comprises a movement start time storage means for storing the determined movement start time in association with each tool pot,
6. The tool pot movement control means controls the movement start of the tool pot by the tool pot driving means based on the movement start time stored in the movement start time storage means. The machine tool described in 1.   The machine tool according to any one of claims 1 to 6, wherein the tool pot driving means lowers the tool pot when changing the tool and raises the tool pot when storing the tool. A bed serving as a base of a machine tool, a column fixed on the bed, a spindle head provided on the column, a spindle provided on the spindle head and having a tool detachably mounted on a tip portion thereof; An automatic tool changer for exchanging the tool mounted on the tip of the main spindle with another tool, and a tool changer arm having a pair of gripping portions for gripping the tool at both ends. exchange device stores a plurality of tools held by the tool pot, the tool magazine for moving a predetermined tool from the tool storage position in the tool change preparation position, entry of cutting chips or the like by surrounding the pre-SL tool magazine And a tool pot driving means for moving the tool pot between the tool change preparation position and a tool changeable position that can be held by a holding portion of the tool change arm, The bar in the tool pot by the tool pot driving means is moved to the tool replacement position, comprising an opening tool pot can pass through, and a closing member for opening and closing the opening, the tool exchange arm Is disposed between the tool change preparation position of the tool magazine and the tip of the main shaft, and the pair of gripping portions are located at one tool mounted on the main shaft and the tool changeable position. A machine tool control method capable of turning between tools ,
The length of the tool the movement start of the tool pot according to the tool pot driving means, and the diameter of the tool held by the person the tool pot, the position of the end portion of the closing member closed the opening and closing member A control method for a machine tool, wherein control is performed based on a distance to a position of the opening / closing member corresponding to a center in a cross section perpendicular to a direction and an opening / closing speed of the opening / closing member. And the diameter of the tool is gripped before Symbol tool pot, from the position of the end of the opening and closing member closed the opening and closing member of said closing member corresponding to the center in the length direction perpendicular to the cross section of the tool Based on the distance to the position and the opening / closing speed of the opening / closing member, a movement start time that is a time from when the opening / closing member starts to open until the tool pot starts to move is determined,
9. The machine tool control method according to claim 8, wherein the movement start of the tool pot is controlled based on the determined movement start time. Wherein each tool held by the each tool pot, enter the size of the diameter of the engineering tool,
Using the input tool diameter data, determine the movement start time,
Further, the determined movement start time is stored in the storage means in association with each tool pot,
10. The machine tool control method according to claim 8, wherein the start of movement of the tool pot is controlled based on the movement start time stored in the storage means. A bed serving as a base of a machine tool, a column fixed on the bed, a spindle head provided on the column, a spindle provided on the spindle head and having a tool detachably mounted on a tip portion thereof; An automatic tool changer for exchanging the tool mounted on the tip of the main spindle with another tool, and a tool changer arm having a pair of gripping portions for gripping the tool at both ends. exchange device stores a plurality of tools held by the tool pot, the tool magazine for moving a predetermined tool from the tool storage position in the tool change preparation position, entry of cutting chips or the like by surrounding the pre-SL tool magazine And a tool pot driving means for moving the tool pot between the tool change preparation position and a tool changeable position that can be held by a holding portion of the tool change arm, The bar in the tool pot by the tool pot driving means is moved to the tool replacement position, comprising an opening tool pot can pass through, and a closing member for opening and closing the opening, the tool exchange arm Is disposed between the tool change preparation position of the tool magazine and the tip of the main shaft, and the pair of gripping portions are located at one tool mounted on the main shaft and the tool changeable position. A machine tool control method capable of turning between tools ,
Moving the start of the tool pot according to the tool pot driving means, the length of the tool held by the person the tool pot, from said position of the end portion of the closing member in a state where the opening and closing member closed before climate tool pot tool A control method for a machine tool, wherein control is performed based on a distance to a position of the opening / closing member corresponding to a mounting side end and an opening / closing speed of the opening / closing member. The length of the tool is gripped before Symbol tool pot, to the position of the closing member corresponding to the tool mounting side end portion of the front climate tool pot from the position of the end of the opening and closing member closed the opening and closing member Based on the distance and the opening and closing speed of the opening and closing member, determine a movement start time that is a time from when the opening and closing member starts to open until the tool pot starts to move,
The method for controlling a machine tool according to claim 11, wherein the start of movement of the tool pot is controlled based on the determined movement start time. Wherein each tool held by the each tool pot, enter the length of the factory tools,
Using the input tool length data, determine the movement start time,
Further, the determined movement start time is stored in the storage means in association with each tool pot,
The method for controlling a machine tool according to claim 11 or 12, wherein the start of movement of the tool pot is controlled based on the movement start time stored in the storage means.   The method for controlling a machine tool according to any one of claims 8 to 13, wherein the tool pot is lowered when the tool is changed, and the tool pot is raised when the tool is stored.

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