JP6992380B2 - Machine tools, brake failure determination methods, and computer programs - Google Patents

Description

The present invention relates to a machine tool having a motor with a brake, a brake failure determination method, and a computer program.

The machine tool sequentially replaces the tools mounted on the spindle head to perform various machining such as milling and screwing. The machine tool is equipped with a support base (base), a spindle head, a column, a tool magazine, and the like.

The column is columnar and stands behind the upper part of the base. The spindle head is moved in the Z-axis direction along the front surface of the column by the Z-axis motor. The spindle head internally supports the spindle so as to be rotatable by a spindle motor. Attach the tool to the spindle.

The tool magazine comprises a chain that swivels around an axis driven by a magazine motor. The chain has a plurality of gripping arms arranged side by side in the circumferential direction. Each gripping arm grips the tool detachably. After machining, the spindle head rises, and the tool attached to the spindle is handed over to the gripping arm. The magazine motor turns the chain and moves the gripping arm equipped with the tool to be used next to the tool change position. The spindle head is lowered, and the tool attached to the gripping arm at the tool exchange position is attached to the spindle to exchange the tool.

In machine tools, appropriate maintenance and inspection, replacement and repair of parts are carried out to extend the life of the machine tool. The machine tool has a plurality of motors for driving the members, and the motors are equipped with a brake for maintaining the posture of the members when stopped. In particular, in the case of a gravity shaft on which gravity acts on the output shaft of the motor, there is a risk that the gravity shaft will fall due to its own weight due to a brake failure. Therefore, a brake failure judgment test is conducted for each work.

The brake failure determination method of Patent Document 1 determines whether or not there is an abnormality in the brake in a state where the motor is excited and the brake is operating. When it is diagnosed that there is an abnormality in the brake, the excitation of the motor is not interrupted and the abnormality in the brake is notified without releasing the brake.

Japanese Unexamined Patent Publication No. 2014-10546

The brake failure determination test as in Patent Document 1 needs to be performed for each processing operation. Since the machine tool has a plurality of the gravity axes, it is necessary to determine the brake failure for each gravity axis, the work is complicated, the test takes time, and the productivity is lowered.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a machine tool, a brake failure determination method, and a computer program, which can efficiently determine a brake failure and have good workability and productivity. And.

The machine tool according to the present invention drives two or more members, respectively, and applies a load to each motor in a state where a motor equipped with a brake, an operating portion that operates the brake of each motor, and a state in which the brake is operated by the operating portion. It is characterized by including a load applying unit and a determination unit for determining whether or not a brake of each motor has failed based on the amount of movement of each motor when a load is applied by the load applying unit.

In the present invention, it is possible to efficiently determine at once whether or not the brakes of two or more motors have failed, and the workability and productivity are good.

In the machine tool according to the present invention, the presence or absence of a brake failure of each motor is determined by the first moving unit that moves at least one member to a position where the two or more members do not interfere with each other when driven, and the determination unit. It is characterized by including a second moving portion for returning the member moved to the position to the position before the movement.

In the present invention, since the first moving portion is provided, the members do not interfere with each other when a load is applied to the motor. Since the second moving portion is provided, the member can be returned to the original position after determining whether or not the brake has failed, and the machining can be resumed smoothly.

The machine tool according to the present invention is centered on a spindle head that rotatably holds a spindle into which a tool is inserted, a machining table having a fixing surface for fixing a workpiece, and a swing shaft parallel to the fixing surface. The member is a spindle head, and the motor is a vertical motor for moving the spindle head in the vertical direction. The moving portion is characterized in that the spindle head is moved to a position where the tool is exchanged in the vertical direction, and is moved to a position away from the fixed surface in the left-right direction and the front-back direction.

In the present invention, it is possible to determine the failure of the upper and lower motors of the spindle head, which may fall if the brake fails, and prevent the fall. Since the spindle head moves to a position where it does not hit the tool magazine in the vertical direction, the spindle head and the tool magazine do not interfere with each other when a load is applied, and the spindle head and the tool magazine are not damaged when the brake is broken. Since the spindle head is retracted to a position off the fixed surface, the spindle head does not move toward the machining table or the workpiece even when the brake is out of order.

The machine tool according to the present invention includes a rotation restraining unit that suppresses the rotation of the swing shaft and a restraint release unit that cancels the rotation restraint of the swing shaft, and the first moving unit releases the restraint. It is characterized in that the swing shaft whose restraint is released by the portion is rotated so that the central axis of the fixed surface is parallel to the vertical direction.

In the present invention, since the failure of the brake is determined in the state where the fixed surface coincides with the horizontal plane, the spindle head does not move toward the rocking table even when the brake has failed.

The machine tool according to the present invention is characterized in that the member is the rocking table and the motor is a motor for driving the rocking shaft.

In the present invention, it is possible to determine whether or not there is a brake failure in the swing shaft and prevent unnecessary rotation of the swing table.

The machine tool according to the present invention rotates a left-right motor for moving the spindle head in the left-right direction, a front-rear motor for moving the spindle head in the front-rear direction, and a machining table around an axis parallel to the up-down direction. A rotary motor is provided, and the actuating portion is characterized in that a brake is actuated on a motor selected from the left and right motors, the front-rear motors, and the rotary motors.

In the present invention, the posture of the spindle head or the swing table can be maintained when the motor is stopped.

The machine tool according to the present invention includes a tool magazine having a plurality of tool holding portions for holding and circulating a tool, and a driving portion for driving the tool holding portion, and the member is the tool magazine. The motor is a motor included in the drive unit.

In the present invention, it is possible to determine whether or not the motor that drives the tool magazine is out of order and prevent unnecessary movement of the tool magazine.

In the brake failure determination method according to the present invention, at least one member is moved to a position where it does not interfere with each other when two or more members are driven, and the brake of the motor for driving the two or more members is operated to operate the brake. In this state, a load is applied to each motor, and the presence or absence of a brake failure of each motor is determined based on the amount of movement of each motor when the load is applied.

In the present invention, it is possible to efficiently determine at once whether or not the brakes of two or more motors have failed, and the workability and productivity are good. Since at least one member is moved, the members do not interfere with each other when a load is applied to the motor.

In the computer program according to the present invention, at least one member is moved to a position where it does not interfere with each other when two or more members are driven, the brake of the motor for driving the two or more members is operated, and the brake is operated. Therefore, a load is applied to each motor, and a process of determining whether or not a brake of each motor has a failure is executed based on the amount of movement of each motor when the load is applied.

In the present invention, it is possible to efficiently determine whether or not the brakes of two or more motors have failed, and the workability and productivity are good. Since at least one member is moved, the members do not interfere with each other when a load is applied to the motor.

According to the present invention, a brake failure can be efficiently determined at one time, and workability and productivity are good.

It is a perspective view which shows the cover for the machine tool which surrounds the machine tool of embodiment. It is a perspective view of a machine tool. It is a perspective view which omitted the tool magazine and the cover which covers the tool magazine. It is a front perspective view of the work support device. It is a block diagram which shows the structure of the control part. It is a flowchart which shows the procedure of the judgment process of a brake failure by a CPU.

Hereinafter, the present invention will be described in detail with reference to the drawings showing the machine tool according to the embodiment. In the following description, the up / down, left / right, and front / back indicated by the arrows are used in the figure. The user operates the machine tool in front to attach / detach the work (workpiece, not shown).

FIG. 1 is a perspective view illustrating a machine tool cover 60 surrounding the machine tool 100. As shown in FIG. 1, a machine tool cover 60 surrounding the machine tool 100 is provided on the upper side of the base 20 of the machine tool 100. The machine tool cover 60 has a rectangular box shape.

The machine tool cover 60 is provided with two removable panels 61, 61 at the center of the left and right side surfaces. The operator removes the panels 61 and 61 as necessary to perform maintenance and management of the machine tool. On the back surface of the machine tool cover 60, a control panel 62 having a control unit 90 described later for controlling the operation of the machine tool and an amplifier for supplying electric power to each motor is provided.

A vertically long rectangular opening 63 is provided in the center of the front surface of the machine tool cover 60, and an operation panel 64 for inputting information by an operator is provided on the right side of the opening 63. The operation panel 64 includes a keyboard, buttons, a start switch for activating a machine tool, and the like. The operation panel 64 constitutes a reception unit that receives information (for example, an identifier that identifies a tool). The operation panel 64 includes a buzzer 68. A display unit 67 for displaying information is provided on the upper side of the operation panel 64. A vertically long rectangular right door 66 and a left door 65 are arranged side by side in the opening 63 so as to be movable in the left-right direction.

The right door 66 is arranged behind the left door 65. A handle 66a is provided on the front surface of the right door 66. The right door 66 and the left door 65 are opened and closed automatically or manually. In the case of manually opening and closing, when the operator grasps the handle 66a and pulls it to the left side, the right door 66 and the left door 65 move to the left side in order to open, and the processing table 52 described later appears. When pulled to the right, the right door 66 and the left door 65 move to the right in order and close.
When opening and closing automatically, the right door 66 and the left door 65 move to the left side to open or move to the right side to close based on a command from the control panel 62.

FIG. 2 is a perspective view of the machine tool 100, and FIG. 3 is a perspective view in which the tool magazine 10 and the cover covering the tool magazine 10 are omitted.

The machine tool 100 includes a base 20, a Y-direction moving device 22, an X-direction moving device 26, a column 28, a Z-direction moving device 30, a spindle head 32, a spindle 34, a tool magazine 10, and the like. The base 20 is arranged on the floor surface. The base 20 movably supports the column 28 in the X direction (left-right direction) and the Y direction (front-back direction) via the Y-direction moving device 22 and the X-direction moving device 26. The base 20 supports a work support device 40 that drives and holds a work to be machined around two axes. The column 28 supports the spindle head 32 so as to be movable in the Z direction (vertical direction) via the Z direction moving device 30. The tool magazine 10 replaces the tool mounted on the spindle head 32.

The Y-direction moving device 22 includes a pair of guide rails 22a parallel to each other, a plurality of blocks 22b, a Y-direction moving table 22c, and a Y-direction drive motor 22d (see FIG. 5). The guide rails 22a extend in the front-rear direction on the upper surface of the base 20 at appropriate intervals in the left-right direction. Each block 22b is fitted to each of the guide rails 22a so as to be movable in the front-rear direction. The Y-direction moving table 22c is fixed on each block 22b. By driving the Y-direction drive motor 22d, the Y-direction moving table 22c moves in the front-rear direction.

The X-direction moving device 26 includes a pair of guide rails 26a parallel to each other, a plurality of blocks 26b, a column base 26c, and an X-direction drive motor 26d (see FIG. 5). The guide rails 26a extend in the left-right direction on the upper surface of the Y-direction moving table 22c at appropriate intervals in the front-rear direction. Each block 26b is fitted to each of the guide rails 26a so as to be movable in the left-right direction. The column base 26c is fixed on each block 26b. The column 28 is fixed on the column stand 26c. The column 28 moves in the left-right direction by driving the X-direction drive motor 26d.
The column 28 is moved in the Y direction and the X direction by the Y direction moving device 22 and the X direction moving device 26.

The Z-direction moving device 30 includes a pair of guide rails 30a parallel to each other, a plurality of blocks 30b, a spindle head base 30c, and a Z-direction drive motor 30d (see FIG. 5). The guide rails 30a extend vertically on the front surface of the column 28 at appropriate intervals in the left-right direction. Each block 30b is fitted to each of the guide rails 30a so as to be movable in the vertical direction. The spindle head base 30c is fixed to the front surface of each block 30b. By driving the Z-direction drive motor 30d, the spindle head base 30c moves in the vertical direction.

The spindle head 32 is fixed to the spindle head base 30c. By driving and controlling the X-direction drive motor 26d, the Y-direction drive motor 22d, and the Z-direction drive motor 30d, the spindle head 32 moves back and forth, left and right, and up and down.
The spindle head 32 internally supports the spindle 34. The spindle 34 is connected to a spindle motor 35 fixed to the upper part of the spindle head 3, and is rotated around the central axis in the vertical direction by driving the spindle motor 35. The lower end of the spindle 34 projects below the spindle head 32, and a tool is attached and held. The tool moves up and down with the spindle head 32.

A plurality of tools are stored in the tool magazine 10. The tool magazine 10 includes a drive unit 11, a support beam (not shown), a rail 12, a chain 13, a plurality of gripping arms (tool holding units) 14, and the like. The rail 12 is arranged so as to be inclined by approximately 30 degrees from the horizontal plane. The gripping arm 14 grips the tool holder that holds the tool. The drive unit 11 includes a magazine motor 11a, a drive shaft, an encoder, and the like. The rotation of the drive shaft of the magazine motor 11a causes the chain 13 to rotate, and the gripping arm 14 that grips the tool holder circulates and moves.

FIG. 4 is a front perspective view of the work support device 40. The work support device 40 includes a gear box 41, a bearing box 44, an A-axis motor 46, a rocking table 50, a processing table 52 having a fixed surface for fixing the work, a C-axis drive unit 53, and the like.

The gear box 41 accommodates the shaft portion 51 on the right side of the rocking table 50 and rotatably supports it around the X axis. In the following description, the central axis of the shaft portion (swing axis) 51 will be referred to as the A axis. That is, the rotation axes of the work are A, B, and C axes corresponding to the X, Y, and Z axes. The A-axis motor 46 is attached to the front side of the gear box 41, and the rotating shaft (not shown) faces the inside of the gear box 41. The rotation axis of the A-axis motor 46 rotates around the Y-axis, and the gearbox 41 converts the rotation around the Y-axis into the rotation around the A-axis. The gear box 41 has mounting seats 41a at the lower four corners and is fixed to the base 20 by screws or the like.

The bearing box 44 accommodates the shaft portion 51 on the left side of the rocking table 50 and rotatably supports it around the A axis. The bearing box 44 has mounting seats 44a at the front and rear of the lower portion, and is fixed to the base 20 on the left side by a screw or the like.

The rocking table 50 is a structure in which the left and right shaft portions 51, 51 are connected, and has a substrate portion for fixing the C-axis drive portion 53 at substantially the center between the shaft portions 51, 51. The rocking table 50 has a processing table 52 above the substrate portion and a C-axis drive unit 53 below. The left and right shafts 51 and 51 each have a cylindrical shape, the right shaft 51 is rotatably supported by the gear box 41 around the A axis, and the left shaft 51 is rotatably supported by the bearing box 44 around the A axis. Is supported by. The shaft portions 51 and 51 are arranged so as to be coaxial with each other.

The shaft portion 51 rotates due to the rotation of the A-axis motor 46, and the rocking table 50 swings around the A-axis. The shaft portion 51 includes a clamp mechanism. Specifically, the clamp mechanism includes a disk-shaped brake plate fitted to the shaft portion 51, a piston facing the brake plate, a brake release pressurizing chamber, and a brake pressurizing chamber. The valve V (see FIG. 5) is opened, air from the compressor is introduced into the brake release pressurizing chamber, and the piston is separated from the brake plate to enable rotation of the shaft portion 51 (unclamp). Further, by introducing air into the brake pressurizing chamber and bringing the piston close to the brake plate, the rotation of the shaft portion 51 is suppressed (clamp). When machining the work, the shaft portion 51 is clamped. Corresponding to the work, the shaft portion 51 may be unclamped before machining the work, the shaft portion 51 may be rotated to fix the rocking table 50 so as to have a predetermined angle, and then unclamped. The clamping mechanism is not limited to the above cases.
The C-axis drive unit 53 includes a housing, a C-axis motor 59 (see FIG. 5), a rotary shaft, an encoder, and the like. The rotation axis of the C-axis motor 59 rotates around the C-axis, and the machining table 52 rotates around the C-axis.

In the above machine tool 100, the Z-direction drive motor 30d, the X-direction drive motor 26d, the Y-direction drive motor 22d, the magazine motor 11a, the A-axis motor 36, and the C-axis motor 59 include an electromagnetic brake mechanism. The brake is not limited to the case of the electromagnetic brake.

FIG. 5 is a block diagram illustrating the configuration of the control unit 90.
The control unit 90 includes a CPU (Central Processing Unit) 91, a ROM (Read Only Memory) 92, a RAM (Random Access Memory) 93, and the like. The ROM 92 stores the control program of the machine tool 100. The CPU 91 reads a control program from the ROM 92 into the RAM 93, and controls the machine tool 100 using the RAM 93 as a work area. Further, the RAM 93 reads out a processing program stored in an external storage device (not shown) and a brake failure determination program described later. The machining program has a plurality of instructions, and the CPU 91 sequentially reads and executes the instructions.

The RAM 93 stores the execution timing of the brake failure determination, the allowable rotation amount (threshold) at the time of determining the brake failure of each motor, the rotation amount at the time of determining the brake failure of each motor, and the like. Instead of the ROM 92, a rewritable storage medium such as an EEPROM (Electrically Erasable Programmable ROM), an EPROM (Erasable Programmable ROM), or an HD (Hard Disk) may be used.

The CPU 91 is connected to the spindle motor 35, the X-direction drive motor 26d, the Y-direction drive motor 22d, the Z-direction drive motor 30d, the A-axis motor 36, the C-axis motor 59, the magazine motor 11a, the valve V, and the encoder 81 via the output interface. Output the control signal. The machine tool 100 includes a buzzer 68, and the CPU 91 outputs a control signal to the buzzer 68 via an output interface.
The valve is a valve of the brake mechanism of the shaft portion 51 described above, and the CPU 91 outputs a control signal for operating or releasing the brake to the shaft portion 51.

When the brake failure determination test is performed, the CPU 91 takes in the position information (rotation amount) of the rotor of each motor from the encoder 81 via the input interface. The encoder 81 collectively describes the encoders of each motor. The CPU 91 determines a brake failure based on the position information captured from the encoder 81. A position detection unit for detecting the position of the shaft may be provided separately from the encoder 81.

The spindle 34 is arranged at a machining position below the origin position Z ₀ of the Z axis at the time of machining by a command of the CPU 91 of the control unit 90, and after machining the work, it rises to the origin position Z ₀ by a tool change command.
The gripping arm 14 at the front and lower replacement position of the spindle head 32 swings following the ascent and descent of the spindle head 32. When the spindle 34 further rises and reaches the gripping position Z _a of the tool holder, the tip grip portion of the grip arm 14 approaches the spindle 34 and grips the tool holder from the front. The spindle 34 rises further. The tool holder gripped by the gripping arm 14 moves relatively downward and disengages from the spindle 34 together with the tool. When the main shaft 34 reaches the turning position (ATC origin) Z _b , the chain 13 turns in this state, and the gripping arm 14 holding the tool to be used next is indexed to the front lower replacement position of the main shaft head 32. ..

In the brake failure determination method of the present embodiment, at least one member is moved to a position where it does not interfere with each other when two or more members are driven, the brake is applied to each motor, and the brake is activated. A load is applied to the motors, and the presence or absence of a brake failure of each motor is determined based on the amount of movement of each motor when the load is applied.
In order to prevent the spindle head 32, the tool magazine 10, and the rocking table 50 from falling due to their own weight due to a brake failure, a brake failure determination test for the Z-direction drive motor 30d, the magazine motor 11a, and the A-axis motor 36 is performed. Is preferable.

FIG. 6 is a flowchart showing a procedure for determining a brake failure by the CPU 91. The CPU 91 performs this brake failure determination process at predetermined time intervals. The required time interval is, for example, 8 hours when a person works, and 48 hours when a robot works. In addition, it is performed for each shift of processing work.

First, the CPU 91 locks the right door 66 and the left door 65 (S1).
The Z-direction drive motor 30d moves the spindle head 32 to the turning position (ATC origin) Z _b of the tool. The CPU 91 moves the spindle head 32 to a position (retracted position) on the X-axis and the Y-axis that deviates from the fixed surface. Unclamp the shaft portion 51 (A-axis) (S2).
The CPU 91 rotates the unclamped shaft portion 51 so that the central axis of the fixed surface is parallel to the vertical direction, and moves the unclamped shaft portion 51 to the implementation position (S3).

The CPU 91 executes a brake operation on the Z-direction drive motor 30d, the magazine motor 11a, and the A-axis motor 36 (S4). The brake of the A-axis motor 36 is the above-mentioned electromagnetic brake.
The CPU 91 applies a rotational load to the rotors of each motor in a state where the Z-direction drive motor 30d, the magazine motor 11a, and the A-axis motor 36 are braked (S5).

The CPU 91 acquires the position information (angle) of each rotor by the encoder 81, and determines whether or not the rotation amount of each rotor is within the allowable value (S6).

When the CPU 91 determines that the rotation amount of any of the rotors is not within the permissible value (S6: NO), the buzzer 68 or the display unit 67 indicates that a brake error has occurred in the motor of the rotor. Notify (S7).
The CPU 91 moves the spindle head 32 to the origin position Z ₀ on the Z axis (S8), and ends the brake failure determination process. The operator manually opens the right door 66 and the left door 65 to perform repairs. When the spindle head 32 is at the origin position Z ₀ on the Z axis, the operator can move the spindle head 32.

When the CPU 91 determines that the rotation amount of all the axes is within the allowable value (S6: YES), the spindle head 32 is moved to the origin position Z ₀ of the Z axis, and the shaft portion 51 is moved to the original position (rotation angle). Move to (S9).
The CPU 91 returns the spindle head 32 to its original position on the X-axis and the Y-axis. The shaft portion 51 is clamped (S10).
The CPU 91 moves the spindle head 32 to the original position and ends the process (S11).

As described above, in the present embodiment, it is possible to efficiently determine at once whether or not the brakes of two or more motors have failed, and the workability and productivity are good. Since the spindle head 32 is moved before the load is applied to the motor, the spindle head 32 does not interfere with the tool magazine 10.

Further, since the spindle head 32 is returned to the original position after determining whether or not the brake has failed, machining can be resumed smoothly.

In the present invention, it is determined that the spindle head 32, the tool magazine 10, the Z-direction drive motor 30d of the swing table 50, the magazine motor 11a, and the A-axis motor 36, which may fall when the brake fails, have failed. And can prevent falling. Since the spindle head 32 moves to a position where it does not hit the tool magazine 10 in the Z direction, the spindle head 32 and the tool magazine 10 do not interfere with each other when a load is applied, and the spindle head 32 and the tool magazine 10 do not interfere with each other when the brake is broken. 10 is not damaged. Since the spindle head 32 is retracted to a position off the fixed surface, the machining table 52 and the work are not damaged even when the brake is out of order.
Since the rocking table 50 determines the failure of the brake in a state where the fixed surface coincides with the horizontal plane, the rocking table 50 is not damaged even when the brake has failed.

In the present embodiment, the case of determining the failure of the Z-direction drive motor 30d, the magazine motor 11a, and the A-axis motor 36 will be described, but the present invention is not limited to this. It is preferable to determine the failure of the Z-direction drive motor 30d and the magazine motor 11a. In addition to this, at least one failure of the X-direction drive motor 26d, the Y-direction drive motor 22d, and the C-axis motor 59 may be determined. The posture of the spindle head 32 or the rocking table 50 can be maintained when these motors are stopped.

100 Machine tool 10 Tool magazine 11 Drive unit 11a Magazine motor 20 Base 26d X-direction drive motor 22d Y-direction drive motor 30d Z-direction drive motor 28 Column 32 Main shaft head 34 Main shaft 36 A-axis motor 40 Work support device 50 Swing base 52 Machining table 59 C-axis motor 90 Control unit 91 CPU

Claims (6)

A motor that drives two or more members and has a brake,
The operating part that operates the brake of each motor and
A load applying unit that applies a load to each motor while the brake is operated by the operating unit,
A judgment unit that determines whether or not the brake of each motor has failed based on the amount of movement of each motor when a load is applied by the load application unit .
A first moving unit that moves at least one member to a position where it does not interfere with each other when the two or more members are driven.
A tool magazine having a plurality of tool holding portions for holding and circulating a tool, and a driving portion for driving the tool holding portion.
A processing table with a fixed surface for fixing the work piece,
It swings around a swing shaft parallel to the fixed surface, and with a swing table to which the processing table is attached.
A rotation restraining unit that suppresses the rotation of the swing shaft,
With the deterrence release unit that releases the deterrence of rotation of the swing shaft
Equipped with
The two or more members include the rocking table and the tool magazine.
The first moving portion rotates the swing shaft whose restraint is released by the restraint release portion so that the central axis of the fixed surface is parallel to the vertical direction.
The motor includes a motor for driving the swing shaft and a motor included in the drive unit.
The load applying portion is a machine tool characterized in that a load is simultaneously applied to a motor for driving the swing shaft and a motor included in the driving portion while the brake is operated . The machine tool according to claim 1, further comprising a second moving unit that returns the member moved to the position to the position before the movement after the determination unit determines whether or not the brake of each motor has failed. .. Equipped with a spindle head that rotatably holds the spindle into which the tool is inserted.
Of the two or more members, at least one member is the spindle head.
The motor includes a vertical motor for moving the spindle head in the vertical direction.
The first moving part is
The machine tool according to claim 2, wherein the spindle head is moved to a position where the tool is replaced in the vertical direction, and is moved to a position where the spindle head is separated from the fixed surface in the left-right direction and the front-back direction. A left-right motor for moving the spindle head in the left-right direction, a front-rear motor for moving the spindle head in the front-rear direction, and a rotary motor for rotating the machining table around an axis parallel to the up-down direction are provided.
The machine tool according to claim 3, wherein the operating unit executes a brake operation on a motor selected from the left and right motors, the front and rear motors, and the rotary motor. Move at least one member to a position where it does not interfere with each other when two or more members are driven.
Operate the brake of the motor that drives each of the two or more members,
With the brake applied, apply a load to each motor and
Whether or not there is a brake failure in each motor is determined based on the amount of movement of each motor when a load is applied.
Move at least one member to a position where it does not interfere with each other when the two or more members are driven.
The two or more members swing around a swing axis parallel to the fixed surface of the machining table having a fixed surface for fixing the workpiece, and the swing table to which the machining table is attached and a tool. Includes a plurality of tool holders that hold and circulate and move, and a tool magazine having a drive unit for driving the tool holders.
The center axis of the fixed surface of the rocking shaft is parallel to the vertical direction of the swinging shaft, which is released from the restraint by the rotation restraining unit that suppresses the rotation of the swinging shaft by the restraint canceling unit that cancels the restraint of the rotation of the swinging shaft. Rotate to become
The motor includes a motor for driving the swing shaft and a motor included in the drive unit.
A brake failure determination method, characterized in that a load is simultaneously applied to a motor that drives the swing shaft and a motor included in the drive unit while the brake is operated . Move at least one member to a position where it does not interfere with each other when two or more members are driven.
Operate the brake of the motor that drives each of the two or more members,
With the brake applied, apply a load to each motor and
Whether or not there is a brake failure in each motor is determined based on the amount of movement of each motor when a load is applied.
Move at least one member to a position where it does not interfere with each other when the two or more members are driven.
The two or more members swing around a swing axis parallel to the fixed surface of the machining table having a fixed surface for fixing the workpiece, and the swing table to which the machining table is attached and a tool. A tool magazine having a plurality of tool holding portions for holding and circulating the tool and a driving portion for driving the tool holding portion.
The center axis of the fixed surface of the swinging shaft is parallel to the vertical direction of the swinging shaft, which is released from the restraint by the rotation restraining unit that suppresses the rotation of the swinging shaft by the restraint canceling unit that releases the restraint of the rotation of the swinging shaft. Rotate to become
The motor includes a motor for driving the swing shaft and a motor included in the drive unit.
Simultaneously apply a load to the motor that drives the swing shaft and the motor included in the drive unit with the brakes activated.
A computer program characterized by performing processing.

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