JPH073943U - Controller for NC machine tool - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide an NC machine tool control device capable of appropriately controlling a plurality of NC machine tools while avoiding interference between them and improving machining efficiency. . [Structure] The interference area entry determining means 21 determines whether or not the respective spindles of the two NC machine tools have entered a predetermined interference area, and determines whether or not the spindles have approached a predetermined distance. Determined by the approach distance determination means 22,
The operating states of the two NC machine tools are compared by the operating state comparison means 23, and based on the determination results of the means 21 and 22 and the comparison result of the means 23, the avoidance operation determination means 24A has two NCs. The content of the avoidance operation for avoiding the interference of the machine tool is determined, and the avoidance operation control means 24B controls the two NC machine tools according to the content of the determination.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a control device for an NC machine tool.

[0002]

[Prior art]

 Conventionally, a control device that controls one NC machine tool to perform multiple types of machining such as drilling and milling on one workpiece is one of the NC machine tools. When exchanging tools for the spindle, machining of the work piece is temporarily interrupted.

[0003]

[Problems to be solved by the device]

 However, temporarily interrupting the machining operation every time the tool is replaced has a problem that the machining efficiency is lowered.

An object of the present invention is to provide an NC machine tool control device capable of appropriately controlling a plurality of NC machine tools while avoiding interference between them and improving machining efficiency. It is in.

[0005]

[Means for Solving the Problems]

 The first embodiment of the NC machine tool control device of the present invention controls the movement of the spindles of a plurality of NC machine tools within the operating region of each of the machine tools, and performs one machining by the tools attached to the respective spindles. In a controller for an NC machine tool capable of simultaneously processing objects, the coordinate positions of the spindles of the machine tools whose operation areas are adjacent to each other are compared to determine whether or not both spindles have entered the predetermined interference area. Interference area entry determining means for determining whether or not the operation status comparing means for comparing the operating statuses of the plurality of machine tools determined to have entered the interference area by the interference area entry determining means, and the operation An interference avoidance control means for avoiding and moving one of the spindles of the plurality of machine tools to be compared to the other outside the interference area according to the comparison result of the state comparing means. To.

A second form of the NC machine tool control device of the present invention controls the movement of the spindles of a plurality of NC machine tools within the operating region of each of the machine tools, and uses a tool attached to each spindle to control the movement of the spindle. In an NC machine tool controller capable of simultaneously machining two workpieces, the coordinate positions of the spindles of the plurality of machine tools are compared to determine whether or not those spindles have approached each other within a predetermined approach distance. The approaching state determining means for determining whether or not the operating state comparing means compares the operating states of the plurality of machine tools determined to approach within the approaching distance by the approaching distance determining means, and the operating state comparing means. According to the comparison result, there is provided interference avoidance control means for leaving one of the plurality of machine tools to be compared and performing an interference avoiding operation for the other.

[0007]

[Action]

 The NC machine tool controller of the present invention, based on the judgment result of whether or not the spindles of a plurality of NC machine tools have entered into a predetermined interference region, and the comparison result of the operating states of those machine tools, Alternatively, the content of the interference avoidance operation is determined based on the result of the determination as to whether the spindles of a plurality of NC machine tools have come close to a predetermined approach distance and the result of the comparison of the operation states of those machine tools, and By avoiding the interference of machine tools according to the content of the interference avoidance operation, it is possible to improve the machining efficiency by appropriately controlling a plurality of machine tools while avoiding the interference between them.

[0008]

【Example】

 An embodiment of the present invention will be described below with reference to the drawings.

1 and 2 are a front view and a side view of an NC machine tool to be controlled. In this embodiment, two machining centers A and B (hereinafter referred to as “A_{M / C} And "B_{M / C} ")) Is the control target. These A _{M / C} And B_{M / C} 1 are configured to be bilaterally symmetrical in FIG.₁ , X₂ 1 are provided with saddles 3A and 3B slidable in the directions.₁ , Z₂ Direction) is provided with columns 4A and 4B that can slide, and these columns 4A and 4B have Y and₁ , Y₂ Axis O in the horizontal direction in Fig. 2₁ , O₂ It is configured to include main shafts 5A and 5B that can be rotated around. As a result, the main shafts 5A and 5B are respectively moved to X (X₁ , X₂ ), Y (Y₁ , Y₂ ) And Z (Z₁ , Z₂ ) Independent movement control and independent rotation control. Tool changer C is A_{M / C} And B_{M / C} It is installed in the middle of the₃ Various tools such as drills and milling tools are detachably held in a tool holder 6 that can be rotated around the center of the tool holder._{M / C} , B_{M / C} The spindles 5A and 5B are interchangeably mounted.

FIG. 3 is a schematic configuration diagram of the control unit for the A _{M / C} and B _{M / C} , and constitutes a CNC (Computer NC) built in the computer.

A of reference characters A and B in FIG._{M / C} And B_{M / C} In each of the₁ , M₂ And M₃ Spins spindles 5A and 5B at X (X₁ , X₂ ), Y (Y₁ , Y₂ ), Z (Z₁ , Z₂ ) Direction servo motor, M_Four Is a motor for rotating the spindles 5A and 5B, and₁ , PG₂ , PG₃ And P G_Four Is their motor M₁ , M₂ , M₃ And M_Four It is a pulse generator that outputs a signal according to the rotation angle of. Those motors M₁ , M₂ , M₃ And M _Four Under the control of the CPU 11, is feedback-controlled via a servo amplifier and an I / O interface. The NC program is read by the tape from the tape reader 12 and stored in the RAM 13, and the control program is stored in the ROM 14 and A_{M / C} And B_{M / C} Data such as the respective movable ranges, spindle head dimensions, maximum feed rates, etc. are stored in the RAM 13 or ROM 14. In addition, the control panel 15 is used to input correction data and_{M / C} And B_{M / C} The feed rate of is overridden. Reference numeral 16 is an MCU (Machine Control Unit).

The NC program input from the tape reader 12 is stored in the RAM M13 as CL data (Cutter Location Date) for displaying the tool path in the machine coordinate system, and further checked according to the control program stored in the ROM 14. After that, it is stored as New CL data.

FIG. 4 is a functional block diagram of the interference avoidance control unit that functions to avoid the interference between the A _{M / C} and the B _{M / C} during the working operation.

In FIG. 4, the interference region entry determination means 21 determines whether or not the spindles 5A, 5B of A _{M / C} , B _{M / C} have entered a predetermined interference region. For this example, X ₁ of the main shaft 5A and 5B, Y ₁ and X _2, Y ₂ direction to the lead extent possible, one Mari X, the operation region S ₁ in the Y plane, S _2, like that shown in FIG. 5 Is regulated in advance, and further, in the X and Y planes, a range including the overlapping range of the operation regions S ₁ and S ₂ and having a possibility that the respective spindles 5A and 5B may interfere with each other. The interference area S ₃ is preset. Interference region entry judging means 21 based on the main shaft 5A, 5B coordinate position, they determine whether the vehicle has entered into the interference area S _3, as described later, the main shaft to the interference area S ₃ The position parameter S is set to "S = 11" when 5A enters, "S = 12" when the spindle 5B enters, and "S = 10" when both the spindles 5A and 5B enter.

The approach distance determining means 22 determines the rotation center O of the spindles 5A and 5B based on the coordinate positions of the spindles 5A and 5B.₁ , O₂ Is to determine whether or not has approached to a predetermined approach distance. In the case of this example, as shown in FIG.₁ , O₂ The distance between them is set as the value of the distance parameter T, and the parameter T has three ranges, that is, the interference approach distance L. ₁ Range less than (hereinafter referred to as "interference approach range"), interference approach distance L₁ Above and close distance L₂ Range less than (hereinafter referred to as "approach range") or approach distance L₂ It is determined which of the above ranges (hereinafter referred to as “outside the approach range”).

The operation state comparison means 23 compares the operation states of A _{M / C} and B _{M / C} , and in the case of this example, the state parameters D of A _{M / C} and B _{M / C} respectively. The values of ₁ and D _{2 and} the values of the velocity parameters V ₁ and V ₂ of A _{M / C} and B _{M / C} are compared with each other. The state parameters D ₁ and D ₂ are “0” when the A _{M / C} and B _{M / C} are in the stopped state, “1” in the feed state without machining, and “21” in the milling state. , "22" in the drilling state. The moving speeds of the spindles 5A and 5B of A _{M / C} and B _{M / C} are the values of the speed parameters V ₁ and V ₂ .

The interference avoidance control unit 24 has an avoidance action determination unit 24A and an avoidance action control unit 24B. The former avoiding motion determining means 24A is based on the judgment results of the judging means 21 and 22 and the comparison result of the comparing means 23, and as described later, avoiding motions of A _{M / C} and / or B _{M / C.} Determine the content of. Then, based on the content of the determination, the latter avoidance operation control means 24B outputs the avoidance operation command to A _{M / C} and / or B _{M / C.}

Next, an explanation will be given of the function of the avoidance action determining means 24A and an action when one work is simultaneously machined by A _{M / C} and B _{M / C.}

Each of A _{M / C} and B _{M / C} is controlled according to the above-mentioned New CL data stored in the RAM 13 (see FIG. 3) or an overwrite command from the console panel 15 (see FIG. 3). Then, the spindles 5A and 5B are moved within the respective operation regions S ₁ and S ₂ (see FIG. 5) to process the work. The tools mounted on those spindles 5A and 5B are replaced by a common tool changing device C (see FIGS. 1 and 2). Therefore, it is possible to improve the machining efficiency by exchanging the tool on the other side while continuing the machining work on one of the A _{M / C} and B _{M / C.}

The avoidance action determining means 24 A is a state parameter D that is compared by the action state comparing means 23.₁ , D₂ As shown in FIG. 7, a total of eight avoidance actions A to H are determined according to the combination of the values of A. That is, A_{M / C} Stops (D₁ = 0) avoidance actions A and B_{M / C} Stops (D₂ = 0) avoidance actions B and A_{M / C} And B_{M / C} Feed state without machining (D₁ = 1, D₂ = 1) avoidance actions C and A_{M / C} Is feeding (D₁ = 1) and B_{M / C} Is the processed state (D₂ = 21 or D₂ = 22), avoidance actions D and B_{M / C} Is in the feeding state (D₁ = 1) and A_{M / C} Is the processed state (D₁ = 21 or D₁ = 22), avoidance actions E and A_{M / C} And B_{M / C} Are both milled (D₁ = 21, D₂ = 21) or both are drilled (D₁ = 22, D₂ = 22), avoidance actions F and A_{M / C} Is milling (D₁ = 21) and B _{M / C} Is in the drilled state (D₂ = 22), avoidance actions G and A_{M / C} Is in the drilled state (D₁ = 22) and B_{M / C} Is milling (D₂ = 21), the avoidance motion H is determined.

The contents of the avoidance operations A to H are as shown in Tables 1 and 2 below.

[0022]

[Table 1]

[0023]

[Table 2]

The avoidance operation control means 24B operates according to the contents of such avoidance operations A to H. _{M / C} And B_{M / C} In order to control, the avoidance operation command is output to them.

8 to 14 are based on the setting of various parameters (corresponding to the functions of the judging means 21 and 22 and the comparing means 23 in FIG. 4) for determining the avoidance actions A to H, and their parameters. Determination of avoidance actions A to H (corresponding to the function of avoidance action determination means 24A in FIG. 4), and control of A _{M / C} and B _{M / C} according to the determination contents (avoidance action control means 24B in FIG. 4) (Corresponding to the function of) is a series of flowcharts for explaining.

Steps S11 to S20 in FIG. 8 are parameter setting steps. First, the coordinate positions of the spindles 5A and 5B (see FIGS. 1 and 2) of A _{M / C} and B _{M / C} are read. Only (step S11), in the next step S12, it is determined whether or not the main shaft 5A of A _{M / C} has entered the interference area S ₃ (see FIG. 5). If the determination result is “YES”, the process proceeds to step S13, and if “NO”, the process proceeds to step S14. In those steps S13 and S14, the spindle 5B of B _{M / C} interferes with the interference region S ₃ It is determined whether or not you have entered. If the determination result in step S13 is "YES", the position parameter S is set to "S = 11" in step S15, and if it is "NO", it is set to "S = 10" in step S16. If the result of the determination is "YES", "S = 12" is set in step S17. Then, after setting the position parameter S in this way, the process proceeds to the next step S18. On the other hand, when the result of the determination in step S14 is "NO", the process shifts to a normal standard control for controlling A _{M / C} and B _{M / C} according to the NC program (hereinafter, simply referred to as "standard control") ( Step S19).

In step S18, state parameters D ₁ and D ₂ and speed parameters V ₁ and V ₂ are set based on the operating states of A _{M / C} and B _{M / C.} The values of the state parameters D ₁ and D ₂ are set to “0”, “1”, “21” or “22” as described above, and the values of the speed parameters V ₁ and V ₂ are as described above. And the moving speed of the spindles 5A and 5B.

In the next step S20, the distance between the main axes 5A and 5B is set as a distance parameter T (see FIG. 6) based on the coordinate positions of the main axes 5A and 5B.

Steps S21 to S24 in FIG. 9 are steps for the avoidance operation A (see FIG. 7 and Table 1) following step S20 in FIG. 8, and first, in step S21. State parameter D₁ Is "D₁ It is determined whether or not “= 0”. Then, it is determined whether or not the position parameter S is "S = 1 0" on the condition that the determination result is "YES" (step S22), and if it is "YES", A_{M / C} Interference area S₃ (S23), and if "NO", shifts to standard control (step S24). Therefore, this avoidance operation A is performed as shown in FIG._{M / C} Is stopped (D₁ = 0), the spindles 5A and 5B are both in the interference region S₃ When it is located inside (S = 10), that is, the spindle 5A is in the interference region S₃ The main shaft 5B is stopped inside and the interference area S₃ If you enter inside _{M / C} The main axis 5A of the interference area S₃ It is moved to the outside of the range (step S23), and if not, the standard control is performed (step S24). The position at which the spindle 5A is moved around is, for example, the operation area S of the spindle 5A.₁ (See FIG. 5).

Steps S21 and S25 to S28 in FIG. 9 are steps for avoidance operation B (see FIG. 7 and Table 1). First, the determination result of step S21 is “NO”. The condition parameter D₂ Is "D₂ It is determined whether or not “= 0”. Then, it is determined whether or not the position parameter S is "S = 10" on the condition that the determination result is "YES" (step S26). If it is "YES", B is determined._{M / C} Interference area S₃ To avoid the movement (step S27), and if "NO", shift to the standard control (step S8). Therefore, this avoidance operation B is performed as shown in FIG._{M / C} Is stopped (D₂ = 0), the spindles 5A and 5B are both in the interference region S₃ When the position is inside (S = 10), that is, the main axis 5B is in the interference region S₃ Is stopped inside and the spindle 5A is in the interference area S₃ If you enter inside, you will be at a stop B_{M / C} The main axis 5B of the interference area S ₃ To avoid the movement (step S27), and otherwise shift to the standard control (step S28). The position for avoiding movement of the spindle 5B is, for example, the operation area S of the spindle 5B.₂ (See FIG. 5).

Steps S31 to S39 in FIG. 10 are steps for the evasion operation C (see FIG. 7 and Table 1) following step S25 in FIG. 9 described above. First, in steps S31 and S32. , "D ₁ = 1" and "D ₂ = 1" are conditioned, and if these conditions are satisfied, the process proceeds to step S33. At that step S33, the distance parameter T is "T <L _1" to determine whether or not the (see FIG. 6), position parameter S on the condition that it is "YES" is "S = 10" Is determined (step S34), and if it is "YES", the later one of A _{M / C} or B _{M / C} , that is, the feeding state (D ₁ = 1 and D ₂ = 1) and became what time is slow (hereinafter, simply by avoiding moving) as "late _{M / C"} out of the interference area S ₃ (step S35), stops the late _{M / C} in the case of "NO" (Step S36). On the other hand, when the result of the determination in step S33 is "NO", it is determined whether or not the distance parameter T is "L ₁ ≤T <L ₂ " (see FIG. 6), and if it is "YES". In this case, the moving speed of the subsequent _{M / C} is decelerated (step S38), and in the case of "NO", the control shifts to the standard control. The degree of deceleration of the late _{M / C} is set to a predetermined magnitude in advance, for example.

Therefore, this avoiding operation C is executed when both A _{M / C} and B _{M / C} are in the feed state (D ₁ = 1 and D ₂ = 1) as shown in FIG. The magnitude of the distance (value of the distance parameter T) between the 5A and 5B is determined in three stages, and the spindles 5A and 5B of the spindles 5A and 5B are the aforementioned "interference approach range", "approach range", or "outside the approach range" The content of the avoidance action will be changed depending on which of the two is located. That is, first, when the main shaft 5A, 5B is in the "interference close range", the main shaft 5A, 5B is different behavior contents depending on whether or not located in both interference region S ₃ (see FIG. 5) within, When both of them are located in the interference area S ₃ , the later one of the A _{M / C} and B _{M / C} that has performed the feeding operation (hereinafter referred to as “starting _{M / C} ”) is given priority. outside to avoid movement of the _{M / C} interference area S ₃ (step S35), whereas, when they are not located in the interference area S ₃ together, that the main shaft 5A, only one of the 5B only the interference area S ₃ when not located in stops the late _{M / C} in order to give priority to starting _{M / C} (step S36). Second, when the main shaft 5A, 5B is in the "close range", it decelerates the late _{M / C} in order to give priority to starting _{M / C} (step S38). Thirdly, when the spindles 5A and 5B are out of the "approaching range", the control shifts to standard control (step S39).

Steps S41 to S47 in FIG. 11 are steps for the avoidance operation D (see FIG. 7 and Table 1) following step S32 in FIG. 10, and first, step S31 in FIG. , S32₁ = 1 "and" D₂ "≠ 1" is conditioned, and on the assumption that these conditions are satisfied, the process proceeds to step S41, and the distance parameter T is "T <L".₁ It is determined whether or not It is determined whether the position parameter S is "S = 10" on the condition that the determination result is "YES" (step S42), and if it is "YES", A_{M / C} Interference area S ₃ To avoid the movement (step S43), and in the case of "NO", A_{M / C} Is stopped (step S44). On the other hand, if the determination result in step S41 is "NO", the distance parameter T is "L".₁ ≤T <L₂ Is determined (step S45), and if it is "YES", A_{M / C} The moving speed is reduced (step S46), and if "NO", the control shifts to standard control (step S47). A_{M / C} The degree of deceleration is set to a predetermined magnitude in advance, for example.

Therefore, in this avoidance operation D, as shown in FIG. 7, A _{M / C} is in the feeding state (D ₁ = 1) and B _{M / C} is in the processing state (D ₂ = 21, D ₂ = 22). Is executed at three times, the magnitude of the distance (value of the distance parameter T) between the spindles 5A and 5B is judged in three stages, and the spindles 5A and 5B are "interference approach range" and "approach range". Alternatively, the content of the avoidance action is changed depending on whether the vehicle is located “outside the approach range”. Ie, the first, when the main shaft 5A, 5B is in the "interference close range" operation content depending on whether the main shaft 5A, 5B is located both within the interference area S ₃ (see FIG. 5) Are different from each other, and when they are both located in the interference area S ₃ (S = 10), in order to prioritize the B _{M / C} in the processing state, the A _{M / C} in the feeding state is set to the interference area S ₃ outside to avoid moving of (step S43), whereas, when they are come not located in both the interference area S _3, i.e. the main shaft 5A, only one of the 5B only not located within the interference area S ₃ (S = 11, S = 12), A _{M / C} is stopped to give priority to B _{M / C.} Secondly, when the spindles 5A and 5B are in the "approaching range", the moving speed of A _{M / C} is decelerated to prioritize B _{M / C} (step S46). Thirdly, when the spindles 5A and 5B are out of the "approaching range", the control shifts to standard control (step S47).

Steps S51 to S58 in FIG. 12 are steps for the avoidance operation E (see FIG. 7 and Table 1) following step S31 in FIG. 10, and first, step S31 in FIG. Then, in step S51 in FIG. 12, it is conditioned that “D ₁ ≠ 1” and “D ₂ = 1”, and on the assumption that these conditions are satisfied, the process proceeds to step S52 and the distance parameter T is “T”. It is determined whether or not <L ₁ ”. It is determined whether or not the position parameter S is "S = 10" on the condition that the determination result is "YES" (step S53). If it is "YES", the B _{M / C} is interfered with. It is moved out of the area S ₃ (step S54), and if “NO”, B _{M / C} is stopped (step S55). On the other hand, if the determination result of step S52 is "NO", it is determined whether or not the distance parameter T is "L ₁ ≤T <L ₂ " (step S56), and if it is "YES". The moving speed of B _{M / C} is decelerated (step S57), and in the case of "NO", shifts to standard control (step S58). The degree of deceleration of B _{M / C} is set in advance to a predetermined magnitude, for example.

Therefore, in this avoidance operation E, as shown in FIG. 7, A _{M / C} is in the processing state (D ₁ = 21, D ₁ = 22) and B _{M / C} is in the feeding state (D ₂ = 1). Is executed at three times, the magnitude of the distance (value of the distance parameter T) between the spindles 5A and 5B is judged in three stages, and the spindles 5A and 5B are "interference approach range" and "approach range". Alternatively, the content of the avoidance action is changed depending on whether the vehicle is located “outside the approach range”. Ie, the first, when the main shaft 5A, 5B is in the "interference close range" operation content depending on whether the main shaft 5A, 5B is located both within the interference area S ₃ (see FIG. 5) Are different from each other and both are located in the interference area S ₃ (S = 10), the B _{M / C} in the feeding state is set to the interference area S _{3 in} order to give priority to the A _{M / C} in the processing state. outside to avoid moving of (step S54), whereas, when they are come not located in both the interference area S _3, i.e. the main shaft 5A, only one of the 5B only not located within the interference area S ₃ (S = 11, S = 12), B _{M / C} is stopped to give priority to A _{M / C.} Secondly, when the spindles 5A and 5B are in the "approaching range", the moving speed of B _{M / C} is decelerated so as to give priority to A _{M / C} (step S57). Thirdly, when the spindles 5A and 5B are out of the "approaching range", the control shifts to standard control (step S58).

Steps S61 to S70 in FIG. 13 are steps for the retreat operation F (see FIG. 7 and Table 2) following step S51 in FIG. 12, and first, step S51 in FIG. And step S61 in FIG.₂ ≠ 1 "and" D ₁ = D₂ Is satisfied, and on the assumption that these conditions are satisfied, the process proceeds to step S62, and the distance parameter T is “T <L.₁ It is determined whether or not On the condition that the determination result is "YES", it is determined whether the position parameter S is "S = 12" (step S63), and if it is "YES", A_{M / C} Interference area S₃ (See FIG. 5) Avoiding movement (step S64), and if "NO", B_{M / C} Interference area S₃ It is moved out of the area (step S65). On the other hand, if the determination result in step S62 is "NO", the distance parameter T is "L".₁ ≤T <L₂ Is determined (step S66), and if it is "Y ES", the speed parameter V₁ , V₂ Are compared (step S67), and V> V₂ When is A_{M / C} The moving speed of the vehicle (step S68), and V ≦ V₂ When it comes to B_{M / C} The moving speed of is reduced (step S69). If the determination result of step S66 is "NO", the control shifts to standard control (step S70).

Therefore, as shown in FIG. 7, this avoiding operation F is performed in the same machining state (D ₁ = D ₂ = 21, D ₁ = D ₂ = 22) in both A _{M / C} and B _{M / C.} ), The magnitude of the distance (value of the distance parameter T) between the spindles 5A and 5B is determined in three stages, and the spindles 5A and 5B are "interference approach range" and "approach range". Alternatively, the content of the avoidance action is changed depending on whether the vehicle is located “outside the approach range”. Ie, the first, when the main shaft 5A, 5B is in the "interference close range", the main shaft 5A, 5B are both interference area S ₃ operation contents according to whether located (see FIG. 5) in the Differently, when they are both located in the interference area S ₃ (S = 10), B _{M / C} is moved out of the interference area S ₃ to prioritize A _{M / C} (step S64), On the other hand, when they are not both located in the interference region S ₃ , that is, when only one of the main axes 5A and 5B is located in the interference region S ₃ (S = 11, S = 12), A _M BM _{/ C} is stopped to prioritize _{/ C} (step S65). In this embodiment, A _{M / C} is prioritized, but B _{M / C} may be prioritized. Secondly, when the spindles 5A and 5B are in the "approaching range", the moving speed of the faster one of A _{M / C} and B _{M / C} is reduced (steps S68 and S69). . Thirdly, when the spindles 5A and 5B are out of the "approaching range", the control is shifted to the standard control (step S70).

Steps S71 to S77 in FIG. 14 are steps for the retreat operation G (see FIG. 7 and Table 2) following step S61 in FIG. 13, and first, step S61 in FIG. Then, in step S71 in FIG. 14, it is conditioned that “D ₁ ≠ D ₂ ” and “D ₁ = 22”, and assuming that these conditions are satisfied, the process proceeds to step S72, and the distance parameter T is “ It is determined whether or not T <L ₁ ". If the determination result is “YES”, the A _{M / C} is moved to avoid the interference region S ₃ (see FIG. 5) (step S74), and if “NO”, the distance parameter T is “L”. It is determined whether or not “ ₁ ≦ T <L ₂ ” (step S75), and if it is “Y ES”, the moving speed of A _{M / C} is decelerated (step S76). If so, the control shifts to standard control (step S77).

Therefore, as shown in FIG. 7, this avoiding operation G is performed when A _{M / C} is in the milling state (D ₁ = 21) and B _{M / C} is in the drilling state (D ₂ = 22). The distance between the main shafts 5A and 5B (the value of the distance parameter T) is determined in three steps, and the main shafts 5A and 5B are detected as "interference approach range", "approach range" or "approach range". The content of the avoidance operation is changed depending on which one of the "outside the range" is located. That is, first, when the main shaft 5A, 5B is in the "interference close range", in order to give priority to B _{M / C} of the drilling conditions, outside interference A _{M / C} of the milling status area S ₃ To avoid the movement (step S74). Secondly, when the spindles 5A and 5B are in the "approaching range", the moving speed of A _{M / C} is decelerated so as to prioritize B _{M / C} (step S76). Thirdly, when the spindles 5A and 5B are out of the "approaching range", the control is shifted to the standard control (step S77).

Steps S81 to S85 in FIG. 14 are steps for the avoidance operation H (see FIG. 7 and Table 2) following step S71. First, in steps S61 and FIG. 14 in FIG. In step S71 of “D₁ ≠ D₂ And "D₁ ≠ 22 ”, and on the assumption that these conditions are satisfied, the process proceeds to step S81, where the distance parameter T is“ T <L₁ It is determined whether or not If the determination result is “YES”, B_{M / C} Interference area S₃ (Refer to FIG. 5), it is moved to the outside (step S82), and in the case of "NO", the distance parameter T is "L". ₁ ≤T <L₂ Is determined (step S83), and if it is "YES", B is determined._{M / C} The moving speed is reduced (step S84), and in the case of "NO", the standard control is performed (step S85).

Therefore, as shown in FIG. 7, this avoiding operation H is performed when A _{M / C} is in the drilling state (D ₁ = 22) and B _{M / C} is in the milling state (D ₂ = 21). It is executed and the magnitude of the distance (value of the distance parameter T) between the spindles 5A and 5B is judged in three stages, and those spindles 5A and 5B are "interference approach range", "approach range" or "approach range". The content of the avoidance action is changed depending on which of the "outside" positions. That is, first, when the spindles 5A and 5B are in the "interference approaching range", the B _{M / C} in the milling state is placed outside the interference area S ₃ in order to give priority to the A _{M / C} in the drilling state. To avoid the movement (step S82). Secondly, when the spindles 5A and 5B are in the "approaching range", the moving speed of B _{M / C} is decelerated to give priority to A _{M / C} (step S84). Thirdly, when the spindles 5A and 5B are out of the "approaching range", the control shifts to standard control (step S85).

In the present embodiment, the determination result of the interference area entry determining means 21 (see FIG. 4) for determining whether the spindles 5A and 5B have entered the interference area S ₃ (hereinafter referred to as “first "Determination result"), a determination result of the proximity distance between the spindles 5A and 5B by the approach distance determination means 22 (see FIG. 4) (hereinafter referred to as "second determination result"), and an operation state comparison means 23 (see FIG. 4)), the content of the interference avoidance operation for interference avoidance is determined based on the comparison result of the operation state of A _{M / C} and B _{M / C} (hereinafter, simply referred to as “state comparison result”). However, even if the content of the interference avoidance operation is determined based on only the first determination result and the state comparison result, or the interference avoidance operation is determined based only on the second determination result and the state comparison result. Good.

In the former case, at least when one of the main shafts 5A and 5B enters into the interference region S ₃ , either one of the main shafts 5A and 5B remains depending on the result of the state comparison. It is only necessary to move the others to the outside of the interference area S ₃ . On the other hand, in the latter case, at least when one of the spindles 5A and 5B relatively approaches the interference approach distance L _{1, one of the} spindles 5A and 5B is left, depending on the result of the state comparison. It suffices that the other can perform the interference avoidance operation. As the interference avoidance operation, for example, avoidance movement to a predetermined position outside the interference area S ₃ , movement speed deceleration, or movement stop can be performed. .

[0045]

[Effect of device]

 As described above, the controller for the NC machine tool of the present invention determines whether the spindles of a plurality of NC machine tools have entered the predetermined interference area and the operation status of those machine tools. Based on the comparison result, or based on the judgment result of whether or not the spindles of a plurality of NC machine tools have approached to a predetermined approach distance and the comparison result of the operation states of those machine tools, the interference avoidance operation is performed. Since the contents are determined and the interference of the machine tools is avoided according to the contents of the interference avoidance operation, it is possible to appropriately control and process a plurality of machine tools while avoiding the interference between them. It is possible to improve efficiency.

[Brief description of drawings]

FIG. 1 is a front view of an NC machine tool to be controlled according to an embodiment of the present invention.

FIG. 2 is a view on arrow II in FIG.

FIG. 3 is a schematic configuration diagram of an embodiment of the present invention.

FIG. 4 is a functional block diagram showing a main part of an embodiment of the present invention.

5 is an explanatory view of an operation range of the NC machine tool shown in FIG.

6 is an explanatory diagram of an approach distance of a spindle of the NC machine tool shown in FIG. 1. FIG.

FIG. 7 is an explanatory diagram of types of avoidance operations executed by the interference avoidance control means of FIG.

8 is a flowchart for explaining a parameter setting operation for the avoidance operation shown in FIG. 7. FIG.

9 is a flow chart for explaining avoidance operations A and B shown in FIG. 7. FIG.

10 is a flowchart for explaining an avoidance operation C shown in FIG.

11 is a flow chart for explaining an avoidance operation D shown in FIG.

12 is a flowchart for explaining an avoidance operation E shown in FIG.

FIG. 13 is a flowchart for explaining an avoidance operation F shown in FIG.

FIG. 14 is a flowchart for explaining avoidance operations G and H shown in FIG. 7.

[Explanation of symbols]

A, B Machining center (NC machine tool) C Tool changer 1 Machine head 2A, 2B Slide base 3A, 3B Saddle 4A, 4B Column 5A, 5B Spindle 6 Tool holder 21 Interference area entry determination means 22 Approach distance determination means 23 Operating state comparison means 24 the interference avoidance control means 24A avoidance operation determining means 24B avoidance operation control means S _1, S ₂ operating area S ₃ interference region

Claims (4)

[Scope of utility model registration request] 1. An NC machine tool capable of simultaneously controlling a plurality of NC machine tool spindles within an operation region of each of the machine tools to machine one workpiece by a tool mounted on each spindle. In the control device, the operation area is compared with the coordinate position of the spindle of the machine tool adjacent to each other, the interference area entry determination means for determining whether or not both the spindles have entered into a predetermined interference area, The operation state comparison means for comparing the operation states of the plurality of machine tools determined to have entered the interference area by the interference area entry determination means and the comparison result of the operation state comparison means according to the comparison result of the operation state comparison means. A controller for an NC machine tool, comprising: an interference avoidance control means for avoiding and moving one of the spindles of a plurality of machine tools to the outside of the interference area. 2. An NC machine tool capable of simultaneously machining one work piece by a tool attached to each spindle by controlling movement of the spindles of a plurality of NC machine tools within an operating region of each of the machine tools. In the control device, by comparing the coordinate positions of the spindles of the plurality of machine tools, the approach distance determining means for determining whether the spindles have approached within a predetermined approach distance, and the approach distance determining means. An operating state comparing means for comparing operating states of the plurality of machine tools determined to have approached within the approaching distance, and a plurality of machine tools to be compared according to a comparison result of the operating state comparing means. An NC machine tool control device, comprising: an interference avoidance control means for performing an interference avoidance operation for one of the other components while leaving the other. 3. A tool exchanging device capable of attaching and converting different kinds of tools to each of the spindles of the plurality of machine tools is provided between the plurality of machine tools. 2. The NC machine tool control device according to 2. 4. The control device for an NC machine tool according to claim 2, wherein the interference avoiding operation by the interference avoiding control means is a stopping operation and / or a decelerating operation.