JPH11110018A - Numerical controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten a work machining time by increasing the degree of freedom of control and enabling fine control. SOLUTION: A program for tool replacement which is one of programs for a sequence is divided into unit programs, i.e., a pot lowering operation program (M101) for pot lowering operation, an arm swiveling operation program (M102) for swiveling a tool replacing arm, and a pot elevating operation program (M103) for pot elevating operation. Here, the unit programs can be executed individually.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a numerical controller which performs a tool indexing operation and a tool changing operation in accordance with a sequence program.

[0002]

Conventionally, NC programming has been performed in an NC machine tool which is a numerical control device. This NC program is a sequence of programs such as a tool indexing program for bringing a tool in a tool magazine to a tool changing position and a tool changing program for exchanging a tool in a tool magazine with a tool of a machining axis. Programs are appropriately combined with each other, and X-Y
The table and the main spindle as a processing axis are operated to process the work.

FIG. 18 shows an example of a conventional NC program. In this case, it is assumed that center drilling, drilling, and tapping are performed on the workpiece, and a tool K1 (center drill) is mounted on the spindle. Further, a time chart of each operation when the NC program is executed is shown in FIG. 15A, and as can be seen from FIG. 15, depending on the operation contents, the operations are executed in parallel. . FIG. 18 shows a code group (NC program) input to the control unit by the operator. “T02” is a command code for determining a tool K2 (drill) to be used next. The control unit has a sequence program corresponding to the code of “Txx”. By executing this program, the program is “T02”.
Then, the pot in which 2 is stored is determined, and the tool K2 is moved to the tool changing section of the tool magazine.

The following code "G0Z-100.0" is a command code for positioning the spindle to the machining position (-100.0). The control unit has a sequence program corresponding to "G0Zxx". This program is executed by this command code. In this case, since “G0Z−100.0”, the main spindle is moved to the processing position (−100.0).

The following code "G1Z-110.0F100
"0" is a command code for machining the center hole,
The control unit has a program corresponding to this code. The control unit executes the above-mentioned program in response to the command code, and performs lowering while rotating the main shaft.

The next code "G0Z0.0" is a command code for moving the spindle to the tool change position (0.0) for positioning. The control unit executes a program corresponding to the command code. is there. In this case, "G0Z
0.0 ", the spindle is moved to the tool change position (0.0).

The next code "M06" is a tool change command code, and the control section has a tool change program corresponding to "M06", and this program is shown in FIG. FIG. 20 schematically shows a configuration of a part related to tool change of the NC machine tool. In FIG. 20, a tool K1 is attached to the spindle 1. Further, in this state, in the tool magazine 2, the pot 3a in which the tool K2 is stored is indexed to the tool change position 2a, and the tool change arm 4 is at the raised position (tool change position). In step S1 in FIG. 19, the pot lowering output signal is turned on to operate the actuator to lower the pot 3a as shown by the two-dot chain line in FIG. 20, and thereafter, the input signal from the pot lowering sensor is turned on. If (Step S2), the pot lowering output signal is turned off (Step S3), and the operation of the actuator is stopped. Then, the tool change arm turning output signal is turned on (step S4), and the tool change motor is driven.

As a result, the fingers 4a and 4b of the tool changing arm 4 are closed to grasp the tools K1 and K2, and the tool changing arm 4 is lowered (see FIG. 20B). Then, the tool changing arm 4 is raised (see FIG. 3D), and the fingers 4a and 4b are opened to release the tools K1 and K2. Thus, the tool change is completed. This completion is detected when the input signal of the tool change arm origin sensor is turned on.

When the input signal of the tool change arm origin sensor is turned on (step S5), the tool change arm turning output signal is turned off (step S6), and the driving of the tool change motor is stopped.

Thereafter, the pot rising output signal is turned on (step S7), the pot is raised by operating the actuator, and if the input signal from the pot rising sensor is turned on (step S8), the pot rising output signal is turned on. Is turned off (step S9) to stop the operation of the actuator.

The code "T03" in FIG.
This is a code for determining 3 (tap), and the same control is executed by the same program as in the case of the aforementioned code “T02”. Hereinafter, "G0Z-1
00.0 ”(positioning to the spindle machining position),“ G1Z-1
50.0 "(drilling)," G0Z0.0 "(positioning to spindle tool exchange position)," M06 "(tool exchange (tap attached to spindle))," T01 "(tool K1 (center drill)) ), "G0Z-100.0" (positioning to the spindle machining position), "G77Z-150.0I1.0
S6000 "(tapping)," G0Z0.0 "(positioning to spindle tool change position)," M06 "(tool change (center drill mounted on spindle))," M30 "(program end) The program is executed.

By the way, in the above-mentioned conventional technique, the sequence program corresponding to each code is unique. That is, when each code is specified, the corresponding sequence program always starts from the first step. A unit program (for example, from step S1 to step S3) that is to be executed up to the last step and performs an arbitrary operation of the sequence program
, Or from step S4 to step S6, or from step S7 to step S9) as necessary, the degree of freedom of control is low, fine control cannot be performed, and the control time It may be unnecessarily long, resulting in a long work processing time.

In particular, the tool change includes, as described above, the pot lowering operation from step S1 to step S3, the arm turning operation from step S4 to step S6,
The pot raising operation from step S7 to step S9 is performed. From the viewpoint of shortening the control time, the pot lowering operation is performed in advance in parallel with the work processing before the arm turning operation is performed. In this case, it is considered that the time for tool change can be reduced. However, if the pot lowering operation is performed in advance, if a large-diameter tool is mounted on the pot, the tool changing arm moves up and down together with the main shaft during work processing, so that each finger 4a, 4b
Although the finger is in the open state, the fingers may interfere with the large-diameter tool of the stationary pot. In consideration of this, the pot lowering operation is executed after the work processing is completed. However, if the tool in the pot is a standard tool, there is no risk of the above. If the pot lowering operation is performed in advance in the case of the standard tool, it is possible to contribute to shortening of the time. The fact is that the sequence program corresponding to the code "M06" is unique and cannot be performed.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a numerical control device capable of increasing the degree of freedom of control and performing fine control.

[0015]

According to the first aspect of the present invention, there is provided a tool indexing program for causing a tool in a tool magazine to reach a tool change position, and exchange of a tool in a tool magazine with a tool on a machining axis. In a numerical controller that performs a tool indexing operation and a tool changing operation in accordance with a sequence program such as a tool changing program for performing a sequence, the sequence program is divided into unit programs for performing a unit operation. The feature is that the unit programs can be individually executed.

In this configuration, the sequence program is divided into unit programs for performing unit operations, and the unit programs can be individually executed. Therefore, the degree of freedom of control is increased, and fine control can be performed. For example, unnecessary control can be omitted.
As a result, it is possible to contribute to shortening of the work processing time.

According to a second aspect of the present invention, the tool changing program causes the pot lowering operation program for performing the pot lowering operation, the arm turning operation program for turning the tool changing arm, and the pot raising operation to be performed as unit programs. It is characterized by having a pot raising operation program. In this configuration, the pot lowering operation program, the arm turning operation program, and the pot raising operation program can be executed individually, and in particular, when the tool to be replaced is a standard tool, the pot lowering operation program, the arm turning operation program, It is possible to execute the pot lowering operation program in advance, and in this case, it is possible to immediately shift to the execution of the arm turning operation program and the pot raising operation program when the tool is changed. Thus, control time for tool change can be easily reduced.

According to a third aspect of the present invention, a pot lowering operation execution instruction code for executing a pot lowering operation is added to the tool indexing program, and the pot lowering operation execution instruction code is canceled by a cancel instruction code. It has a characteristic in the place where it comes to be. In this configuration, by adding a pot lowering operation execution command code for performing the pot lowering operation to the tool indexing program, when the tool indexing program is executed, the pot The lowering operation can be performed, the pot lowering operation can be performed at the same time when the tool in the tool magazine reaches the tool changing position, and the control time for the next tool changing can be shortened. The execution of the pot lowering operation is suitable when the tool in the pot (the next tool to be replaced) is a standard tool. Further, since the pot lowering operation execution instruction code is canceled by the cancel instruction code, it is possible to perform control (no pot lowering operation execution) that only brings the tool in the tool magazine to the tool change position. Such cancellation is suitable, for example, when the next tool to be replaced is a large-diameter tool.

The invention according to claim 4 is characterized in that an arm speed command code for setting the turning speed of the tool changing arm in a plurality of steps is added to the arm turning operation program. In this configuration,
By adding an arm speed command code for setting the turning speed of the tool changing arm in a plurality of stages to the arm turning operation program, the arm turning operation executed by the arm turning operation program can be "low speed" or "standard speed". It will be performed in. In particular, when the turning speed is selected according to the tool, stable tool change can be performed, and the control time can be reduced as necessary. In other words, when the tool to be replaced is a large-diameter tool, the turning speed is set to a low speed to enable stable tool replacement. When the tool to be replaced is a large-diameter tool, the turning speed is set to the standard speed. By doing so, the tool change time can be reduced.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. First, in FIG. 2, an operation panel 12 is provided on the front surface of the splash cover 11, and a control device 13 shown in FIG. 6 is provided inside the operation panel 12. The control device 13 comprises a microcomputer, and includes a CPU 13a, a ROM 14a, a RAM 14b, an input interface 15a, and an output interface 15b.
And so on.

A keyboard 16 having various keys such as an automatic operation key, a manual operation key, a code input key, and a start key is provided on a front surface of the operation panel 12 (see FIG. 6).
Is installed, and the NC program is a keyboard 16
Is input to the controller 13 based on the operation of

FIG. 3 shows the inside of the splash cover 11.
As shown in FIG. 1, a machining center 17 corresponding to a numerical control device is housed. Hereinafter, the machining center 17
Will be described. A column 19 is fixed to the base 18. A Z motor 20 composed of a servo motor is mounted on the upper surface of the column 19, and a feed screw 21 is connected to a rotation shaft of the Z motor 20.

A guide rail 19 is provided on the front surface of the column 19.
a and 19a are fixed, and a processing head 22 is slidably mounted on both guide rails 19a. The processing head 22 is screwed to the feed screw 21. When the feed screw 21 rotates with the operation of the Z motor 20, the processing head 22 moves up and down (arrow Z direction) along both guide rails 19a. Moving.

A main shaft 23 corresponding to a processing shaft is rotatably mounted on the processing head 22. At the lower end of the main shaft 23, a concave tool pushing portion (not shown) that opens downward is provided, and a tool 24 is detachably pushed into the tool pushing portion. A spindle motor 25 is mounted on the machining head 22. When the spindle motor 25 operates, the rotational force of the spindle motor 25 is transmitted to the spindle 23, and the tool 24 rotates integrally with the spindle 23.

A work table 26 is provided below the processing head 22. The work table 26 has an X motor 27 and a Y motor 28
(See FIG. 6). When the automatic operation mode is selected, the control device 3 controls the X motor 27, the Y motor 28, the Z motor 20, and the spindle motor 25 based on the NC program. Drive control. As a result, the work table 26 is transported in the direction of the arrow X (horizontal direction) and the direction of the arrow Y (front and rear direction), and is processed into a work (not shown) on the work table 26 while moving the spindle 23 in the direction of arrow Z. Is applied.

The machining center 17 has a tool changing device 29 as a tool changing means. This tool changer 2
Reference numeral 9 denotes a tool for automatically exchanging the tool 24 of the main shaft 23 with another tool 24, and is configured as follows.

A tool magazine 30 is fixed to the processing head 22. As shown in FIG. 4, the tool magazine 30 is formed by forming an annular tool passage 30c between an inner cylinder 30a and an outer cylinder 30b, and includes a plurality of tool pots 31 in the tool passage 30c. Is stored. Each of these tool pots 31 is provided with a concave tool pressing portion (not shown), and another tool 24 is detachably stored in each tool pressing portion.

The tool magazine 30 is provided with a tool changing portion 30d that opens downward. The plurality of tool pots 31 are connected to a magazine motor 32 (see FIG. 6). When the magazine motor 32 operates, the plurality of tool pots 31 rotate along the tool path 30c, and the tool change position is changed. Selectively corresponds to the tool changing unit 30d.

The pot identification plate 33 shown in FIG. 6 rotates integrally with a plurality of tool pots 31. The pot identification plate 33 has a window (not shown) formed for each tool pot 31. I have. Each of these windows is composed of a plurality of slits, and the plurality of windows differ in the number of slits, the width dimension along the circumferential direction of the slits, and the like, so that each tool pot 31 can be individually identified. It has become.

The Z-axis origin sensor 34 shown in FIG.
The controller 13 controls the positioning of the spindle 23 at the origin based on a pulse signal from the Z-axis origin sensor 34.

The pot identification sensor 35 shown in FIG.
5a and a light receiving element 35b, which are arranged to face each other with the pot identifying plate 33 interposed therebetween. Light is projected from the light emitting element 35a to the pot identifying plate 33. The light receiving element 35b receives light that has passed through the window of the pot identification plate 33 and turns on the light. The control device 13 controls the tool changing section of the tool magazine 30 based on the on / off of the light receiving element 35b. Any tool pot 3 in 30d
It is detected whether 1 has been conveyed. Then, when the conveyance is detected, the magazine motor 32 is stopped, and the predetermined tool 24 is made to correspond to the tool changing section 30d. The RAM 14b of the control device 13 stores a tool number / pot number data table in which the pot numbers of the respective tool pots 31 correspond to the tool numbers of the tools 24 arranged therein. 13, when the predetermined tool 24 is designated, the tool pot 31 having the pot number corresponding to the tool number of the predetermined tool 24 is searched, and the searched tool pot 31
To the tool changing section 30d described above. Further, the control device 13 controls the tool 24 of the tool pot 31.
Is replaced, the data table of the RAM 14b is rewritten (updated and stored) for the tool number of the tool 24 so that the location of the tool can be determined. Further, the control device 13 stores the tool 24 attached to the spindle 23 in the tool number / pot number data table.
Is stored, and the tool number is updated and stored every time the tool is replaced.

The tool magazine 30 is provided with a pot lowering mechanism (not shown). The pot lowering mechanism uses the air cylinder 36 (see FIG. 6) as a driving source, and the control device 13 transmits the tool 2 set by the tool calling command.
4 correspond to the tool changing section 30d, the air cylinder 3
6 to drive the pot lowering mechanism. Then, as shown by a two-dot chain line in FIG. 4, the predetermined tool pot 31 rotates downward by approximately 90 °, and the predetermined tool 24 is
Project downward through d.

The pot lowering sensor 37a shown in FIG. 6 comprises a limit switch which is turned on when the tool 24 of the tool magazine 30 is lowered (projects from the tool changing section 30d). Sensor 37
It detects that the tool pot 31 is in the indexing state based on ON of a. The pot lift sensor 37b includes a limit switch that is turned on when the tool pot 31 is rotated upward from the pot lowered state and returned to the raised position (the original standby position). ,
It is detected that the tool pot 31 is in a standby state based on the ON of the pot lift sensor 37b.

As shown in FIG. 5A, a cylindrical arm turning shaft 38 is mounted on the processing head 22 so as to be rotatable and vertically movable. A tool changing arm 39 is fixed to the lower end of the arm turning shaft 38, and fingers 40, 40 are rotatable at both ends of the tool changing arm 39, as shown in FIG. It is installed.
A compression coil spring 41 is interposed between these pairs of fingers 40, 40, and each spring 41 urges the fingers 40, 40 in the closing direction (the direction of arrow A). Reference numeral 40a indicates a rotation axis of the finger 40.

As shown in FIG. 5A, a center shaft 42 is housed inside the arm turning shaft 38. The center shaft 42 is rotatably and non-movably mounted on the processing head 22, and a narrow engaging portion 42 a is formed at a lower end of the center shaft 42. A cylindrical cam shaft 43 is rotatably mounted on the tool change arm 39. When the tool change arm 39 and the cam shaft 43 move integrally with the arm turning shaft 38 to the upper origin, the cam shaft 43 is engaged with the engaging portion 42a of the center shaft 42.

As shown in FIG. 5B, cam portions 43a, 43a are formed on the outer periphery of the cam shaft 43.
When one finger 40 of each set falls into the gap between the cam portions 43a, one finger 40 of each set rotates in the direction of arrow A by the spring force of the spring 41, and the fingers 40, 40 is closed. When one finger 40 of each group rides on the cam portion 43a, the one finger 40 of each group is pressed in the direction of the arrow A against the spring force of the spring 41, and the fingers 40, 40 of each group. Is released.

The arm turning shaft 38 is connected to a tool changing motor 44 (see FIG. 6) via a motion transmitting device (not shown). This motion transmitting device is provided with a tool changing motor 44.
, A cam mechanism for transmitting the torque of the tool changing motor 44 to the central shaft 42, and a cam mechanism for converting the torque of the tool changing motor 44 to a linear motion force in the vertical direction. It has a crank mechanism for transmitting to the turning shaft 38. In the initial state of the tool changing operation,
As shown in FIG. 5A, the tool changing arm 39 moves to the upper origin, and the camshaft 43 moves to the engaging portion 42a of the center shaft 42.
Is engaged. At the same time, one finger 4 of each pair
0 rides on the cam portion 43a of the cam shaft 43, and the fingers 40, 40 of each set are closed.

The arm sensor 45 shown in FIG. 6 is a proximity sensor (for example, a Hall element) that is turned on when the tool change arm 39 has moved up to the origin.
3 detects that the tool change arm 39 is located at the origin based on the ON of the arm sensor 45, and detects that the tool change arm 39 is lowered from the origin based on the OFF of the arm sensor 45. . The tool change arm 39
The vertical movement of the finger and the opening and closing of the fingers 40, 40 are mechanically linked, and the control device 13 also detects the opening of the fingers 40, 40 from the turning on of the arm sensor 45.

When starting the tool change operation, the control device 13 controls the driving of the Z motor 20 based on the output signal from the Z-axis origin sensor 34. Then, the spindle 23 is lowered from the origin integrally with the machining head 22, and the tool 2 of the spindle 23 is moved.
4 is inserted between a pair of fingers 40,40.

When the control device 13 inserts the tool 24 of the main shaft 23 between the pair of fingers 40, 40, it activates the tool change motor 44. Then, the rotational force of the tool changing motor 44 is transmitted from the cam mechanism to the center shaft 42, and the center shaft 42 rotates (the phase angle of 12 ° to 50 ° in FIG. 7).
Is transmitted to the camshaft 43 through the engaging portion 42a, and the camshaft 43 rotates in the direction of arrow B in FIG. 5B.

When the cam shaft 43 rotates, each cam portion 43a
Pass through one finger 40, and one finger 40 of each set falls into a gap between the cam portions 43a. Then, one finger 40 of each set rotates in the direction of arrow A by the spring force of the spring 41, and the fingers 40, 40 of each set are closed. , Another pair of fingers 40, 40 sandwich another tool 24 projecting downward from the tool changing portion 30d.

When the phase angle of the tool changing motor 44 reaches 65 °, the rotational force of the tool changing motor 44 is transmitted to the arm turning shaft 38 through the crank mechanism, and the arm turning shaft 38
Descends from the origin (phase angle 65 ° to 125 in FIG. 7).
°). Then, the tool change arm 39 descends integrally with the arm turning shaft 38, and the engaging portion 42a of the center shaft 42
Separated from 3. Along with this, a pair of fingers 40, 4
0 descends while holding the tool 24 of the spindle 23, and another pair of fingers 40, 40 descends while sandwiching the tool 24 of the tool changer 30d. The tool 24 is removed from the tool pushing section.

When the phase angle of the tool change motor 44 reaches 100 °, the rotational force of the tool change motor 44 is transmitted to the arm turning shaft 38 through the cam mechanism, and the tool changing arm 39 is integrated with the arm turning shaft 38 by 180. Rotate ° (Fig. 7
Phase angle of 100 ° to 280 °). Then, a pair of fingers 40, 40 sandwiching the tool 24 of the main spindle 23 moves directly below the tool changing section 30d, and another pair of fingers 40, 40 sandwiching the tool 24 of the tool changing section 30d is moved to the main spindle 23. Move to just below.

When the phase angle of the tool changing motor 44 reaches 235 °, the rotational force of the tool changing motor 44 is transmitted from the crank mechanism to the arm turning shaft 38, and the tool changing arm 39 moves up integrally with the arm turning shaft 38. (The phase angle of 235 ° to 295 ° in FIG. 7), the cam shaft 43 of the tool changing arm 39 engages with the engaging portion 42a of the center shaft 42. At the same time, one pair of fingers 40, 40 rises toward the tool pushing portion of the main shaft 23 while holding the tool 24 of the tool changing portion 30d, and another pair of fingers 40, 40 moves the tool 24 of the main shaft 23. Since it rises toward the tool pushing portion of the tool pot 31 while being sandwiched, the tool 24 of the tool changing portion 30d
3 and the tool 24 of the spindle 23 is pushed into the tool pot 31.

When the phase angle of the tool changing motor 44 reaches 310 °, the torque of the tool changing motor 44 is transmitted from the cam mechanism to the center shaft 42, and the center shaft 42 rotates (31 in FIG. 7).
0-348). Then, the rotating power of the center shaft 42 is transmitted to the camshaft 43 through the engagement portion 42a, and the camshaft 43 rotates, so that each cam portion 43a of the camshaft 43 rides on one finger 40. As a result, one finger 40 of each set rotates in the direction opposite to arrow A, and the fingers 40 of each set return to the open state. Incidentally, reference numeral 46 in FIG.
Indicates a CRT display. In this embodiment, although not shown, various other sensors and control mechanisms are provided, but illustration and description of parts not directly related to the present invention are omitted.

The control device 13 has its ROM 14a
For example, various sequence programs such as a tool change program and a tool indexing program are stored in advance, and each sequence program is stored in the keyboard 16.
It is read out and executed in accordance with the command code input from.

For example, the sequence program shown in FIG. 1 is a tool changing program. The tool changing program is a unit program for performing a unit operation, a “pot lowering operation” program (which is executed based on a command code “M101”) and an “arm turning operation” program (this is a command Code "M102"
And a "pot raising operation" program (which is executed based on the command code "M103"). These unit programs can be individually executed based on each command code.
Each unit program will be described.

The "pot lowering operation" program is executed when the command code "M101" is present in the NC program in the automatic operation, and is set to "M10 operation" in the manual data input operation (hereinafter referred to as MDI operation).
When a command code of "1" is input, the command code is executed, and as shown in FIG.
First, the pot lowering output signal is turned on to operate the air cylinder 36 in one direction (step P1), and then it is determined whether or not the input signal from the pot lowering sensor 37a is on (step P2). When it is determined that the air cylinder 36 has been turned on, the pot lowering output signal is turned off to stop the operation of the air cylinder 36 (step P3).

The "arm turning operation" program is executed when the command code "M102" exists in the NC program in the automatic operation, and is set to "M1" in the MDI operation.
When the instruction code of “02” is input, each of them is executed, and as shown in FIG.
The arm turning output signal is turned on to drive the tool changing motor 44 (step Q1), and then it is determined whether or not the arm origin input signal from the arm sensor 45 is turned on (step Q2). Then, the arm turning output signal is turned off and the driving of the tool changing motor 44 is stopped (step Q3).

The "pot raising operation" program is executed when the command code "M103" is present in the NC program in the automatic operation, and is set to "M1" in the MDI operation.
When the instruction code of “03” is input, the instruction code is executed, and as shown in FIG.
First, the pot rise output signal is turned on to operate the air cylinder 36 in the opposite direction to the above (step R1), and then it is determined whether or not the input signal from the pot rise sensor 37a is on (step R1). (Step R2) When it is determined that the air cylinder 36 has been turned on, the pot rise output signal is turned off and the operation of the air cylinder 36 is stopped (Step R2).
3).

The tool indexing program is executed when an instruction code “Txx” exists in the NC program in the automatic operation, and when a command code “Txx” is input in the MDI operation, respectively. As shown in FIG. 11, the unique tool number “×” of the designated tool 24 is obtained from the tool number / pot number data table as shown in FIG.
The tool pot 31 having the pot number corresponding to "x" is searched (step T1), the output signal of the magazine motor is turned on, the tool pot 31 is sequentially moved (step T2), and based on the input sensor from the pot identification sensor 35. When it is determined that the corresponding tool pot 31 has reached the tool changing section 30d (step T3), the magazine motor output signal is turned off, the movement of the tool pot 31 is stopped, and the tool pot 31 is moved to the tool changing section 30a. Fasten (step T4).

The control device 13 stores a command code for setting the arm rotation speed. In this case, the arm speed command codes such as "M203" and "M204" are stored. Further, the control device 13 stores a “normal speed” control mode and a “low speed” control mode as the rotation speed of the tool change motor 44, and the control device 13 sets “M” in the NC program during the automatic operation.
When the command code “203” is present, or when the command code “M203” is input in the MDI operation, as shown in FIG. 12, a program for selecting the arm rotation speed “normal speed” mode is executed, Similarly, in the case of the command mode “M204”, a program for selecting the arm rotation speed “low speed” mode is executed as shown in FIG.

FIG. 14 shows an example of the NC program. In this case, center hole drilling, drilling, and tapping are performed on the work, and it is assumed that a tool K1 (center drill) of the tools 24 is mounted on the spindle 23. The characteristic portion of the NC program of the present embodiment will be described by comparing the NC program of FIG. 14 with the conventional NC program of FIG.
That is, the command code “M101” in the second line is “pot lowering operation” as can be seen from FIG.
This is a command code for executing the program, and this "pot lowering operation" can be executed in parallel with the operation of the spindle. That is, this “pot lowering operation” is performed as shown in FIG.
As shown in (b), it is executed in parallel when the center hole is being machined. Therefore, at the time of the next tool change, the “pot lowering operation” can be omitted (“M102”, “M1”).
03 "only), thereby shortening the time. By the way, conventionally, “M101”, “M10
"M06" corresponding to "2" and "M103" was uniquely executed.

In the command mode "M203" on the eighth line, the program shown in FIG. 12 is executed. Therefore, in the arm turning operation (FIG. 9) based on the next command mode "M102", The exchange motor 44 is driven to rotate at the “normal speed”, the turning speed is reduced, and the execution time can be shortened. In this case, the center drill (tool K1)
Since the drill and the tool (tool K2) are standard tools, there is no problem even if the arm is turned at "normal speed".

In the "tool change" on the 18th line, a tap (tool K3), which is a large-diameter tool, is attached to the main shaft 23.
204 is programmed ("low speed" is set as the arm turning speed).

Also, on the 21st line, "M101"
The instruction code (“pot lowering operation”) is programmed prior to “tap processing” on the 23rd line and “tool change” on the 28th line. Runs in parallel when running. Therefore, at the time of the next tool change, the "pot lowering operation" can be omitted, and the time can be shortened accordingly.

FIG. 16 shows a second embodiment of the present invention. In this second embodiment, a command code "M201" is added to a tool indexing program. I have. That is, the control device 13 prepares a pot lowering operation execution instruction code “M201” as an input code and also provides a cancel code “M202” as input codes, so that these codes can be incorporated into the NC program. It is configured. That is, the tool indexing program is, as in the first embodiment,
The automatic operation is executed when a command code “Txx” exists in the NC program.

That is, this tool indexing program is:
As shown in FIG. 16, the unique tool number “xx” of the designated tool 24 is obtained from the tool number / pot number data table.
Is retrieved (step V1), the magazine motor output signal is turned on, and the tool pot 31 is sequentially moved (step V2). Based on the input sensor from the pot identification sensor 35, the corresponding tool is detected. Pot 3
When it is determined that 1 has reached the tool changing section 30d (step V3), the magazine motor output signal is turned off, the movement of the tool pot 31 is stopped, and the tool pot 31 is kept at the tool changing section 30a (step V4). Thereafter, it is determined whether or not the command code "M201" is set in the NC program (step V5). If it is set, the pot lowering operation is performed with the same control contents as the pot lowering operation shown in FIG. (Steps V6, V7, V8). This command code “M20
"1" is the cancellation code "M20
When "2" is set, it is canceled thereafter. That is, in the subsequent execution of the tool indexing program (FIG. 16), step V5
Is uniquely determined to be “NO”. That is, the command codes “M201” and “M20”
"2" is used in addition to the tool indexing program.

FIG. 17 shows an example of an NC program according to the second embodiment. The features of this NC program will be described. In the first line, a pot lowering operation execution command code “M201” is programmed. The pot lowering operation execution command code “M201” is used as shown in FIG. 16 when executing the tool indexing program based on the command code “T02” on the second line. In this case, first, steps V1 to V4 are executed, and since "M201" has been designated, steps V6 to V8 are performed according to "YES" in step V5.
Is performed, and the pot lowering operation is performed in parallel with the center hole processing. As a result, the time can be reduced as in the case of the first embodiment.

In the eighth line, the cancel code "M
202 "is programmed. This cancel code "M202" is for canceling the pot lowering operation execution command code "M201" on the first line, and is executed at step V5 when the tool indexing program of FIG. 16 based on "T03" on the twelfth line is executed. Is determined to be "NO", and steps V6 to V8 are not executed. That is, the pot lowering operation is not performed. This is because the next tool change (tool change based on the code “M102” in the twentieth line) is a large-diameter tool (tap), so it is preferable not to perform pot lowering in advance.

[0061]

As apparent from the above description, the present invention has the following effects. According to the first aspect of the present invention, the sequence program is divided into unit programs for performing unit operations, and the unit programs can be individually executed. Therefore, the degree of freedom of control is high and fine control can be performed. For example, unnecessary control can be omitted, and as a result, it is possible to contribute to a reduction in work processing time.

According to the second aspect of the present invention, the pot lowering operation program, the arm turning operation program, and the pot raising operation program can be executed individually. Particularly, when the tool to be replaced is a standard tool, The pot lowering operation program can be executed in advance while the workpiece is being machined. In this way, when the tool is changed, the operation can immediately shift to the execution of the arm turning operation program and the pot raising operation program, and The time required for replacement can be reduced.

According to the third aspect of the present invention, by adding the pot lowering operation execution command code for executing the pot lowering operation to the tool indexing program, when the tool indexing program is executed. The pot lowering operation can be executed by the pot lowering operation program, and the pot lowering operation can be performed at the same time when the tool in the tool magazine is brought to the tool changing position. It can contribute to time reduction. Also, since the pot lowering operation execution command code is canceled by the cancel command code, control (no pot lowering operation execution) for bringing the tool in the tool magazine to the tool changing position is also possible, and the large-diameter tool and the standard tool can be used. , It is possible to perform the pot lowering operation.

According to the fourth aspect of the present invention, an arm rotation command code for setting the rotation speed of the tool changing arm in a plurality of stages is added to the arm rotation operation program, so that the arm rotation operation program executes The turning operation is performed at "low speed" and "standard speed". In particular, by selecting the turning speed according to the tool, stable tool change is possible and the control time is reduced if necessary. it can.

[Brief description of the drawings]

FIG. 1 is a flowchart of a tool changing program according to a first embodiment of the present invention.

FIG. 2 is a front view showing a splash cover.

FIG. 3 is a perspective view showing an appearance of a machining center.

FIG. 4 is a front view of a tool magazine part.

FIG. 5A is a longitudinal sectional view showing a main part of a tool changing device,
(B) is a bottom view

FIG. 6 is a block diagram showing an electrical configuration.

FIG. 7 is a timing chart of a tool changing operation.

FIG. 8 is a flowchart of a pot lowering operation program.

FIG. 9 is a flowchart of an arm turning operation program.

FIG. 10 is a flowchart of a pot raising operation program.

FIG. 11 is a flowchart of a tool indexing program.

FIG. 12 is a flowchart of an arm normal speed setting program.

FIG. 13 is a flowchart of an arm low-speed setting program.

FIG. 14 is a diagram showing an example of an NC program.

FIG. 15 is an execution timing chart of an NC program;

FIG. 16 is a flowchart of a tool indexing program according to the second embodiment of the present invention.

FIG. 17 is a diagram showing an example of an NC program.

FIG. 18 is a diagram showing an example of an NC program according to a conventional example.

FIG. 19 is a flowchart of a tool changing program.

FIG. 20 is a schematic front view.

[Explanation of symbols]

13 is a control device, 17 is a machining center (numerical control device), 22 is a descending head, 23 is a spindle (machining axis), 24
Is a tool, 25 is a spindle motor, 29 is a tool changing device (tool changing means), 30 is a tool magazine, 30d is a tool changing portion (tool changing position), 31 is a tool pot, 39 is a tool changing arm, 40 is a finger, Reference numeral 44 denotes a tool changing motor.

Claims (4)

[Claims] 1. Sequences such as a tool indexing program for bringing a tool in a tool magazine to a tool changing position and a tool changing program for changing a tool in a tool magazine and a tool on a machining axis. A numerical control device that performs a tool indexing operation and a tool changing operation in accordance with a program for use, wherein the sequence program is divided into unit programs for performing a unit operation, and the unit programs can be individually executed. Numerical control unit characterized. 2. A tool changing program includes, as unit programs, a pot lowering operation program for performing a pot lowering operation, an arm turning operation program for turning a tool changing arm, and a pot raising operation program for performing a pot raising operation. The numerical controller according to claim 1, further comprising: 3. A pot lowering operation execution instruction code for executing a pot lowering operation is added to the tool indexing program, and the pot lowering operation execution instruction code is canceled by a cancel instruction code. 3. The numerical control device according to claim 1, wherein 4. The arm turning operation program according to claim 1, wherein an arm speed command code for setting a turning speed of the tool changing arm in a plurality of steps is added to the arm turning operation program. Numerical control device.