KR20200125172A - Automatic attachment changer and method for controlling the same - Google Patents

Abstract

The present invention relates to an automatic attachment changer of a machine tool and a control method thereof, wherein a shuttle unit in which an attachment is mounted and stored is horizontally reciprocated by a first transport unit to be moved from a storage location to a standby location and a preparation location, and is vertically reciprocated by a second transport unit to be moved from the standby location to a replacement location. Therefore, an additional storage space for the shuttle unit in which the attachment is mounted can be eliminated, and the replacement time of the attachment can be minimized, thereby reducing fabrication costs and installation time of the automatic attachment changer. In addition, a non-working time can be reduced to maximize productivity, and a service space can be guaranteed to reduce time and costs required for maintenance and repair, thereby improving reliability and stability.

Description

Automatic attachment changer and method for controlling the same}

The present invention relates to an automatic attachment exchange device and a control method thereof, and more particularly, to an automatic attachment exchange device and a control method thereof for a machine tool capable of excluding a separate storage space for the attachment and minimizing the replacement time of the attachment. will be.

In general, a machine tool refers to a machine used for the purpose of processing a metal/non-metal workpiece into a desired shape and dimension using a suitable tool by various cutting or non-cutting processing methods.

Various types of machine tools, including turning centers, vertical/horizontal machining centers, gate type machining centers, Swiss turns, electric discharge machines, horizontal NC boring machines, and CNC lathes, are widely used in various industrial sites to suit the purpose of their work.

In general, various types of machine tools currently used have a control panel to which numerical control (NC) or computerized numerical control (CNC) technology is applied. This operation panel is equipped with various function switches or buttons and a monitor.

In addition, the machine tool is a table on which the workpiece is placed and transported for processing the workpiece, a pallet to prepare the workpiece before processing, a spindle that rotates by combining a tool or workpiece, a tailstock to support the workpiece, etc. Etc.

In general, in a machine tool, a table, a tool rest, a main shaft, a tailstock, a vibration isolator, etc. have a conveying unit that conveys along a conveying axis to perform various processing.

In addition, in general, machine tools use a number of tools for various processing, and a tool magazine or a turret is used in the form of a tool storage area storing and storing a number of tools.

Such a machine tool uses a number of tools for various processing, and a tool magazine is used in the form of a tool storage area storing a number of tools.

In addition, in general, machine tools are equipped with an automatic tool changer (ATC) for withdrawing or receiving a specific tool from a tool magazine according to a command from a numerical control unit in order to improve the productivity of the machine tool.

In addition, in general, machine tools are equipped with an automatic pallet changer (APC) to minimize non-processing time. The automatic pallet changer (APC) automatically exchanges pallets between the workpiece processing area and the workpiece installation area. Workpieces can be mounted on pallets.

In general, a double colum type machine center, which is a type of machine tool, refers to a device that directly processes a three-dimensional shape by exchanging a number of attachments, unlike a lathe device in charge of simple machining.

These gate-type machining centers have a dummy head attachment at the bottom of the spindle to machine various shapes of workpieces in various spaces and angles, and freely move the tool at any angle in the vertical or horizontal direction for various 3D machining. A universal head attachment, an extension head attachment, and an angle head attachment with movable rotational two axes can be mounted detachably.

The tool is mounted on the tip of the various head attachments described above, and a tool port may be formed at the tip of the head attachment if necessary to firmly mount the tool.

1 is a perspective view of a conventional machine tool having an automatic attachment changing device, and FIG. 2 is a schematic plan view of a conventional automatic attachment changing device.

As shown in FIG. 1, in the conventional machine tool 1, in particular, in the door-type machining center, the bed 2 is installed on the ground, and the table 3 is horizontally movable along the bed 2. Is installed in A pair of columns 4 are installed perpendicular to the ground on both sides of the bed 2. A cross rail 5 is installed on a part of the pair of columns 4 so as to be movable vertically along the pair of columns 4. The saddle 6 is installed on the cross rail 5 so as to be movable left and right along the cross rail 5. The spindle 7 is installed on a part of the saddle 6 so that it is movable vertically. The attachment 8 is detachably installed at the lower end of the spindle 7. The control panel controls the machine tool through CNC. The workpiece is machined into a desired shape by the PLC program input in advance through this control panel.

As shown in Fig. 2, the conventional automatic attachment changing device 9 is installed on the ground in a linear type. The base is installed on the ground in a straight line. A plurality of shuttles are installed on one side of the base to store various types of attachments (A1, A2, A3, A4). The shuttle moves horizontally from the base by means of a transfer device in order to exchange the attachment required for the processing process. In other words, in order to transfer the shuttle holding the attachment to be replaced to the replacement location (P4), the shuttle is seated on the top of the transfer device, and the transfer location (P4) passes from the storage location (P1) to the ready location (P3). Is transferred to. However, the attachment to be replaced in order to recover the attachment mounted on the existing spindle is exchanged through a complex process of moving to the ready position P3 through the standby position P2.

The conventional automatic attachment exchange device has a problem in that the structure is complicated, cannot be miniaturized, takes a long time to assemble and install, and increases the manufacturing cost as a storage space for separately storing the shuttle on which the attachment is mounted is required.

In addition, the conventional automatic attachment exchange device transfers the rack and pinion method to move the shuttle from the storage position to the ready position or standby position, and the loading/unloading of the shuttle is performed by the chain drive method, so it takes a lot of time to change the attachment. As the non-processing time increases, there is a problem that productivity decreases.

Moreover, in the conventional automatic attachment exchange device, the size of the device is too large, so that a separate service space is insufficient, causing inconvenience to the operator, and increasing maintenance time and cost.

In addition, the conventional automatic attachment changing device cannot be disassembled after the cover is installed, so that maintenance of the automatic attachment is not easy, and thus the reliability and stability of the automatic attachment changing device are reduced due to frequent failures.

Korean Patent Publication No. 10-2010-0123258 Korean Patent Publication No. 10-2017-0054885 Korean Patent Publication No. 10-2018-0134029

The present invention is to solve the above problems, and an object of the present invention is to move the shuttle unit in which each attachment is seated and stored in a horizontal direction by a first transfer unit to move from the storage position to the standby position and the ready position. It is moved from the ready position to the exchange position by reciprocating vertically by the second transfer unit, excluding the separate storage space of the shuttle unit where the attachment is seated, and minimizing the replacement time of the attachment. An automatic attachment exchange device for machine tools that reduces manufacturing costs and installation accidents, maximizes productivity by reducing non-processing time, reduces maintenance time and costs by securing service space, and improves reliability and stability. It relates to a method of controlling it.

In order to achieve the object of the present invention, the automatic attachment changing device according to the present invention comprises: a shuttle unit for storing and moving each attachment detachably mounted on a spindle; A first transfer unit for reciprocating the shuttle unit in one direction; A second transfer unit for reciprocating the shuttle unit in one direction different from the first transfer unit; And controlling the operation of the spindle, the shuttle unit, the first transfer unit, and the second transfer unit to return the machining attachment mounted on the spindle to the shuttle unit and exchange it for a ready attachment stored in another shuttle unit. It may include a; control unit.

Further, in another preferred embodiment of the automatic attachment exchange device according to the present invention, in order to return the machining attachment mounted on the spindle and exchange it for a preparation attachment stored in another shuttle unit, the shuttle unit storing the preparation attachment is 1 The transfer unit moves from the storage position to the standby position, and the shuttle unit to store the processing attachment is moved from the exchange position to the ready position by the second transfer unit in a state where the processing attachment is retrieved from the spindle. May be returned.

In addition, in another preferred embodiment of the automatic attachment changing device according to the present invention, the shuttle unit, which has moved to the preparation position of the automatic attachment changing device and retrieves the processed attachment, is moved from the preparation position to the storage position by the first transfer unit. And, the other shuttle unit storing the preparation attachment is moved from the standby position to the preparation position by the first transfer unit, and the other shuttle unit storing the preparation attachment moved to the preparation position by the second transfer unit By moving from the ready position to the exchange position, the replacement can be performed with the ready attachment to the spindle.

In addition, in another preferred embodiment of the automatic attachment changing device according to the present invention, the control unit of the automatic attachment changing device returns the processing attachment mounted on the spindle and stores information for exchange to a ready attachment stored in another shuttle unit. A data storage unit; An operation unit for calculating an object, a position, and a transfer amount of the shuttle unit storing the processing attachment and the other shuttle unit storing the preparation attachment; And a command unit that drives the spindle, the first transfer unit, and the second transfer unit according to the result of the operation unit to transmit an exchange command to perform replacement of the machining attachment mounted on the spindle to a preparatory attachment. can do.

In addition, in another preferred embodiment of the automatic attachment exchange device according to the present invention, the data storage unit of the control unit of the automatic attachment exchange device includes a processing program, a transfer amount of the first transfer unit and the second transfer unit, and each shuttle unit. A basic data storage unit that stores data on the type of attachment mounted on the device; A shuttle unit position data storage unit for storing data on an exchange position, a preparation position, and a storage position and a standby position of each shuttle unit; And a spindle position data storage unit for storing the reference position, the working position, and the current position of the spindle in real time.

Further, in another preferred embodiment of the automatic attachment changing device according to the present invention, the operation unit of the control unit of the automatic attachment changing unit stores a shuttle unit storing a processing attachment and a preparation attachment based on data stored in the data storage unit. A check unit for checking whether another shuttle unit is located in a ready position or an exchange position, and whether the attachment is seated in each of the shuttle unit storing the processing attachment and the other shuttle unit storing the ready attachment; A determination unit that determines whether or not the spindle is positioned at a reference position based on the data stored in the data storage unit; A comparison unit for comparing whether a processed attachment and a ready attachment are different according to the data stored in the data storage unit, the confirmation unit, and a result of the determination unit; In order to transfer the shuttle unit to store the processing attachment to an exchange position according to the results of the data storage unit, the confirmation unit, the determination unit, and the comparison unit, and to transfer another shuttle unit storing the preparation attachment to the standby position. An analysis unit that analyzes the current position of each of the shuttle units; And calculating the transfer order and transfer amount of the shuttle unit storing the processed attachment and the other shuttle unit storing the preparation attachment according to the results of the data storage unit, the confirmation unit, the determination unit, the comparison unit, and the analysis unit. It may include a calculation unit;

In addition, in another preferred embodiment of the automatic attachment exchange device according to the present invention, the check unit of the operation unit of the control unit of the automatic attachment exchange device includes the first transfer unit or the shuttle unit moving along the second transfer unit. A first confirmation unit installed on the second base to check whether it is located at A second check unit installed on the second base to check whether the shuttle unit moving along the second transfer unit is located at an exchange position; And a third confirmation unit installed on the second base to check whether the attachment is seated in the shuttle unit located at the exchange position.

In addition, in another preferred embodiment of the automatic attachment changing device according to the present invention, each of the shuttle units of the automatic attachment changing device is a carriage moving along the first transfer unit or the second transfer unit, and each attachment is seated. ; A coupling part formed on a part of the carriage to transport the carriage along the second transport unit; And a sensing unit formed on the carriage to check whether the attachment is seated on the carriage.

Further, in another preferred embodiment of the automatic attachment changing device according to the present invention, the first transfer unit of the automatic attachment changing device includes: a first base installed in parallel in a horizontal direction along the bed; And a first transfer unit installed on the first base to transfer the shuttle unit in a horizontal direction.

Further, in another preferred embodiment of the automatic attachment changing device according to the present invention, the second transfer unit of the automatic attachment changing device includes a second base that is perpendicular to the first base and connected to the center of the first base; And a second transfer unit installed on the second base to transfer the shuttle unit in a vertical direction.

In addition, in another preferred embodiment of the automatic attachment changing device according to the present invention, the automatic attachment changing device is installed in the second transfer unit to prevent movement of the shuttle unit located at the exchange position when the processing attachment and the preparation attachment are exchanged. It may further include a movement preventing unit;

Further, in another preferred embodiment of the automatic attachment exchange device according to the present invention, the first transfer unit of the automatic attachment exchange device is installed in parallel with the bed in a horizontal direction, and the second transfer unit is the first transfer unit. It may be installed to be orthogonal to the first transfer unit so as to be symmetrical horizontally with respect to the second transfer unit and to communicate with the center of the first transfer unit in the horizontal direction.

In addition, in another preferred embodiment of the automatic attachment changing device according to the present invention, the automatic attachment changing device includes: a housing unit detachably formed to surround the shuttle unit, the first transfer unit, and the second transfer unit; It may contain more.

In order to achieve another object of the present invention, the control method of the automatic attachment exchange device according to the present invention includes a workpiece processing program, an exchange position, and a work piece processing program in order to return the processing attachment mounted on the spindle and exchange it for a ready attachment stored in another shuttle unit. Storing the preparation position, storage position and standby position of each shuttle unit, reference position of the spindle, and work position information; Determining whether the machine tool is in a normal state and whether the current spindle is located at a reference position; Comparing whether the processing attachment and the preparation attachment are different; Analyzing the current position of each of the shuttle units in order to transfer the shuttle unit for storing the processing attachment to the exchange position, and transfer the other shuttle unit storing the preparation attachment to the standby position; Calculating a transfer sequence and a transfer amount of an attachment storing the processing attachment and another shuttle unit storing the preparation attachment; And driving the spindle, the first transfer unit, and the second transfer unit based on the calculation result to replace the machining attachment mounted on the spindle with a preparatory attachment.

In addition, in another preferred embodiment of the control method of the automatic attachment changing device according to the present invention, the step of exchanging the processing attachment for a preparation attachment in the control method of the automatic attachment changing device includes the shuttle unit storing the preparation attachment. 1 The shuttle unit that moves from the storage position to the standby position by the transfer unit and stores the machining attachment is processed by moving from the exchange position to the ready position by the second transfer unit after recovering the machining attachment from the spindle. The return of the attachment is performed, and the shuttle unit, which has moved to the preparation position and retrieves the processed attachment, is moved from the preparation position to the storage position by the first transfer unit, and the other shuttle unit storing the preparation attachment is the first Another shuttle unit, which is moved from the standby position to the ready position by the transfer unit, and holds the ready attachment moved to the ready position, is moved from the ready position to the exchange position by the second transfer unit, so that the replacement can be performed with the ready attachment. have.

In addition, in another preferred embodiment of the control method of the automatic attachment changing device according to the present invention, the control method of the automatic attachment changing device is, after the step of exchanging the machining attachment for a preparation attachment, the preparation attachment mounted on the spindle is It may further include a step of checking whether the attachment according to the exchange command.

The automatic attachment exchange device and its control method according to the present invention is to move the shuttle unit in which each attachment is seated and stored in a horizontal direction by a first transfer unit to move it from the storage position to the standby position and the ready position, and the second The effect of reciprocating vertically by the transfer unit and excluding the separate storage space of the shuttle unit on which the attachment is seated when moving from the ready position to the exchange position, to achieve miniaturization and compactness, and to reduce manufacturing cost and installation time. There is.

In addition, the automatic attachment exchange device and the control method thereof according to the present invention drive both the first transfer unit and the second transfer unit with a ball screw, and are precisely controlled by the control unit, thereby minimizing the replacement time of the attachment to be processed. There is an effect that can maximize productivity as time decreases.

Moreover, the automatic attachment exchange device and its control method according to the present invention secure a service space through a separate storage space exclusion frame to facilitate the operator's convenience, reduce maintenance time and cost of the automatic attachment exchange device, and increase the lifespan. It can have an effect.

In addition, the automatic attachment exchange device and its control method according to the present invention secure a service space and easy to attach and detach the cover part, thereby preventing frequent failure or damage of the automatic attachment changing device through simple maintenance and improving reliability and safety. It can have an effect.

1 shows a conceptual diagram of a machine tool equipped with a conventional automatic attachment changing device.
2 is a plan view of a conventional automatic attachment changing device.
3 is a plan view of an automatic attachment changing device according to the present invention.
4 is a perspective view of the automatic attachment changing device in a state in which the housing part is removed in FIG. 3.
5, 7 to 8 show a conceptual diagram of an exchange process of the automatic attachment changing device according to the present invention.
6 shows a partial detailed view of FIG. 5.
9 is a block diagram of a control unit of an automatic attachment changing device according to the present invention.
10 is a flowchart illustrating a method for controlling an automatic attachment changing device according to the present invention.

Hereinafter, with reference to the drawings of an automatic attachment exchange device and a control method thereof according to an embodiment of the present invention will be described in detail. The following embodiments are provided as examples in order to sufficiently convey the spirit of the present invention to those skilled in the art. Accordingly, the present invention is not limited to the embodiments described below and may be embodied in other forms. In addition, in the drawings, the size and thickness of the device may be exaggerated for convenience. Throughout the specification, the same reference numbers indicate the same elements.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, only the present embodiments make the disclosure of the present invention complete, and common knowledge in the technical field to which the present invention pertains. It is provided to completely inform the scope of the invention to those who have it, and the invention is only defined by the scope of the claims. The same reference numerals refer to the same elements throughout the specification. In the drawings, the sizes and relative sizes of layers and regions may be exaggerated for clarity of description.

The terms used in this specification are for describing exemplary embodiments, and therefore, are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used in the specification, "comprise" and/or "comprising" refers to the presence of one or more other components, steps, actions and/or elements, and/or elements, steps, actions and/or elements mentioned. Or does not exclude additions.

3 is a plan view of the automatic attachment changing apparatus according to the present invention, and FIG. 4 is a perspective view of the automatic attachment changing apparatus in a state in which the housing part is removed from FIG. 5, 7 to 8 show a conceptual diagram of an exchange process of the automatic attachment changing device according to the present invention. 6 shows a partial detailed view of FIG. 5, and FIG. 9 shows a configuration diagram of a control unit of an automatic attachment changing apparatus according to the present invention. 10 is a flowchart illustrating a method for controlling an automatic attachment changing device according to the present invention.

The definitions of terms used below are as follows. "Horizontal direction" means the horizontal direction in the same member, that is, the X-axis direction in Figs. 1 to 8, and the "vertical direction" means the vertical direction in the same member while being perpendicular to the horizontal direction, that is, Y in Figs. It means the axial direction, and the "height direction" means the width direction in the same member while being perpendicular to the horizontal direction and the vertical direction, that is, the Z-axis direction in FIG. 1. In addition, upward (upper) means an upward direction in the "height direction", that is, a direction toward the top of the Z axis in FIG. It means the direction you are facing. In addition, "inside (inside)" means a side relatively close to the center in the same member, that is, the inside in FIGS. 3 to 7, and "outside (outside)" is a side relatively far from the center in the same member, that is, FIG. 3 To the outside in FIG. 7.

An automatic attachment exchange device 10 according to an embodiment of the present invention will be described with reference to FIGS. 3 to 9. 3 to 9, the automatic attachment exchange device 10 according to the present invention includes a shuttle unit 100, a first transfer unit 200, a second transfer unit 300, a control unit 400, It includes a movement preventing part 500, and/or a housing part 600.

As described above, a double column type machine center, which is a type of machine tool, can directly process a three-dimensional shape by exchanging a plurality of attachments, unlike a lathe device in charge of simple machining.

These gate-type machining centers have a dummy head attachment at the bottom of the spindle to machine various shapes of workpieces in various spaces and angles, and freely move the tool at any angle in the vertical or horizontal direction for various 3D machining. A universal head attachment, an extension head attachment, and an angle head attachment with movable rotational two axes can be mounted detachably.

The tools are mounted on the tips of the various head attachments described above, and a tool port may be formed at the tip of each attachment if necessary to firmly mount the tools.

The automatic attachment exchange device 100 according to the present invention may also be installed in such a machine tool, particularly a door-type machining center. In addition, such a door-type machining center is installed on the top of the bed so that the bed is installed on the ground and the table is movable horizontally along the bed. A pair of columns are installed perpendicular to the ground on both sides of the bed. A cross rail is installed on a portion of the pair of columns so that it can move vertically along the pair of columns. The birds are installed on the cross rail so that they can move left and right along the cross rail. It is installed on a part of the saddle so that the spindle can be moved vertically. Each attachment (A1, A2, A3, A4) is detachably installed at the bottom of the spindle.

In the shuttle unit 100, each attachment (A1, A2, A3, A4) detachably mounted on a spindle is seated and stored and moved. That is, the shuttle unit 100 is in the horizontal direction (X-axis direction) by the first transfer unit 200 or the vertical direction (Y-axis direction) by the second transfer unit 300 through the control of the control unit 400 to be described later. Direction).

The first transfer unit 200 reciprocates the shuttle unit 100 in one direction. Preferably, the first transfer unit 200 reciprocates the shuttle unit in a horizontal direction along a horizontal direction (X-axis direction) which is a parallel direction along the bed.

The second transfer unit 300 reciprocates the shuttle unit 100 in one direction different from the first transfer unit. Preferably, the second transfer unit 200 reciprocates the shuttle unit in a vertical direction along a vertical direction (Y-axis direction) that is orthogonal to the first transfer unit 100.

The control unit 400 returns the processing attachment A1 mounted on the spindle to the shuttle unit that originally stores the processing attachment, and replaces it with a ready attachment A2 stored in another shuttle unit. Controls the operation of the 1 transfer unit and the second transfer unit.

The movement preventing unit 500 is installed in the second transfer unit 300 to prevent movement of the shuttle unit located at the exchange position P4 when the processing attachment A1 and the preparation attachment A2 are exchanged.

Specifically, the movement preventing unit 500 is installed on the upper portion of the second base 310 of the second transfer unit 300 to return the attachment to the shuttle unit 100 located at the exchange position P4 when the attachment is exchanged. Alternatively, the movement of the shuttle unit is prevented so that the attachment is stably detached or attached to the spindle when collecting the attachment.

Although not necessarily limited thereto, the movement preventing part 500 may be formed in a ball flanger shape. As described above, as the attachment and detachment from the spindle is stably performed by the movement preventing unit, reliability and stability can be maximized, and maintenance costs can be reduced by preventing the attachment from being damaged during replacement.

The housing part 600 is detachably formed to surround the plurality of shuttle units 100, the first transfer unit 200, and the second transfer unit 300.

In this way, as the housing part 600 is easily detachable, access to the automatic attachment exchanger or securing a service space is easy, thereby reducing maintenance time and cost, preventing failure, and maximizing the life of the equipment.

As shown in FIGS. 3 to 8, the first transfer unit 200 of the automatic attachment exchange device 10 according to a preferred embodiment of the present invention is installed parallel to the bed in a horizontal direction (X-axis direction). .

In addition, the second transfer unit 300 is orthogonal to the first transfer unit 200 so that the first transfer unit 200 is horizontally symmetrical with respect to the second transfer unit 300 and the horizontal direction of the first transfer unit. It is installed in communication with the center (C). That is, the second transfer unit 300 is orthogonal to the first transfer unit 200 so that both lengths in the horizontal direction of the first transfer unit 200 are the same based on the second transfer unit 300 and T It is installed in a ruler shape.

As described above, in the automatic attachment exchange device according to the present invention, as the first transfer unit and the second transfer unit are installed in a T-shape, the first transfer unit is installed long along the length of the bed, so that each attachment is The shuttle unit, which is seated and stored, is moved horizontally by the first transfer unit in the horizontal direction to move from the storage position to the standby and ready positions, and by the second transfer unit in the vertical direction to move from the ready position to the exchange position. Unlike the prior art, the separate storage space of the shuttle unit on which the attachment is mounted is not required, thus miniaturization and compactness of the automatic attachment exchange device can be achieved, and manufacturing cost and installation time can be reduced.

As shown in Figs. 4 to 8, the automatic attachment changing device 10 according to the present invention returns the machining attachment A1 mounted on the spindle to the shuttle unit located at the exchange position, and the preparation attachment being stored in another shuttle unit. In order to change to (A2), the shuttle unit storing the ready attachment is moved from the storage position (P1) to the standby position (P2) in the horizontal direction (X-axis direction) by the first transfer unit through the control of the control unit. .

In addition, the shuttle unit to store the machining attachment is in the ready position (P4) in the vertical direction (Y-axis direction) by the second transfer unit through the control of the control unit while the machining attachment (A1) is recovered from the spindle. Go to P3) and return the machining attachment (A1) first.

Thereafter, the shuttle unit 100, which has moved to the preparation position P3 and retrieves the processing attachment A1, is controlled by the control unit in the horizontal direction (X-axis direction) from the preparation position P3. Move to the storage location (P1).

Thereafter, the other shuttle unit 100 storing the preparation attachment (A2) is moved from the standby position (P2) to the preparation position (P3) in the horizontal direction (X-axis direction) by the first transfer unit through the control of the control unit. At the same time, the other shuttle unit 100 storing the preparation attachment (A2) moved to the preparation position is exchanged at the preparation position (P3) in the vertical direction (Y-axis direction) by the second transfer unit through the control of the control unit. Moving to position P4, replacement is performed with a ready attachment A2 on the spindle.

Thereafter, returning of the machining attachment mounted on the spindle and replacement of the other ready attachment is performed in the same order.

Therefore, the automatic attachment exchange device according to the present invention drives both the first transfer unit and the second transfer unit with a ball screw, and is precisely controlled by the control unit, thereby minimizing the replacement time of the attachment and reducing the non-processing time. You can maximize your productivity.

As shown in FIGS. 3 to 8, each shuttle unit 100 of the automatic attachment exchange device 10 according to the present invention includes a carriage 110, a coupling part 120, and a sensing part 130. .

The carriage 110 moves along the first transfer unit 210 of the first transfer unit or the second transfer unit 320 of the second transfer unit and provides a space in which each attachment is seated. If necessary, such a carriage may be extended in the height direction.

The coupling part 120 is formed on a part of the carriage to transport the carriage along the first transport unit or the second transport unit. That is, the coupling part 120 is coupled with the connection part of the second transport part of the second transport unit to be described later, and when the second driving part operates under the control of the control unit, the carriage is stably replaced in the vertical direction along the second linear guide. It is possible to reciprocate between the position (P4) and the ready position (P3).

The sensing unit 130 is formed on the carriage to check whether the attachment is seated on the carriage. The sensing oop 130 checks whether the attachment man is seated on the carriage by interlocking with the third confirmation unit 421c of the confirmation unit 421 to be described later, and transmits the confirmed information to the control unit. Although not necessarily limited thereto, the sensing unit 130 may be formed of an S/W dog (DOG).

As shown in FIGS. 3 to 8, the first transfer unit 200 of the automatic attachment exchange device 10 according to the present invention includes a first base 210 and a first transfer unit 220.

The first base 210 is installed parallel to the bed in a horizontal direction (X-axis direction). As such, since the first base 210 is formed to extend horizontally along the bed, a separate storage space for storing the attachment may be excluded.

Specifically, in the case of a door-type machining center, the bed has a size from as little as 10 meters to more than tens of meters in length, and the first base is formed horizontally to extend parallel to the bed on the side of the bed of such a door-type machining center. With reciprocating movement, it is possible to achieve miniaturization and compactness of the automatic attachment exchange device by maximizing space utilization while swiftly replacing attachments while retaining as many attachments as necessary and minimizing the installation space.

The first transfer unit 220 is installed above the first base 210 to transfer the shuttle unit 100 in the horizontal direction (X-axis direction). Although not necessarily limited thereto, the first transfer part 220 includes a first ball screw 221, a first driving part 222, and a first linear guide 223.

The first ball screw 221 is installed on the first base 210 along the horizontal direction. The first linear guide 223 is spaced vertically (Y-axis direction) above the first base 210 with the first ball screw 221 interposed therebetween, and is installed extending along the horizontal direction (X-axis direction). . The first driving unit 222 generates rotational power to the first ball screw 221 according to the attachment exchange command signal of the control unit 400.

Although not shown in the drawings, it includes a fastening part that is installed to be movable along the first ball screw according to the driving of the first driving part and is detachably coupled to the coupling part. By such a fastening part, the shuttle unit can be easily moved from the storage position P1 to the standby position P2 in the horizontal direction along the first transfer unit through the ready position P3.

As shown in FIGS. 3 to 8, the second transfer unit 300 of the automatic attachment exchange device 10 according to the present invention includes a second base 310 and a second transfer unit 220.

The second base 310 is installed in a vertical direction (Y-axis direction) so as to be perpendicular to the first base 210 and connected to the center of the first base. In this way, as the second base 310 is formed in a T-shape so as to be orthogonal to the first base, the movement distance of the shuttle unit is minimized for replacement of the attachment, and the shape protruding in the vertical direction of the bed is minimized to improve space utilization. Maximized, and miniaturization of the automatic attachment exchanger can be achieved.

The second transfer unit 320 is installed on the second base 310 to transfer the shuttle unit 100 in the vertical direction (Y-axis direction). Although not necessarily limited thereto, the second transfer part 320 includes a second ball screw 321, a second driving part 322, a second linear guide 323, and a connection part 324.

The second ball screw 321 is installed along the vertical direction above the second base 310. The second linear guide 323 is spaced horizontally (X-axis direction) on the top of the second base 310 with the second ball screw 321 interposed therebetween, and is installed extending along the vertical direction (Y-axis direction). . The second driving unit 322 generates rotational power to the second ball screw 321 according to the attachment exchange command signal of the control unit 400. The connection part 324 is installed to be movable in the vertical direction along the second ball screw 321 according to the driving of the second driving part 322 and is detachably coupled to the coupling part 120. With this connection part 324, the shuttle unit can easily move from the exchange position P4 to the preparation position P3 in the vertical direction along the second transfer unit.

Although not necessarily limited thereto, the first linear guide 223 and the second linear guide 323 described above may be formed of an LM guide rail, and the first driving unit 222 and the second driving unit 322 are servomotors. It can be formed with (SERVO MOTOR).

As described above, the automatic attachment exchange device according to the present invention minimizes the attachment exchange time by improving the moving speed by applying the movement method by the ball screw method instead of the rack pinion and chain loading/unloading, unlike the conventional automatic attachment exchange device. Thus, productivity can be maximized, and the reliability and stability of the device can be improved as the amount of movement is precisely controlled by the servomotor and ball screw method.

3 to 9, the control unit 400 of the automatic attachment exchange apparatus 10 according to the present invention includes a data storage unit 410, an operation unit 420, and a command unit 430.

In addition, although not shown in the drawings, according to a preferred embodiment of the present invention, the control unit includes a casting unit, and this casting unit includes a screen display program and a data input program according to screen display selection, and displays a screen. It displays the software switch on the display screen according to the output of the program, recognizes the ON/OFF of the software switch, and issues input/output commands for machine operation.

In addition, although not necessarily limited thereto, the casting unit includes a housing, a case, or a monitor capable of displaying various function switches or buttons and various information by being installed on one side of the machine tool.

The data storage unit 410 stores information for returning the processing attachment A1 mounted on the spindle and exchanging it with the preparation attachment A2 stored in another shuttle unit. A processing program for processing a workpiece is stored in the data storage unit 410. That is, the data storage unit 410 provides a human-machine interface for an operator to input a processing program for processing a workpiece. The operator inputs one or more workpiece processing programs using the data storage unit.

As shown in FIG. 9, the data storage unit 410 includes a basic data storage unit 411, a shuttle unit position data storage unit 412, and a spindle position data storage unit 413.

The basic data storage unit 411 stores data on a processing program, transfer amounts of the first transfer unit and the second transfer unit, and types of attachments mounted on each shuttle unit. Basic data storage;

The shuttle unit position data storage unit 412 stores data on an attachment exchange position (P4), a preparation position (P3), and storage positions (P1) and standby positions (P2) of each shuttle unit. That is, the shuttle unit position data storage unit 412 is located in the current position, basic exchange position, and preparation position for each shuttle unit whose position is changed in real time in order to find the position data of the shuttle unit storing the preparation attachment (A2). Save information about.

The spindle position data storage unit 413 stores the reference position, the working position, and the current position of the spindle in real time. That is, the spindle position data storage unit 413 is in order to perform the reference position and actual machining of the spindle as the attachment is replaced by always moving the spindle to the reference position when the attachment is replaced for processing or replacement. It stores the working position of the spindle moving to the machining origin and the real-time current position of the spindle while the spindle is moving.

Through the information stored in the data storage unit, the control unit precisely controls the device for attachment exchange, maximizing reliability and stability, and allowing the attachment to be exchanged quickly.

The operation unit 420 calculates the object, position, and transfer amount of the shuttle unit storing the processing attachment A1 and the other shuttle unit storing the preparation attachment A2. The operation unit 420 includes numerical control (NC) or computerized numerical control (CNC), and various numerical control programs are embedded. That is, various programs are embedded in the operation unit, and the corresponding programs are automatically loaded and operated according to signals from the data storage unit and the command unit. In addition, the operation unit communicates with the spindle and the machine tool control device, PLC, the first transfer unit, and the second transfer unit by a predetermined protocol.

As shown in FIG. 9, the operation unit 420 includes a confirmation unit 421, a determination unit 422, a comparison unit 423, an analysis unit 424, and a calculation unit 425.

Confirmation unit 421 is a shuttle unit storing the processing attachment (A1) and the other shuttle unit storing the preparation attachment (A2) according to the data stored in the data storage unit 410, the preparation position (P3) or the exchange position ( It performs a function of checking whether it is located in P4) and whether the attachments are seated in the shuttle unit storing the processing attachment (A1) and the other shuttle units storing the preparation attachment (A2).

As shown in FIG. 9, the confirmation unit 421 includes a first confirmation unit 421a, a second confirmation unit 421b, and a third confirmation unit 421c.

The first confirmation unit 421a is located on the top of the second base 310 to check whether the shuttle unit 100 moving along the first transfer unit or the second transfer unit 300 is located at the ready position P3. Installed.

The second confirmation unit 421b is installed on the second base 310 to check whether the shuttle unit 100 moving along the second transfer unit 300 is located at the exchange position P4.

The third confirmation unit 421c is installed on the second base 310 to check whether the attachment is seated in the shuttle unit 100 located at the exchange position. As described above, after checking whether the attachment is seated in the shuttle unit 100 by the third confirmation unit together with the sensing unit, the shuttle unit moves.

In this way, after accurately checking each state and the position of the equipment through the 1st, 2nd, and 3rd checks, the transfer of the shuttle unit or the replacement of the attachment prevents malfunction and minimizes unnecessary movement due to the malfunction. Through reduction, productivity can be improved, reliability and stability of the device can be improved, and the operator's convenience can be promoted by checking for abnormalities in real time.

The determination unit 422 determines whether the machine tool is in a normal state and whether the spindle is located at a reference position based on the data stored in the data storage unit 410. If the machine tool is not in a normal state or the spindle is not positioned at the standard position when the attachment is replaced, an alarm is generated to prevent damage or damage to the machine tool. These alarms may be displayed in the form of a display on a monitor, a warning sound, or a warning light.

The comparison unit 423 compares whether the processing attachment A1 and the preparation attachment A2 are different according to the results of the data stored in the data storage unit 410, the confirmation unit 421, and the determination unit 422. That is, if the processing attachment A1 and the preparation attachment A2 are the same, performing the attachment exchange only increases the non-processing time and cost, so the comparison unit 423 is used to store the data stored in the data storage unit 410. , The confirmation unit 421, and the determination unit 422 determine whether or not the processing attachment A1 and the preparation attachment A2 are of different types. If the processing attachment (A1) and the preparation attachment (A2) are of the same type, the automatic attachment replacement process is terminated and an alarm is generated. These alarms may be displayed in the form of a display on a monitor, a warning sound, or a warning light.

The analysis unit 424 transfers the shuttle unit to store the processing attachment A2 to the exchange position according to the results of the data storage unit 410, the confirmation unit 421, the determination unit 422, and the comparison unit 423. , Analyze the current position of each shuttle unit to transfer the other shuttle units storing the preparation attachment (A2) to the standby position. In addition, the shuttle unit storing the processing attachment A2 for quick attachment replacement may maintain a standby state at the replacement position until processing is finished with the attachment. The analysis unit 424 analyzes the position of each of these attachments.

The calculation unit 425 is a shuttle that stores the processing attachment A1 according to the results of the data storage unit 410, the confirmation unit 421, the determination unit 422, the comparison unit 423, and the analysis unit 424. Calculate the transfer order and transfer amount of the other shuttle units storing the unit and the preparation attachment (A2).

The command unit 430 drives the spindle, the first transfer unit 200, and the second transfer unit 300 according to the result of the operation unit 420 to prepare a machining attachment A1 mounted on the spindle. Attachment A2 The exchange command is transmitted to perform the exchange. Although not necessarily limited thereto, the command unit 430 includes a programmable logic controller (PLC), and the PLC includes a data storage unit 410, an operation unit 420, a first transfer unit 200, and a second transfer unit. (300), and performs a function of performing communication with a machine tool and a predetermined protocol, and through such communication, a control command. That is, the PLC operates by receiving a control command according to the numerical control unit or the control program of the control unit. In addition, preferably, the PLC may measure the number of rotations and torque by using the encoder of the drive unit and the power unit of the first and second transfer units, and the spindle. Accordingly, the current position of the attachment being stored in the shuttle unit is detected and calculated so that the shuttle unit containing the attachment to be used for the next processing according to the processing program can quickly move to the ready position, thereby minimizing the movement time and movement of the shuttle unit. have.

Therefore, the automatic attachment exchange device according to the present invention drives both the first transfer unit and the second transfer unit with a ball screw, and precisely controls them by the control unit, thereby minimizing the replacement time of the attachment and reducing the non-processing time. Accordingly, it can maximize productivity, improve reliability and stability, and promote the convenience of workers.

A method of controlling an automatic attachment changing device according to the present invention will be described with reference to FIG. 10.

In order to return the machining attachment mounted on the spindle and exchange it for a ready attachment stored in another shuttle unit, the workpiece machining program, exchange position, preparation position, storage position and standby position of each shuttle unit, standard position of the spindle, and work position , Save the current location information.

After the information storing step (S1), it is determined whether or not the machine tool is in a normal state and whether the current spindle is located at the reference position.

An alarm occurs when the machine tool is not in a normal state or the current spindle is not positioned at the reference position for attachment replacement.

After the step (S2) of determining whether the machine tool is in a steady state and whether the current spindle is located at the reference position, it is compared whether the machining attachment (A1) and the preparation attachment (A2) are different. If the processing attachment A1 and the preparation attachment A2 are the same, such information is displayed on the monitor or an alarm is generated, and the automatic attachment replacement is now stopped.

After the step of comparing whether the processing attachment and the preparation attachment are different (S3), the shuttle unit for storing the processing attachment A1 is transferred to the exchange position P4, and the other shuttle unit storing the preparation attachment A2 is transferred to the standby position. Analyze the current position of each shuttle unit to transfer to (P2).

After the step of analyzing the current position of each shuttle unit (S4), the operation unit of the control unit calculates the transfer sequence and transfer amount of the attachment storing the processing attachment and the other shuttle unit storing the preparation attachment.

After the calculating step (S5), the spindle, the first transfer unit, and the second transfer unit are driven according to the command of the command unit according to the calculation result, and the machining attachment mounted on the spindle is replaced with a preparatory attachment.

After the step (S6) of replacing the machining attachment with a preparatory attachment, it is checked whether or not the preparatory attachment mounted on the spindle is an attachment according to the replacement command. Through this inspection step (S7), it is possible to prevent erroneous processing of the workpiece, thereby reducing processing cost and preventing waste of resources.

Therefore, the control method of the automatic attachment changing device according to the present invention can reduce the size and compactness of the automatic attachment exchange by excluding a separate storage space of the shuttle unit on which the attachment is seated, and reduce manufacturing cost and installation time. .

The operation principle and replacement process of the automatic attachment exchange device and its control method according to the present invention will be described with reference to FIGS. 3 to 10.

As shown in Fig. 4, in the state of the automatic attachment exchanger in the setup state, return the machining attachment (A1) mounted on the spindle to the shuttle unit located at the exchange position, and replace it with a ready attachment (A2) stored in another shuttle unit. To do this, the data storage unit 410 of the control unit 400 derives a machining attachment mounted on a spindle in the current machining program and a preparation attachment required for the next process. After that, the position of the shuttle unit currently storing the preparation attachment is analyzed through the analysis unit.

The shuttle unit to store the machining attachment is calculated to move to the exchange position through the operation unit after returning to the original position and can be moved through the command unit. However, as shown in FIG. 5, in order to minimize the movement of the shuttle unit to reduce the exchange time and the exchange cost, the shuttle unit to store the processing attachment may wait at the exchange position P4.

Thereafter, as shown in Fig. 5, the shuttle unit storing the preparation attachment drives the first driving unit of the first transfer unit by the command of the command unit through calculation of the operation unit of the control unit to store the storage position in the horizontal direction (X-axis direction). It moves from (P1) to the standby position (P2).

Thereafter, as shown in FIG. 7, the shuttle unit to store the machining attachment is replaced in the vertical direction (Y-axis direction) by the second transfer unit through the control of the control unit in a state where the machining attachment A1 is recovered from the spindle. From (P4) to the preparation position (P3), the return of the machining attachment (A1) is performed first.

Thereafter, as shown in Fig. 8, the shuttle unit 100, which has moved to the preparation position P3 and retrieved the processing attachment A1, is in the horizontal direction (X-axis direction) by the first transfer unit through the control of the control unit. Move from the ready position (P3) to the storage position (P1).

Thereafter, as shown in Fig. 4, the other shuttle unit 100 storing the preparation attachment A2 is in the standby position P2 in the horizontal direction (X-axis direction) by the first transfer unit through the control of the control unit. Move to the ready position (P3).

At the same time, the other shuttle unit 100 storing the preparation attachment (A2) moved to the preparation position is changed from the preparation position (P3) in the vertical direction (Y-axis direction) by the second transfer unit through the control of the control unit. Move to (P4) and exchange is performed with the preparation attachment (A2) on the spindle.

Thereafter, returning of the machining attachment mounted on the spindle and replacement of the other ready attachment is performed in the same order.

Therefore, the automatic attachment exchange device according to the present invention eliminates the separate storage space of the shuttle unit on which the attachment is mounted and minimizes the replacement time of the attachment, thereby reducing the manufacturing cost and installation fraud of the automatic attachment replacement device, and Accordingly, it maximizes productivity, secures service space, reduces maintenance time and cost, and improves reliability and stability.

In the detailed description of the present invention described above, it has been described with reference to preferred embodiments of the present invention, but those skilled in the art or those of ordinary skill in the relevant technical field of the present invention described in the claims to be described later It will be understood that various modifications and changes can be made to the present invention without departing from the spirit and technical scope. Accordingly, the technical scope of the present invention should not be limited to the contents described in the detailed description of the specification, but should be determined by the claims.

10: automatic attachment changer, 100: shuttle unit,
110: carriage, 120: coupling portion,
130: sensing unit, 200: first transfer unit,
210: first base, 220: second transfer unit
300: second transfer unit, 310: second base,
320: second transfer unit, 400: control unit,
410: data storage unit, 420: operation unit,
430: command unit, 500: movement prevention unit,
600: housing part.

Claims (16)

A shuttle unit for storing and moving each attachment detachably mounted on the spindle;
A first transfer unit for reciprocating the shuttle unit in one direction;
A second transfer unit for reciprocating the shuttle unit in one direction different from the first transfer unit; And
Returning the machining attachment mounted on the spindle to the shuttle unit, and controlling the operation of the spindle, the shuttle unit, the first transfer unit, and the second transfer unit in order to exchange for a ready attachment stored in another shuttle unit. Automatic attachment exchange device comprising a; control unit.
The method of claim 1,
To return the machining attachment mounted on the spindle and exchange it for a ready attachment stored in another shuttle unit,
The shuttle unit storing the ready attachment is moved from the storage position to the standby position by the first transfer unit,
The shuttle unit to store the machining attachment is an automatic attachment changing device, characterized in that, in a state in which the machining attachment is retrieved from the spindle, the second transfer unit moves from the exchange position to the ready position to return the machining attachment.
The method of claim 2,
The shuttle unit, which has moved to the preparation position and recovered the processing attachment, is moved from the preparation position to the storage position by the first transfer unit,
Another shuttle unit storing the preparation attachment is moved from the standby position to the preparation position by the first transfer unit,
Another shuttle unit storing the preparation attachment that has moved to the preparation position is moved from the preparation position to the exchange position by the second transfer unit and is replaced with the preparation attachment on the spindle.
The method of claim 1,
The control unit,
A data storage unit for storing information for returning the machining attachment mounted on the spindle and replacing it with a ready attachment stored in another shuttle unit;
An operation unit for calculating an object, a position, and a transfer amount of the shuttle unit storing the processing attachment and the other shuttle unit storing the preparation attachment; And
And a command unit driving the spindle, the first transfer unit, and the second transfer unit according to the result of the operation unit to transmit an exchange command to perform replacement of the machining attachment mounted on the spindle to a preparatory attachment; Automatic attachment changing device, characterized in that.
The method of claim 4,
The data storage unit,
A basic data storage unit for storing data on a processing program, a transfer amount of the first transfer unit and the second transfer unit, and types of attachments seated in each shuttle unit;
A shuttle unit position data storage unit for storing data on an exchange position, a preparation position, and a storage position and a standby position of each shuttle unit; And
And a spindle position data storage unit for storing the reference position, the working position, and the current position of the spindle in real time.
The method of claim 4,
The calculation unit,
According to the data stored in the data storage unit, whether the shuttle unit storing the processed attachment and the other shuttle unit storing the preparation attachment are located in the preparation position or the exchange position, and the shuttle unit storing the processed attachment and the preparation attachment are stored. A confirmation unit for checking whether the attachment is seated in each of the other shuttle units;
A determination unit that determines whether or not the spindle is positioned at a reference position based on the data stored in the data storage unit;
A comparison unit for comparing whether a processed attachment and a ready attachment are different according to the data stored in the data storage unit, the confirmation unit, and a result of the determination unit;
In order to transfer the shuttle unit to store the processing attachment to an exchange position according to the results of the data storage unit, the confirmation unit, the determination unit, and the comparison unit, and to transfer another shuttle unit storing the preparation attachment to the standby position. An analysis unit that analyzes the current position of each of the shuttle units; And
The data storage unit, the confirmation unit, the determination unit, the comparison unit, and calculating the transfer order and transfer amount of the shuttle unit storing the processing attachment and the other shuttle unit storing the preparation attachment according to the results of the analysis unit. Automatic attachment exchange device comprising a; calculation unit.
The method of claim 6,
The confirmation unit,
A first check unit installed on the second base to check whether the first transfer unit or the shuttle unit moving along the second transfer unit is located in a ready position;
A second check unit installed on the second base to check whether the shuttle unit moving along the second transfer unit is located at an exchange position; And
And a third confirmation unit installed on the second base to check whether the attachment is seated in the shuttle unit located at the exchange position.
The method of claim 1,
Each of the shuttle units,
A carriage moving along the first transfer unit or the second transfer unit and on which each attachment is seated;
A coupling part formed on a part of the carriage to transport the carriage along the second transport unit; And
And a sensing unit formed on the carriage to check whether the attachment is seated on the carriage.
The method of claim 1,
The first transfer unit,
A first base installed in parallel in a horizontal direction along the bed; And
And a first transfer unit installed on the first base to transfer the shuttle unit in a horizontal direction.
The method of claim 9,
The second transfer unit,
A second base perpendicular to the first base and connected to the center of the first base; And
And a second transfer unit installed on the second base to transfer the shuttle unit in a vertical direction.
The method of claim 2,
And a movement preventing unit installed in the second transfer unit to prevent movement of the shuttle unit located at the exchange position when the processing attachment and the preparation attachment are exchanged.
The method of claim 1,
The first transfer unit is installed parallel to the bed in a horizontal direction,
The second transfer unit is orthogonal to the first transfer unit so that the first transfer unit is horizontally symmetrical with respect to the second transfer unit, and is installed in communication with the center of the first transfer unit in the horizontal direction. Automatic attachment changer.
The method of claim 1,
And a housing portion detachably formed to surround the shuttle unit, the first transfer unit, and the second transfer unit.
In order to return the machining attachment mounted on the spindle and exchange it for a ready attachment stored in another shuttle unit, the workpiece machining program, exchange position, preparation position, storage position and standby position of each shuttle unit, standard position of the spindle, and work position Storing the information;
Determining whether the machine tool is in a normal state and whether the current spindle is located at a reference position;
Comparing whether the processing attachment and the preparation attachment are different;
Analyzing the current position of each of the shuttle units in order to transfer the shuttle unit for storing the processing attachment to the exchange position and transfer the other shuttle unit storing the preparation attachment to the standby position;
Calculating a transfer sequence and a transfer amount of an attachment storing the processing attachment and another shuttle unit storing the preparation attachment; And
And driving the spindle, the first transfer unit, and the second transfer unit according to the calculation result to replace the machining attachment mounted on the spindle with a preparatory attachment.
The method of claim 14,
The step of replacing the processing attachment with a preparatory attachment,
The shuttle unit storing the preparation attachment is moved from the storage position to the standby position by the first transfer unit, and the shuttle unit storing the machining attachment is the second transfer unit after recovering the machining attachment from the spindle. By moving from the replacement position to the ready position, and returning the machining attachment,
The shuttle unit, which has moved to the ready position and retrieved the processed attachment, is moved from the ready position to the storage position by the first transfer unit, and the other shuttle unit storing the ready attachment is at the standby position by the first transfer unit. Another shuttle unit moving to the ready position and storing the ready attachment that has moved to the ready position is moved from the ready position to the exchange position by the second transfer unit and is replaced with the ready attachment. .
The method of claim 14,
After the step of replacing the processing attachment with a preparatory attachment,
And a step of checking whether the preparation attachment mounted on the spindle is an attachment according to an exchange command.

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