WO2021245717A1 - ワーク加工装置 - Google Patents

ワーク加工装置 Download PDF

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Publication number
WO2021245717A1
WO2021245717A1 PCT/JP2020/021501 JP2020021501W WO2021245717A1 WO 2021245717 A1 WO2021245717 A1 WO 2021245717A1 JP 2020021501 W JP2020021501 W JP 2020021501W WO 2021245717 A1 WO2021245717 A1 WO 2021245717A1
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WO
WIPO (PCT)
Prior art keywords
machining
monitoring
monitoring range
lower limit
work
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/021501
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English (en)
French (fr)
Japanese (ja)
Inventor
信也 熊崎
正 小川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuji Corp
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Fuji Corp
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Filing date
Publication date
Application filed by Fuji Corp filed Critical Fuji Corp
Priority to JP2022529122A priority Critical patent/JP7393545B2/ja
Priority to PCT/JP2020/021501 priority patent/WO2021245717A1/ja
Priority to US17/996,979 priority patent/US12422823B2/en
Publication of WO2021245717A1 publication Critical patent/WO2021245717A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by program execution, i.e. part program or machine function execution, e.g. selection of a program
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
    • B23Q15/12—Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33099—Computer numerical control [CNC]; Software control [SWC]

Definitions

  • This specification relates to a work processing apparatus.
  • Patent Document 1 discloses a tool abnormality discrimination system that facilitates improvement of the accuracy of the monitoring range.
  • the upper limit threshold value (upper limit value) of the monitoring range is the high load side peak hold value, the difference between the low load side peak hold value and the high load side peak hold value (peak hold difference), and It is set based on the offset amount.
  • the lower limit threshold value (lower limit value) of the monitoring range is set based on the low load side peak hold value, the peak hold difference, and the offset amount.
  • the present specification discloses a work processing apparatus capable of more easily setting the upper and lower limit values of the monitoring range.
  • the present specification is a work processing apparatus capable of processing a work by using a processing tool, and the detectable physical quantity which is a physical quantity related to the processing of the work and is detectable is referred to as the detectable physical quantity.
  • a detection unit that detects each detection point at a predetermined interval in the monitoring range for monitoring the state, a storage device that stores processing data that is actual detection data actually detected by the detection unit, and a storage device that stores the processing data.
  • a group that forms one or more groups by dividing the actual detection data to be divided according to the number of the detection points preset between the monitoring start point and the monitoring end point of the monitoring range.
  • Work processing provided with a forming unit and a setting unit for setting an upper limit value and a lower limit value of the monitoring range based on the actual detection data belonging to each group for each of the groups formed by the group forming unit. Disclose the device.
  • the upper limit value and the lower limit value of the monitoring range are set in a group unit formed according to the number of detection points preset between the monitoring start point and the monitoring end point of the monitoring range. It becomes possible. That is, it is possible to set the upper and lower limit values of the monitoring range based on the number of detection points and the actual detection data from the monitoring start point to the monitoring end point of the monitoring range. Therefore, it is possible to more easily set the upper and lower limit values of the monitoring range in the work processing apparatus.
  • the processing system (line production equipment) 10 includes a plurality of base modules 20, a plurality of (10 in this embodiment) working machine modules 30 provided on the base modules 20, and articulated robots. It includes a robot (hereinafter, may be referred to as a robot) 70 (see, for example, FIG. 2).
  • the machining system 10 is configured by forming a plurality of modules (base module 20 and working machine module 30) into a line, and machining the work W.
  • “front and back”, “left and right", and "up and down” related to the machining system 10 will be treated as front and back, left and right, and up and down when viewed from the front side of the machining system 10.
  • the base module 20 includes a robot 70 which is a work transfer device and a robot control device (not shown) for controlling the robot 70.
  • the robot 70 has a manipulation function and can release the work W to be gripped and conveyed, and has a moving (self-propelled) function so that the robot 70 can move while gripping the work W.
  • a lathe module 30A there are a plurality of types of working machine modules 30, such as a lathe module 30A, a drill mill module 30B, a pre-machining stock module 30C, a post-machining stock module 30D, an inspection module 30E, and a temporary placement module 30F.
  • working machine modules 30 such as a lathe module 30A, a drill mill module 30B, a pre-machining stock module 30C, a post-machining stock module 30D, an inspection module 30E, and a temporary placement module 30F.
  • the lathe module 30A is a modularized lathe.
  • the lathe is a "work processing device” that rotates a work W, which is an object to be machined, and processes it with a fixed cutting tool 43a.
  • the cutting tool 43a is a "machining tool” for machining the work W.
  • the work processing apparatus can execute the processing of the work W according to the processing process (machining program) by using the cutting tool 43a (machining tool).
  • the lathe module 30A includes a movable bed 41, a headstock 42, a tool base 43, a tool base moving device 44, a processing chamber 45, a traveling chamber 46, and a module control device 47 (hereinafter referred to as a control device 47). In some cases).
  • the movable bed 41 moves along the front-rear direction on a rail (not shown) provided on the base module 20 via a plurality of wheels 41a.
  • the headstock 42 rotatably holds the work W.
  • the headstock 42 rotatably supports the head shaft 42a arranged horizontally along the front-rear direction.
  • a chuck 42b for gripping the work W is provided at the tip of the main shaft 42a.
  • the spindle 42a is rotationally driven by the servomotor 42d via the rotation transmission mechanism 42c.
  • the current (driving current) of the servomotor 42d is detected by the current sensor 42e (see FIG. 3), and the detection result is output to the control device 47 described later.
  • the tool base 43 is a device that gives a feed motion to the cutting tool 43a.
  • the tool base 43 is a so-called turret type tool base, and is a tool holding portion 43b on which a plurality of cutting tools 43a for cutting the work W are mounted, and the tool holding portion 43b is rotatably supported and a predetermined cutting position. It has a rotary drive unit 43c that can be positioned at the same time.
  • the tool base moving device 44 is a device that moves the tool base 43 and thus the cutting tool 43a along the vertical direction (X-axis direction) and the front-back direction (Z-axis direction).
  • the tool base moving device 44 has an X-axis drive device 44a for moving the tool base 43 along the X-axis direction, and a Z-axis drive device 44b for moving the tool base 43 along the Z-axis direction.
  • the X-axis drive device 44a includes an X-axis slider 44a1 slidably attached to a column 48 provided on the movable bed 41 in the vertical direction, and a servomotor 44a2 for moving the X-axis slider 44a1.
  • the Z-axis drive device 44b has a Z-axis slider 44b1 slidably attached to the X-axis slider 44a1 along the front-rear direction, and a servomotor 44b2 for moving the Z-axis slider 44b1. ..
  • a tool base 43 is attached to the Z-axis slider 44b1.
  • the current (driving current) of the servomotor 44a2 is detected by the current sensor 44a3 (see FIG. 3), and the detection result is output to the control device 47 described later.
  • the current (driving current) of the servomotor 44b2 is detected by the current sensor 44b3, and the detection result is output to the control device 47 described later.
  • the processing chamber 45 is a room (space) for processing the work W, and the inlet / outlet 45a1 of the processing chamber 45 is opened / closed by a shutter 45c driven by a motor (not shown), and the work W held by the robot 70 enters. It will be issued.
  • the open state (open position) of the shutter 45c is indicated by a solid line, and the closed state (closed position) is indicated by a two-dot chain line.
  • the traveling room 46 is a room (space) provided facing the entrance / exit 45a1 of the processing room 45. The robot 70 can travel in the traveling chamber 46.
  • the control device (module control device) 47 is a control device that drives and controls the spindle 42a, the rotation drive unit 43c, the tool table moving device 44, and the like. As shown in FIG. 3, the control device 47 is connected to an input / output device 47a, a storage device 47b, a communication device 47c, a rotation drive unit 43c, current sensors 42e, 44a3, 44b3, and servomotors 42d, 44a2, 44b2. ..
  • the control device 47 has a microcomputer (not shown), and the microcomputer includes an input / output interface, a CPU, a RAM, and a ROM (all not shown) connected via a bus.
  • the CPU executes various programs to acquire data from the input / output device 47a, the storage device 47b, the communication device 47c, and the current sensors 42e, 44a3, 44b3, or the input / output device 47a, the spindle 42a (servo motor 42d), and the like. It controls the rotation drive unit 43c and the tool table moving device 44 (servo motors 44a2, 44b2).
  • the RAM temporarily stores the variables necessary for executing the program, and the ROM stores the program.
  • the input / output device 47a is provided on the front surface of the work machine module 30, and the operator can input various settings, various instructions, etc. to the control device 47 (input device), or to the operator. On the other hand, it is for displaying information such as operation status and maintenance status (output device).
  • the input / output device 47a is a device such as an HMI (human-machine interface) or a man-machine interface for exchanging information between a human and a machine.
  • the input / output device 47a is the input / output device 11 shown in FIG.
  • the input / output device 11 includes a display panel 11a, individual operation assist buttons 11b, alarm buzzer 11c, USB insertion port 11d, editable / impossible select key 11e, emergency stop button 11f, automatic / individual select switch 11g, and operation preparation button 11h.
  • Automatic start button 11i continuous off button 11j, NC start button 11k, NC pause button 11l, spindle start button 11m, spindle stop button 11n, turret forward rotation button 11o, turret reverse rotation button 11p, door interlock select key 11q, It is provided with a door lock release button 11r, an execution button 11s, and an abnormal reset button 11t.
  • the display panel 11a is a touch panel type monitor that displays various information.
  • the USB insertion port 11d is a port for inserting USB when inputting / outputting data.
  • the editable / non-editable select key 11e is used to edit data such as machining programs and parameters (for example, load monitoring range) stored in the storage devices 47b and 57b and the storage device in the control device.
  • machining programs and parameters for example, load monitoring range
  • the upper / lower limit value adjustment screen 100 shown in FIG. 5 can be displayed on the display panel 11a.
  • the upper / lower limit value adjustment screen 100 displays a data display unit 110 capable of displaying load data, and an operation unit 120 for adjusting the load monitoring range (upper / lower limit value of the monitoring range) of the load data.
  • the operation unit 120 includes operation keys 121 to 146, which will be described later, which can be input and operated by an operator.
  • the waveform display key 121 is a key for displaying the entire waveform of the load data.
  • the vertical axis key 122 is a key for reflecting the enlargement / reduction of the waveform display of the load data on the vertical axis.
  • the horizontal axis key 123 is a key for reflecting the enlargement / reduction of the waveform display of the load data on the horizontal axis.
  • the display reduction key 124 is a key for reducing the waveform display of the load data.
  • the display enlargement key 125 is a key for enlarging the waveform display of the load data.
  • the save key 126 is a key for saving changes in the load monitoring range of load data.
  • the return key 127 is a key for returning the display of the data display unit 110 to the previous screen (previous screen) or returning the operation to the previous screen.
  • the display axis selection key 128 is a key for selecting an axis for displaying load data (for which you want to adjust the monitoring range).
  • the "axis" is a drive shaft that is driven and controlled to machine the work W.
  • the X-axis which is the vertical drive shaft of the cutting tool 43a, and the front-back drive shaft of the cutting tool 43a.
  • the Z-axis and the spindle 42a that rotatably support the work W.
  • the display position movement key 129 is a key for moving the display position (display frame) to a desired position (for example, a monitoring range) to be displayed in a series of load data.
  • the program display key 130 is a key for displaying a machining program on the data display unit 110 in place of or at the same time as the load data.
  • the monitoring range left movement key 131 is a key for moving to the left in order to edit (change) the monitoring range of the load data to be edited (change target).
  • the selected monitoring range display dialog 132 is a key for displaying a dialog for displaying the location (monitoring location) of the currently selected monitoring range for editing. This dialog can display the order of the monitoring range currently being selected (editing) and the total number of monitoring ranges in the machining program.
  • the monitoring range right movement key 133 is a key for moving to the right in order to edit the monitoring range of the load data to be edited.
  • the adjustment (edit) range start position specification key 134 specifies the start position of the range (adjustment range) for editing (adjusting) the upper limit value and / or the lower limit value in the monitoring range of the load data to be edited (adjusted). The key to doing this.
  • the adjustment (edit) range end position specification key 135 specifies the end position of the range (adjustment range) for editing (adjusting) the upper limit value and / or the lower limit value in the monitoring range of the load data to be edited (adjusted). The key to doing this.
  • the range defined by the start position and the end position specified in this way is also called the specified range.
  • the upper limit value expansion key 136 is a key for expanding the upper limit value of the adjustment range (designated range) (in other words, expanding the upper limit value along the vertical direction of the screen). In this case, the upper limit value after the change (adjustment) of the specified range is translated by moving the upper limit value before the change (adjustment) upward, but the amount of movement is arbitrarily set by the operator. It is possible.
  • the upper limit value reduction key 137 is a key for narrowing the upper limit value of the adjustment range (designated range) (in other words, reducing the upper limit value along the vertical direction of the screen). In this case, the upper limit value after the change of the designated range is translated by moving the upper limit value before the change downward, but the movement amount can be arbitrarily set by the operator.
  • the lower limit value expansion key 138 is a key for expanding the lower limit value of the adjustment range (designated range) (in other words, expanding the lower limit value along the vertical direction of the screen). In this case, the lower limit after the change of the designated range is translated by moving the lower limit before the change downward, but the amount of movement can be arbitrarily set by the operator.
  • the lower limit value reduction key 139 is a key for narrowing the lower limit value of the adjustment range (designated range) (in other words, reducing the lower limit value along the vertical direction of the screen). In this case, the lower limit value after the change of the designated range is translated by moving the lower limit value before the change upward, but the movement amount can be arbitrarily set by the operator.
  • the upper limit value maximizing key 140 is a key for expanding the upper limit value of the adjustment range (designated range) to the maximum value within the specified range (in other words, unifying the upper limit value to the maximum value).
  • the upper limit of the designated range can be flattened by the maximum value within the designated range.
  • the upper limit value may be expanded not to the maximum value within the specified range but to an arbitrary value (for example, less than the maximum value that the load data can take) that is larger than the maximum value within the specified range.
  • the upper limit value minimization key 141 is a key for narrowing the upper limit value of the adjustment range (designated range) to the minimum value within the designated range (in other words, unifying the upper limit value to the minimum value).
  • the upper limit of the designated range can be flattened by the minimum value within the designated range.
  • the upper limit value may be narrowed not only to the minimum value within the specified range but also to an arbitrary value (for example, a value larger than the lower limit value of the specified range) which is smaller than the minimum value within the specified range.
  • the lower limit value minimization key 142 is a key for expanding the lower limit value of the adjustment range (designated range) to the minimum value within the specified range (in other words, unifying the lower limit value to the minimum value).
  • the lower limit of the designated range can be flattened by the minimum value within the designated range.
  • the lower limit value may be expanded not to the minimum value within the specified range but to an arbitrary value (for example, a value larger than 0 (zero)) which is smaller than the minimum value within the specified range.
  • the lower limit value maximizing key 143 is a key for narrowing the lower limit value of the adjustment range (designated range) to the maximum value within the designated range (in other words, unifying the lower limit value to the maximum value).
  • the lower limit of the designated range can be flattened by the maximum value within the designated range.
  • the lower limit value may be narrowed not only to the maximum value within the specified range but also to an arbitrary value (for example, a value smaller than the upper limit value of the specified range) which is larger than the maximum value within the specified range.
  • the reset key 144 is a key for resetting the editing operation.
  • the keys are switches and push buttons.
  • the resolution reduction key 145 is a key for sharpening (highening) the sensitivity, which is the degree / degree of detecting the processing state of the work, and is a key for reducing the resolution related to the sensitivity.
  • the resolution indicates the degree of entry / exit of the actual data with respect to the upper and lower limit ranges of the monitoring range, and the smaller the resolution, the higher the sensitivity, that is, the upper and lower limit ranges are set narrower than the actual data. On the contrary, the larger the resolution, the lower the sensitivity, that is, the upper and lower limit ranges are set wider with respect to the actual data.
  • the “resolution” is defined by the number of machining points (number of machining points) constituting the group, that is, is defined by the number of machining points per group. For example, when the resolution is “1", the number of processing points per group is “1" (see FIG. 11), and when the resolution is "3", the number of processing points per group is “1". Is “3” (see FIG. 12), and when the resolution is "5", the number of machining points per group is "5" (see FIG. 13).
  • the "resolution” can also be said to be a fineness indicating the degree of subdivision by dividing the monitoring range (monitoring section) into groups.
  • a "group” is a group of machining points that detect load data used to set the upper and lower limits of the monitoring range.
  • the resolution expansion key 146 is a key for slowing down the sensitivity and a key for increasing the resolution.
  • a resolution setting key (not shown) may be provided.
  • the resolution setting key is a key for setting the resolution. When the resolution setting key is turned on, it is possible to input the resolution quantity in the resolution input field of the screen where the resolution quantity (value) can be input. The number of resolutions can be input by using an input key (not shown).
  • the resolution setting key is used to specify (adjust) the resolution for each of the specified axes and locations by designating the monitoring axis (axis to be monitored) and monitoring location (location to be monitored). It is also possible.
  • the resolution setting key in this case is a resolution setting key for individual adjustment.
  • the resolution setting key can also be used to set (adjust) the resolution for all monitoring axes and all monitoring points at once without designating the monitoring axis and monitoring points.
  • the resolution setting key in this case is a resolution setting key for batch adjustment.
  • the storage device 47b stores data related to the control of the lathe module 30A, for example, a control program (machining program), parameters used in the control program, data related to various settings and various instructions, load data (machining data), and the like. ..
  • the communication device 47c provides intercommunication with other modules in the same processing system, intercommunication with different processing systems, or a plurality of processing systems via the Internet (or LAN (local area network)). It is a device for mutual communication with the centralized computer that is centrally managed.
  • the drimill module 30B is a modularized machining center for drilling holes, milling, and the like.
  • the machining center is a "work processing device” that processes a fixed work W by pressing a rotating tool (rotating tool) against it.
  • the drimill module 30B includes a movable bed 51, a spindle head 52, a spindle head moving device 53, a work table 54, a processing chamber 55, a traveling chamber 56, and a module control device 57 (controlled in the present specification). It may be referred to as a device 57).
  • the movable bed 51 moves along the front-rear direction on a rail (not shown) provided on the base module 20 via a plurality of wheels 51a.
  • the spindle head 52 rotatably supports the spindle 52a.
  • a cutting tool 52b (for example, a drill, an end mill, etc.) for cutting the work W can be attached to the tip (lower end) of the spindle 52a via the spindle chuck.
  • the spindle 52a is rotationally driven by the servomotor 52c.
  • the spindle chuck clamps / unclamps the cutting tool 52b.
  • the current (driving current) of the servomotor 52c is detected by the current sensor 52d (see FIG. 7), and the detection result is output to the control device 57 described later.
  • the cutting tool 52b is a "machining tool" for machining the work W.
  • the spindle head moving device 53 is a device that moves the spindle head 52 and thus the cutting tool 52b along the vertical direction (Z-axis direction), the front-back direction (Y-axis direction), and the left-right direction (X-axis direction).
  • the spindle head moving device 53 includes a Z-axis drive device 53a that moves the spindle head 52 along the Z-axis direction, an X-axis drive device 53b that moves the spindle head 52 along the X-axis direction, and a spindle head 52 in Y. It has a Y-axis drive device 53c that moves along the axial direction.
  • the Z-axis drive device 53a moves the Z-axis slider 53d slidably attached to the X-axis slider 53e along the Z-axis direction.
  • a spindle head 52 is attached to the Z-axis slider 53d.
  • the X-axis drive device 53b moves the X-axis slider 53e slidably attached to the Y-axis slider 53f along the X-axis direction.
  • the Y-axis drive device 53c moves the Y-axis slider 53f slidably attached to the main body 58 provided on the movable bed 51 along the Y-axis direction.
  • the Z-axis drive device 53a, the X-axis drive device 53b, and the Y-axis drive device 53c function by using the built-in servomotors 53a1, 53b1, 53c1 (see FIG. 7) as drive sources, respectively.
  • the currents (driving currents) of the servomotors 53a1, 53b1, 53c1 are detected by the current sensors 53a2, 53b2, 53c2 (see FIG. 7), and the detection results are output to the control device 57 described later.
  • the work table 54 fixedly holds the work W via the chuck 54b.
  • the work table 54 is fixed to a work table rotating device 54a provided on the front surface of the main body 58.
  • the work table rotation device 54a is rotationally driven around an axis extending along the front-rear direction.
  • the processing chamber 55 is a room (space) for processing the work W, and the inlet / outlet 55a1 of the processing chamber 55 is opened / closed by a shutter 55c driven by a motor (not shown), and the work W held by the robot 70 enters. It will be issued.
  • the traveling room 56 is a room (space) provided facing the entrance / exit 55a1 of the processing room 55.
  • the robot 70 can travel in the traveling chamber 56.
  • the adjacent traveling chambers 46 (or 56) form a continuous space over the entire length of the processing system 10 in the parallel direction.
  • the control device (module control device) 57 is a control device that drives and controls the spindle 52a, the spindle head moving device 53, and the like. As shown in FIG. 7, the control device 57 is connected to the input / output device 57a, the storage device 57b, the communication device 57c, the work table 54, the current sensors 52d, 53a2, 53b2, 53c2 and the servomotors 52c, 53a1, 53b1, 53c1. Has been done.
  • the control device 57 has a microcomputer (not shown), and the microcomputer includes an input / output interface, a CPU, a RAM, and a ROM (all not shown) connected via a bus.
  • the CPU executes various programs to acquire data from the input / output device 57a, the storage device 57b, the communication device 57c, and the current sensors 52d, 53a2, 53b2, 53c2, and the input / output device 57a, the spindle 52a (servomotor 52c). ) And the spindle head moving device 53 (servomotors 53a1, 53b1, 53c1).
  • the RAM temporarily stores the variables necessary for executing the program, and the ROM stores the program.
  • the input / output device 57a is provided on the front surface of the work equipment module 30 and functions in the same manner as the input / output device 47a.
  • the storage device 57b stores data related to the control of the drimill module 30B, for example, a control program (machining program), parameters used in the control program, data related to various settings and various instructions, load data (machining data), and the like.
  • the communication device 57c is a device similar to the communication device 47c.
  • the pre-machining stock module 30C is a module (work-injection module) for injecting the work W into the machining system 10.
  • the post-machining stock module 30D is a module (work discharge module) that stores and discharges a finished product that has completed a series of machining steps for the work W carried out by the machining system 10.
  • the inspection module 30E is a device (measurement device) that inspects (measures, measures) a work W processed upstream (for example, a work W during or after processing).
  • the temporary placement module 30F is for temporarily placing the work W in a series of machining steps by the machining system 10.
  • the inspection module 30E and the temporary placement module 30F have a traveling chamber (not shown) like the lathe module 30A and the drimill module 30B.
  • the control device 47 determines in step S102 whether or not the lathe module 30A has been instructed to start machining (predetermined quantity) of a new work W.
  • the control device 47 determines that the instruction to start machining the work W has been given (“YES” in step S102), and steps the program. Proceed to S104. If the machining program for machining the work W has not been newly started, the control device 47 determines that there is no instruction to start machining the work W (“NO” in step S102), and determines that the work W has not been instructed to start machining.
  • the determination process of step S102 is repeatedly performed until there is a processing start instruction.
  • the control device 47 determines in step S104 whether or not there is an instruction to end the machining (predetermined quantity) of the work W that has been started earlier. When the machining program is completed for all the predetermined quantities, the control device 47 determines that the work W has been instructed to finish machining (“YES” in step S104), and ends this flowchart. If the machining program has not been completed, the control device 47 determines that there is no instruction to complete machining of the work W (“NO” in step S104), and advances the program to step S106.
  • the control device 47 performs machining of the work W according to the machining program in step S106.
  • the machining program includes one or a plurality of machining processing instructions (machining small steps) for machining (machining) the work W by the cutting tool 43a and one or more non-machining processing commands for not machining the work W, and the control device 47 includes the control device 47. , Perform processing and non-processing according to the order of the processing program.
  • Processing processing includes cutting processing, grinding processing, etc.
  • cutting turning work that uses a lathe or turning center to apply a cutting tool to the rotating work W
  • milling work that uses a machining center or milling machine to apply a rotating tool to a fixed work W to cut. It includes drilling a hole by hitting a rotating drill on a work W fixed by using a machining center or a drilling machine.
  • the machining processing command is a command for machining (machining) the work W by the cutting tool 43a (machining tool).
  • the machining program is a program for executing machining of the work W by the cutting tool 43a (machining tool), and has a plurality of machining processing instructions.
  • the machining program is an NC program composed of G code (G function) or the like
  • the machining program is composed of a plurality of blocks.
  • G code is a function for preparing the movement of the cutting tool 43a, the rotation control of the spindle 42a, and the like.
  • Each block is made up of one or more words.
  • a word is represented by a combination of "alphabet + number" or a combination of "alphabet + code”.
  • a block constitutes one unit of operation of a work processing device, and one unit of operation includes fast-forwarding operation of a machining tool (movement without machining), movement with cutting of a machining tool (movement), and the like.
  • the block includes a machining processing command which is a command for machining the work W by moving (moving) accompanied by cutting of the machining tool.
  • One machining program corresponds to one machining process, and each machining processing instruction corresponds to each machining sub-process constituting the machining process.
  • the machining processing command is indicated by, for example, a block including the cutting feed command "G1", the arc interpolation command "G2", "G3", etc. in the G code.
  • the non-processing instruction is indicated by, for example, a block including "G0" which is a positioning instruction in the G code.
  • step S108 the control device 47 determines a machining load, which is a physical quantity related to machining of the work W and is a detectable physical quantity, in a monitoring range for monitoring the state of the machining load (detectable physical quantity). Detects at each detection point of the interval (detection unit).
  • the machining load is detected as machining data D (machining data D is actually detected actual detection data).
  • the machining load is a load generated when the work W is cut (machined) by the cutting tool 43a, and is a physical quantity (machining resistance) that becomes resistance to machining.
  • the machining load is the force exerted by the work W and the cutting tool 43a (driven side) that generate machining resistance and the energy consumed on the driven side (in this embodiment, each servomotor described above).
  • the torque load applied to the drive shaft refers to the magnitude of, for example, the torque load applied to the drive shaft.
  • step S108 the control device 47 acquires the drive current of the servomotor 42d for driving the spindle 42a from the current sensor 42e, and from the detected current, the machining load of the servomotor 42d (torque load applied to the spindle 42a). (Main shaft machining load)) can be derived.
  • the machining load is derived as a machining load corresponding to the detected current by using a map or an arithmetic expression showing the correlation between the drive current and the machining load. It should be noted that this correlation is such that the drive current increases as the processing load increases.
  • the X-axis machining load which is the machining load of the servomotor 44a2 and the Z-axis machining load which is the machining load of the servomotor 44b2 can also be derived.
  • the machining load is detected every predetermined short time (the sampling cycle of this embodiment is several msec (for example, 8 msec)).
  • the machining load is detected at a plurality of predetermined machining points in a series of machining programs (machining processes), and if the machining program is the same, the machining load is detected at the same machining point for each work W. Can be detected respectively. That is, even in the machining sub-process corresponding to a plurality of machining processing instructions included in the machining program, the machining load is detected at a plurality of predetermined machining points, and the same machining sub-process (machining) is performed. If it is a processing instruction), it is possible to detect the machining load at the same machining point for each work W. As described above, the machining point is a detection point for detecting the machining load.
  • the machining load is detected and stored for each machining point in each machining count. That is, each machining point (sampling point) of the machining data (sampling data) of the first work machining and each machining point (sampling point) of each sampling data of the second and subsequent workpiece machining are all the same machining point.
  • the machining point is, for example, an arbitrary machining place during the machining process and thus during the machining small process, and may be a machining time, that is, an elapsed time from the machining start time.
  • the load data (sampling data) of the first work processing is indicated by a triangular mark.
  • the first sampling data is connected by a broken line.
  • the sampling data of the second workpiece machining is indicated by a square mark.
  • the second sampling data is connected by a alternate long and short dash line.
  • the sampling data of the third work processing is indicated by a circle.
  • the third sampling data is connected by a two-dot chain line.
  • the load data of the latest workpiece processing is indicated by a cross.
  • the latest load data is connected by a solid line.
  • the upper and lower limits of the monitoring range are shown by a thick solid line.
  • each load data (including sampling data) is arranged on a processing point (indicated by a broken line in the vertical direction).
  • the machining point is, for example, an arbitrary machining place during the machining process, and may be a machining time, that is, an elapsed time from the machining start time.
  • FIGS. 12 and 13 the load data and the upper and lower limit values of the monitoring range are shown as in FIG.
  • the control device 47 stores the detected machining load (actual detection data) in the storage device 47b as a series of load data (machining data D (see FIG. 5)) in step S110.
  • the machining data D is stored at the machining point (at the sampling cycle interval) for each workpiece W to be machined.
  • the load data for each work W can be stored in association with the machining point.
  • the machining correspondence data Da can be associated with the machining sub-process via the machining point, and can be associated with the machining processing instruction associated with the machining sub-process.
  • the machining data D has a plurality of machining correspondence data Da that can be associated with each of the machining processing commands. For example, FIG.
  • machining correspondence data Da is load data included in the load monitoring ranges R1 to R14, respectively, and is generated during machining of the work W.
  • Load data As described above, the processes of steps S106 to 110 described above are processes for sampling (detecting) load data.
  • the monitoring range is a range for monitoring (determining) the state of the machining load (detectable physical quantity) along the machining process. If the load data is within the upper and lower limit values of the monitoring range (upper and lower limit range), the machining load is in the normal state, and if it is outside the upper and lower limit range of the monitoring range, the machining load is in the abnormal state.
  • the monitoring range is the range from the monitoring start point (monitoring start point) where monitoring starts to the monitoring end point (monitoring end point) where monitoring ends in the direction along the processing process (this range may be called the monitoring section). There is.).
  • the monitoring range is the range defined by the upper limit value and the lower limit value (upper and lower limit range) in the direction along the magnitude of the machining load.
  • control device 47 advances the post-processing program of step S110 to step S112, and determines whether or not the flag F1 is 1.
  • the control device 47 determines that the flag F1 is "0" and "NO” in step S112 after the machining of the work W is started until the automatic designation of the monitoring range is completed, and the program is executed. Proceed to step S114.
  • the control device 47 sets the flag F1 to "1" (step S118), determines "YES” in step S112, and processes the steps S114 and 116. Is omitted, and the program proceeds to step S120 and subsequent steps.
  • the flag F1 is a flag indicating whether or not the automatic designation of the monitoring range has been completed. When the flag F1 is "1", it indicates that the automatic designation of the monitoring range has been completed, and the flag F1 indicates that the automatic designation of the monitoring range has been completed. When it is "0”, it indicates that the automatic designation of the monitoring range has not been completed. The flag F1 is set to "0" when the work processing start instruction is given.
  • step S116 the control device 47 determines whether or not the automatic designation of the monitoring range has been completed.
  • the control device 47 determines "YES” in step S116, advances the program to step S118, and sets the flag F1 to 1. If the automatic designation of the monitoring range has not been completed, the control device 47 determines "NO" in step S116, returns the program to step S114, and automatically specifies the monitoring range.
  • the control device 47 implements the monitoring range automatic designation subroutine shown in FIG. 9 in step S114.
  • the control device 47 automatically sets a temporary monitoring range that is a candidate for the monitoring range. That is, the control device 47 sets a temporary monitoring range for each processing instruction (block) included in the processing program based on the processing instruction type. Specifically, when the block includes a processing instruction, the control device 47 determines that the machining sub-process by the block (machining block) is within the provisional monitoring range, while the block is processed. If a non-processing instruction that is not an instruction is included, it is determined that the process by that block (non-processing block) cannot be within the monitoring range.
  • the control device 47 processes the block corresponding to the processing instruction including the processing instruction. It is possible to automatically set a small process as a temporary monitoring range.
  • step S204 the control device 47 acquires the load data (machining data) associated with (associating with) the machining point and thus the machining subprocess from the storage device 47b. Then, in step S206, the control device 47 associates the provisional monitoring range (machining block) automatically set in advance with the machining correspondence data Da.
  • the temporary monitoring range (machining block) is associated with (associated with) the machining point, and the machining correspondence data Da is also associated with the machining point.
  • the control device 47 can associate the temporary monitoring range (machining block) with the machining correspondence data Da via the machining point.
  • the control device 47 can associate the machining program with the machining data. After that, the control device 47 ends the processing of this subroutine.
  • step S120 Automatic setting of upper and lower limits of monitoring range
  • the control device 47 automatically sets the resolution of the designated monitoring range (initial setting; steps S124 and 126) and sets the upper and lower limit values of the monitoring range (step S128).
  • the control device 47 performs machining of the work W (work machining) N times and uses load data (actual detection data) for N times, so that the upper and lower limits of the monitoring range are set at the initially set resolution. Is set automatically.
  • control device 47 performs the work processing from the first time to the Nth time, stores the load data for each work processing (determined as "NO” in steps S120 and 122, respectively), and for each work processing.
  • the load data of is grouped by the resolution (default value (initial value) of the resolution) in the monitoring range (after determining "NO” or "YES” in steps S120 and 122, and then in steps S124 and 126), the work is processed.
  • the upper and lower limits of the monitoring range are set using the load data for each (in step S128).
  • the control device 47 acquires the initial value of the resolution from the storage device 47b in step S124.
  • the initial value of the resolution is set to, for example, "1".
  • the control device 47 forms a group (correspondingly) based on the initial value of the acquired resolution.
  • a group is a group of machining points that detect load data used to set the upper and lower limits of the monitoring range. That is, the control device 47 displays the load data (actual detection data) for N times stored in the storage device 47b from the monitoring start point (monitoring start point) to the monitoring end point (monitoring end point) in the monitoring range.
  • a plurality of groups are formed by dividing the data according to the preset resolution (that is, the number of detection points) in (group forming unit). When the resolution is the same as the section length of the monitoring range (when the group length and the section length of the monitoring range are the same), only one group is formed.
  • the control device 47 sets the upper limit value and the lower limit value of the monitoring range for each group in step S128. Further, in step S128, the control device 47 displays the upper and lower limit values of the set monitoring range and the load data (actual detection data) on the data display unit 110 of the input / output device 47a.
  • the displayed load data may include not only the load data for N times but also the data to be monitored (for example, the latest detected data), or may include all the past load data. Further, it is possible to display only the upper and lower limit values of the monitoring range without displaying the load data.
  • the above-mentioned "N times" is set to 3 times, and as shown in FIG. 11-13, the load data (sampling data) for 3 times, the latest load data, and the set are set.
  • the monitoring range having the lower limit value is displayed on the data display unit 110.
  • the first sampling data is indicated by a triangle mark + broken line
  • the second sampling data is indicated by a square mark + one-dot chain line
  • the third sampling data is indicated by a circle mark + two-dot chain line
  • the latest detection data is indicated by a cross mark + solid line. Has been done.
  • the control device 47 has an upper limit value of the monitoring range for each group formed by the step S126 (group forming unit) based on the load data (actual detection data) for N times belonging to each group. And set the lower limit (setting unit).
  • the control device 47 sets the maximum value of the actual detection data (load detection value) for N machining points for each group as the upper limit value (machining point upper limit value) of the machining point, and sets the minimum value. Is set as the lower limit value of the machining point (lower limit value of the machining point).
  • the maximum value among the machining point upper limit values in the group is set as the group upper limit value (group upper limit value), and the minimum value among the machining point lower limit values in the group is set as the group lower limit value (group lower limit value). Value).
  • the method is not limited to the method of taking the maximum / minimum of the load data described above, and another method using the load data for N times may be used.
  • the average value of the load data may be taken, or the value offset from the average value may be used.
  • the group is composed of one processing point. That is, the group is provided for each machining point, and the upper limit value and the lower limit value of the monitoring range are set for each machining point.
  • the first group G101 is composed of a first machining point which is a monitoring start point
  • the tenth group G110 is composed of a tenth machining point which is a monitoring end point.
  • the 2nd to 9th groups are each composed of the 2nd to 9th machining points.
  • the group is composed of three processing points. That is, the group will be provided for each of the three processing points.
  • a group upper limit is set as the upper limit of the monitoring range
  • a group lower limit is set as the lower limit of the monitoring range.
  • the first group G21 is composed of the first machining point to the third machining point, which are monitoring start points
  • the second group G22 is composed of the fourth machining point to the sixth machining point
  • the third group G23 is composed of the seventh machining point to the ninth machining point.
  • the upper limit value of the first group G21 is the upper limit value of the third machining point
  • the lower limit value of the first group G21 is the lower limit value of the second machining point.
  • the upper limit value of the second group G22 is the upper limit value of the fifth machining point
  • the lower limit value of the second group G22 is the lower limit value of the sixth machining point.
  • the upper limit of the third group G23 is the upper limit of the 7-9 machining points, and the lower limit of the third group G23 is the lower limit of the 7-8 machining points.
  • the upper limit of the monitoring range is formed by the group upper limit of the first to third group G21-23, and the lower limit of the monitoring range is formed by the group lower limit of the first to third group G21-23.
  • the group is composed of five processing points. That is, the group will be provided for each of the five processing points.
  • a group upper limit is set as the upper limit of the monitoring range
  • a group lower limit is set as the lower limit of the monitoring range.
  • the first group G31 is composed of the first machining point to the fifth machining point, which are monitoring start points
  • the second group G32 is composed of the sixth machining point to the tenth machining point.
  • the upper limit of the first group G31 is the upper limit of the fifth machining point
  • the lower limit of the first group G31 is the lower limit of the second machining point
  • the upper limit value of the second group G32 is the upper limit value of the 6th-10th machining point
  • the lower limit value of the second group G32 is the lower limit value of the sixth machining point.
  • the upper limit of the monitoring range is formed by the group upper limit of the first and second groups G31-32
  • the lower limit of the monitoring range is formed by the group lower limit of the first and second groups G21-32.
  • the upper limit value of the predetermined range including the machining point is set as the upper limit value (offset upper limit value) offset by the predetermined value. It is also good.
  • the lower limit of the predetermined range including the machining point may be set as the lower limit value (offset lower limit) offset by the predetermined value. ..
  • the sensitivity of the machining load monitoring determination can be adjusted to a predetermined value, and the machining load can be appropriately monitored.
  • the group is set based on the monitoring start point, the group may be set based on the machining point other than the monitoring start point.
  • the control device 47 sets the flag F2 to 1 in step S130.
  • the flag F2 is a flag indicating whether or not the upper and lower limit values of the monitoring range are set at the default resolution using the load data for N times, and when the flag F2 is "1", the default resolution is set. It indicates that the upper and lower limit values of the monitoring range have been set, and when the flag F2 is "0", it indicates that the upper and lower limit values of the monitoring range have not been set at the default resolution.
  • the flag F2 is set to "0" when the work processing start instruction is given.
  • step S120 it is determined whether or not the flag F2 is 1.
  • the control device 47 determines that the flag F2 is “0” and “NO” in step S120 from the start of machining the work W until the upper and lower limit values of the monitoring range are set.
  • the control device 47 sets the flag F2 to "1" (step S130), determines "YES” in step S120, and processes steps S122 to 130. Is omitted, and the program proceeds to step S132 and subsequent steps.
  • step S122 it is determined whether or not the work machining, machining load detection, and load data storage described above have been performed N times.
  • the control device 47 determines that the work machining or the like has not been completed N times after the start of the first work machining and before the completion of the Nth work machining (“NO” in step S122. ”), Return the program to step S104.
  • the control device 47 determines that the work machining and the like have been completed N times (“YES” in step S122), and advances the program to step S124.
  • control device 47 manually adjusts (sets) the resolution of the monitoring range for which the upper and lower limit values are automatically set in step S128, or the monitoring range automatically set in step S128 first. Manually adjust (set) the upper and lower limits. As a result, the operator can more easily adjust the upper and lower limit values of the monitoring range by manual operation.
  • the control device 47 can adjust (change) the resolution of the set monitoring range according to the resolution adjustment operation of the operator (step S134: monitoring range resolution adjustment unit).
  • the resolution adjustment operation for adjusting the resolution of the monitoring range is performed. If it is considered unnecessary to adjust the resolution of the monitoring range, the operator performs an operation to the effect that the resolution adjustment operation is unnecessary (adjustment-free operation).
  • the resolution adjustment operation is an operation in which the operator selects an axis including a monitoring range for which resolution adjustment (resolution adjustment) is desired, a monitoring range for which resolution adjustment is desired is selected, and the resolution of the selected monitoring range is enlarged or reduced.
  • the operator when selecting the axis whose resolution is to be adjusted, the operator operates the display axis selection key 128.
  • the operator operates one of the display position movement key 129, the monitoring range left movement key 131, and the monitoring range right movement key 133. In addition, you may select the monitoring range for which you want to adjust the resolution all at once.
  • the operator When expanding the resolution, the operator operates the resolution expansion key 146. On the other hand, when reducing the resolution, the operator operates the resolution reduction key 145. When enlarging / reducing the resolution, the operator can manually input the quantity of the resolution after operating the resolution enlargement key 146 and / or the resolution reduction key 145 (or at the same time as the operation). .. Further, when the resolution is enlarged (or reduced), the resolution can be increased (decreased) by a predetermined amount each time the operator operates the resolution enlargement key 146 (or the resolution reduction key 145). As described above, the resolution, that is, the number of detection points can be changed (settable) by the input operation to the input / output device 47a of the operator. Further, when saving the adjusted resolution, the operator operates the save key 126. Thereby, the adjusted resolution (quantity of resolution) can be stored in the storage device 47b.
  • the operator turns on the resolution setting key for batch adjustment (described above), displays a screen on which the resolution quantity can be input (adjusted), and inputs the resolution quantity in the resolution input field of the screen. Operate the input key (described above) to input the quantity of the desired resolution. This series of operations is a resolution adjustment operation.
  • step S132 determines "NO" in step S132, and advances the program to step S136 or later.
  • the control device 47 determines "YES” in step S132, and changes (adjusts) all or part of the resolution of the monitoring range according to the resolution adjustment operation. ), And the monitoring range after the change (after adjustment) is displayed (step S134).
  • step S134 the control device 47 can set the resolution of the monitoring range initially set or reset earlier based on the resolution adjustment operation (setting unit). After that, the control device 47 advances the program to step S136.
  • control device 47 implements the resolution adjustment subroutine shown in FIG. 10 in step S134.
  • the control device 47 acquires the resolution (quantity of resolution) previously set and stored by the resolution adjustment operation by the operator from the storage device 47b, as in step S124 described above.
  • the control device 47 forms a group in step S304 in the same manner as in step S126 described above. Then, in step S306, the control device 47 resets (adjusts) the upper and lower limit values of the monitoring range in the same manner as in step S128 described above, and the upper and lower limit values and load data (actual detection data) of the reset monitoring range. ) Is displayed on the data display unit 110 of the input / output device 47a.
  • This makes it possible to easily adjust (change) the upper and lower limit values of the monitoring range that have already been set according to the resolution that has been manually changed by the operator. In other words, it is possible to adjust (change) the upper and lower limit values of the monitoring range by changing the resolution, that is, the number of detection points according to the input operation of the operator. After that, the control device 47 ends the processing of this subroutine.
  • control device 47 can adjust the upper and lower limit values of the set monitoring range according to the upper and lower limit value adjustment operation of the operator (step S138: monitoring range upper and lower limit value adjustment unit).
  • step S138 monitoring range upper and lower limit value adjustment unit.
  • the upper and lower limit value adjustment operations include selecting the axis including the monitoring range that the operator wants to adjust, selecting the monitoring range that the operator wants to adjust, and specifying the range that the operator wants to adjust (adjustment range, specified range). It is an operation to expand / reduce the upper limit of the specified range (and thus the monitoring range), and to expand / reduce the lower limit of the specified range.
  • the operator when selecting the axis to be adjusted, the operator operates the display axis selection key 128.
  • the operator When selecting the monitoring range (machining sub-process) to be adjusted, the operator operates one of the display position movement key 129, the monitoring range left movement key 131, and the monitoring range right movement key 133.
  • the operator selects the adjustment (editing) range. Operate the start position specification key 134.
  • the operator operates the adjustment (edit) range end position specification key 135.
  • the operator When expanding the upper limit value, the operator operates the upper limit value expansion key 136 or the upper limit value maximization key 140. When reducing the upper limit value, the operator operates the upper limit value reduction key 137 or the upper limit value minimization key 141. When expanding the lower limit value, the operator operates the lower limit value expansion key 138 or the lower limit value minimization key 142. When reducing the lower limit value, the operator operates the lower limit value reduction key 139 or the lower limit value maximization key 143. When saving the edited monitoring range, the operator operates the save key 126.
  • step S136 determines "NO" in step S136, and advances the program to step S140 or later.
  • step S140 determines “YES” in step S136, and adjusts all or part of the upper / lower limit value of the monitoring range according to the adjustment operation.
  • the change (adjustment) is made, and the monitoring range after the change (after adjustment) is displayed (step S138).
  • step S138 the control device 47 can set the upper and lower limit values of the monitoring range initially set or reset earlier based on the upper and lower limit value adjustment operations (setting unit). After that, the control device 47 advances the program to step S140.
  • the control device 47 determines in step S140 whether or not the load detection value, which is the detected machining load, is within the upper and lower limit values of the monitoring range.
  • the upper and lower limit values of the monitoring range are the upper and lower limit values of the initial setting (step S128), the upper and lower limit values reset by changing the resolution (step S134), or the upper and lower limit values set by the upper and lower limit adjustment operations (step S128).
  • Step S138 When the control device 47 determines that the load detection value is within the upper and lower limit values of the monitoring range (“YES” in step S140), the control device 47 returns the program to step S104, and in steps S104 to 110 described above. A series of processes are carried out in the order of the machining program.
  • control device 47 determines that the load detection value is not within the upper and lower limit values of the monitoring range (“NO” in step S140)
  • the control device 47 advances the program to step S142 or later and stops the machining of the work W.
  • a warning is issued together with (step S142), and then this flowchart is terminated.
  • the machining (cutting) of the work W by the above-mentioned machine tool can also be controlled according to the flowchart shown in FIG. 8 in the same manner as the above-mentioned lathe module 30A.
  • the control is performed by the control device 57 instead of the control device 47.
  • the work processing apparatus (turning machine module 30A, drimill module 30B) according to the above-described embodiment is a work processing apparatus capable of executing the processing of the work W by using the cutting tools 43a and 52b (machining tools).
  • a detection unit (control device 47, which detects a detectable physical quantity (a physical quantity related to the machining of W) at each detection point at a predetermined interval in a monitoring range for monitoring the state of the machining load. 57: Step S108), the storage devices 47b and 57b that store the processing data that is the actual detection data actually detected by step S108, and the actual detection data stored in the storage devices 47b and 57b within the monitoring range.
  • Group forming unit (control devices 47, 57: step S126) that forms one or more groups by dividing according to the number (resolution) of detection points set in advance from the monitoring start point to the monitoring end point. , 304) and the setting unit (control device 47, 57: step S128) for setting the upper limit value and the lower limit value of the monitoring range for each group formed by steps S126 and 304 based on the actual detection data belonging to each group. , 306).
  • the upper limit value and the lower limit value of the monitoring range are set for each group formed according to the number of detection points (resolution) preset between the monitoring start point and the monitoring end point of the monitoring range. It becomes possible to set. That is, it is possible to set the upper and lower limit values of the monitoring range based on the number of detection points (resolution) and the actual detection data from the monitoring start point to the monitoring end point of the monitoring range. Therefore, in the lathe module 30A and the drimill module 30B, the upper and lower limit values of the monitoring range can be set more easily. Further, since the acquired machining data can be grouped at a desired detection point, a wide range of monitoring from severe monitoring to simple monitoring can be easily performed according to the needs of the user.
  • the number of detection points can be set and changed by the input operation to the input devices 47a and 57a of the operator.
  • the number of detection points is a parameter that contributes to the division of the monitoring section of the monitoring range and can be changed by the input operation of the operator. Therefore, it is easy and reliable to input the number of detection points by the operator.
  • the upper and lower limits of the monitoring range can be adjusted (changed).
  • the machining load is detected, the monitoring range is set, and the monitoring range is adjusted during the operation of the machining process of the work W.
  • the test run of the workpiece machining is performed before the machining process. It may be carried out, the machining load may be detected during the trial run, the monitoring range may be set, and the monitoring range may be adjusted during the trial run or the machining process.
  • the setting unit described above sets the monitoring range for monitoring the state of the detectable physical quantity along the processing process to the actual detection data actually detected by the detection unit during the trial run of the processing process. Set based on.
  • the cutting tool is used as the machining tool, but another machining tool for machining the work W may be used.
  • the machining load is used as the detectable physical quantity, another physical quantity related to the machining of the work W, which is a detectable physical quantity, may be used.

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PCT/JP2020/021501 2020-05-30 2020-05-30 ワーク加工装置 Ceased WO2021245717A1 (ja)

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JP2022529122A JP7393545B2 (ja) 2020-05-30 2020-05-30 ワーク加工装置
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US17/996,979 US12422823B2 (en) 2020-05-30 2020-05-30 Workpiece machining device

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JP2007052797A (ja) * 2006-09-08 2007-03-01 Sofutorokkusu:Kk 加工工程の監視方法
JP2009285792A (ja) * 2008-05-29 2009-12-10 Miyano:Kk Ｎｃ工作機械におけるツールモニタ方法
WO2013108435A1 (ja) * 2012-01-19 2013-07-25 富士機械製造株式会社 工具異常判別システム
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JP2014172102A (ja) * 2013-03-06 2014-09-22 Fuji Mach Mfg Co Ltd 工具異常判別システム
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JPH0724694A (ja) * 1993-07-12 1995-01-27 Murata Mach Ltd 負荷の監視方法
JP2007052797A (ja) * 2006-09-08 2007-03-01 Sofutorokkusu:Kk 加工工程の監視方法
JP2009285792A (ja) * 2008-05-29 2009-12-10 Miyano:Kk Ｎｃ工作機械におけるツールモニタ方法
WO2013108435A1 (ja) * 2012-01-19 2013-07-25 富士機械製造株式会社 工具異常判別システム
WO2014068644A1 (ja) * 2012-10-29 2014-05-08 富士機械製造株式会社 監視区間自動設定装置、工作機械、および監視区間自動設定方法
JP2014172102A (ja) * 2013-03-06 2014-09-22 Fuji Mach Mfg Co Ltd 工具異常判別システム
WO2020021044A1 (de) * 2018-07-25 2020-01-30 Zwerger Michael Verfahren zur überwachung einer werkzeugmaschine, überwachungsvorrichtung, werkzeugmaschine und computerprogrammprodukt

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