WO2023140241A1

WO2023140241A1 - Control device, control method, and computer program

Info

Publication number: WO2023140241A1
Application number: PCT/JP2023/001133
Authority: WO
Inventors: 賢祐久留美
Original assignee: ブラザー工業株式会社
Priority date: 2022-01-20
Filing date: 2023-01-17
Publication date: 2023-07-27
Also published as: JP2023106174A

Abstract

The present disclosure provides a control device, etc., capable of controlling movement for replacement of pots disposed at cutting positions even in a machine tool in which pots are disposed at unequal intervals. A control device according to the present disclosure is a control device for a machine tool provided with a spindle, an endless rail, and a tool magazine provided with a plurality of pots accommodating tools and disposed at unequal intervals on the rail, the plurality of pots including a current pot which is disposed at a cutting position for mounting on the spindle, and a scheduled pot which is scheduled to be disposed at the cutting position, and the control device comprising: an acquisition unit which acquires distances among the plurality of pots; a calculation unit which calculates a movement amount by which the scheduled pot will move to the cutting position on the basis of the information relating to the current pot and the scheduled pot and the distance acquired by the acquisition unit; and a control unit which carries out control to move the pot along the rail on the basis of the movement amount calculated by the calculation unit.

Description

Control device, control method and computer program

The present technology relates to a control device, control method, and computer program for controlling machine tools.

Conventionally, a machine tool has a vertically movable spindle head and a tool magazine (for example, Patent Document 1). The tool magazine comprises a plurality of endlessly connected moving bodies. Each truck holds a plurality of gripping arms (pots) that hold tools. The tool magazine moves a plurality of moving bodies along rails surrounding the spindle head to place a predetermined pot below the spindle head (indexed position). The spindle head descends to mount the tool gripped by the pot on the spindle. In the machine tool described in Patent Document 1, since the pots are arranged on the rail at regular intervals, the amount of movement of the pots is calculated based on information on the length of one round of the rail and the total number of pots.

JP 2013-154436 A

　In order to increase the number of pots in the tool magazine of a machine tool, it is conceivable to place the pots at unequal intervals. In this case, the amount of movement cannot be calculated by the same processing as described above.

An object of the present invention is to provide a control device or the like capable of calculating the movement amount of the pot and controlling the movement of the pot even in a machine tool in which the pots are arranged at unequal intervals.

A control device according to an embodiment of the present disclosure is a control device for a machine tool that includes a spindle, an endless rail, and a tool magazine that includes a plurality of pots that are arranged at unequal intervals on the rail and store tools. A calculation unit that calculates the amount of movement of the planned pot to the indexed position based on the acquired distance, and a control unit that performs control to move the pot along the rail based on the movement amount calculated by the calculation unit.

According to the control device of one embodiment of the present disclosure, in a machine tool in which pots are arranged at unequal intervals, it is possible to perform movement control for exchanging the pots arranged at the indexing position.

In one embodiment of the control device of the present disclosure, the interval includes a first interval and a second interval wider than the first interval, the pots are arranged so that the first interval and the second interval alternate, and the calculator calculates the movement amount based on a first distance that is the distance of the first interval and a second distance that is the distance of the second interval.

According to the control device of one embodiment of the present disclosure, it is possible to perform movement control for exchanging the pot placed at the indexing position in a machine tool that is arranged so that two types of intervals alternate.

In the control device according to one embodiment of the present disclosure, the information includes a number assigned to the pot and a starting point interval indicating the distance between the current pot and an adjacent pot on the upstream side in the moving direction, and the calculating unit calculates the number of moving pots based on the numbers assigned to the current pot and the scheduled pot, and divides the distance of the starting point interval and the number of moving pots by 2 into the product of the sum of the first distance and the second distance and the quotient obtained by dividing the number of moving pots by 2. The amount of movement is calculated by summing the product with the remainder.

According to the control device of one embodiment of the present disclosure, the amount of movement can be calculated regardless of the distance between the pot and the adjacent pot on the moving direction side.

A control device according to an embodiment of the present disclosure includes a storage unit that stores the first distance and the second distance, and the acquisition unit acquires the first distance and the second distance from the storage unit.

According to the control device of one embodiment of the present disclosure, it is possible to calculate the amount of movement based on the first distance and the second distance.

A control device according to an embodiment of the present disclosure includes a storage unit that stores the distance for one round of the rail, the total number of pots, and the ratio between the first interval and the second interval, and the acquisition unit acquires the first distance and the second distance based on the distance for one round of the rail, the total number of pots, and the ratio between the first interval and the second interval.

According to the control device of one embodiment of the present disclosure, even when the configuration of the machine tool is changed, it is possible to calculate the first distance and the second distance by re-storing the changed numerical values.

The information of the control device according to an embodiment of the present disclosure includes coordinates of the current pot and the planned pot, and includes a storage unit that stores coordinates corresponding to the coordinates assigned to the pot, the obtaining unit obtains the coordinates of the current pot and the planned pot from the storage unit, calculates a difference between the coordinates of the current pot and the planned pot from the storage unit, and obtains the distance based on the difference.

According to the control device of one embodiment of the present disclosure, in a machine tool in which pots are arranged at irregular intervals, it is possible to perform movement control for exchanging the pots arranged at the indexing position.

A control device according to an embodiment of the present disclosure includes a movement direction determination unit that determines a movement direction for moving the pot based on the coordinates assigned to the current pot and the planned pot, and the calculation unit calculates the movement amount based on the movement direction determined by the movement direction determination unit.

According to the control device of one embodiment of the present disclosure, when exchanging the pot placed at the indexing position, it is possible to control the movement in the movement direction in which the movement amount becomes shorter.

A control method according to an embodiment of the present disclosure is a control method for a machine tool comprising a spindle, an endless rail, and a tool magazine having a plurality of pots arranged at unequal intervals on the rail to store tools, wherein the plurality of pots includes a current pot to be attached to the spindle and a planned pot to be arranged at the indexed position, a distance between the plurality of pots is acquired, and the planned pot is divided based on information about the current pot and the planned pot and the distance between the gaps. A movement amount for moving to the extended position is calculated, and the pot is moved along the rail based on the movement amount.

According to the control method of one embodiment of the present disclosure, in a machine tool in which pots are arranged at unequal intervals, it is possible to perform movement control for exchanging the pots arranged at the indexing position.

A computer program according to an embodiment of the present disclosure is a program executable by a control device of a machine tool comprising a spindle, an endless rail, and a tool magazine having a plurality of pots arranged at unequal intervals on the rail to store tools, wherein the plurality of pots includes a current pot to be attached to the spindle and a planned pot to be arranged at the index position, acquires the distance between the plurality of pots, and acquires the distance between the plurality of pots, and based on the information about the current pot and the planned pot and the distance of the interval, the planned A movement amount for moving the pot to the indexed position is calculated, and the control device is caused to execute processing for moving the pot along the rail based on the movement amount.

According to the computer program of one embodiment of the present disclosure, in a machine tool in which pots are arranged at unequal intervals, it is possible to perform movement control for exchanging the pots arranged at the indexing position.

A control device according to an embodiment of the present disclosure is capable of movement control for exchanging pots placed at indexing positions even in a machine tool in which pots are placed at unequal intervals.

1 is a perspective view of a machine tool; FIG. It is a front view of a machine tool. It is the right view which abbreviate|omitted the chain part etc. of the machine tool. It is a schematic perspective view of a rail part. FIG. 4 is a schematic perspective view of a tool magazine that moves on rails; FIG. 4 is a schematic partial enlarged plan view of the machine tool; It is a block diagram which shows a control apparatus. It is a top surface schematic diagram of a rail and a pot. 4 is a flowchart for explaining a moving direction determining method and a moving pot number calculating method; 4 is a flowchart for explaining drive control according to the first embodiment; It is a flow chart explaining the first distance and the second distance calculation processing. FIG. 11 is a schematic top view of a rail and a pot according to Embodiment 3; 10 is a flowchart for explaining a method for setting a start point distance and an end point distance according to Embodiment 3. FIG. 11 is a flow chart for explaining a method for setting a start point distance and an end point distance according to Embodiment 3. FIG. 10 is a flowchart for explaining drive control according to Embodiment 3. FIG. FIG. 14 is a schematic top view of a rail and a pot according to Embodiment 4; It is an explanatory view showing a coordinate table. 10 is a flowchart for explaining drive control according to Embodiment 4. FIG.

The machine tool and control device of Embodiment 1 will be described below with reference to the drawings. In the following description, up, down, front, back, left, and right shown in the drawings are used.

Fig. 1 is a perspective view of a machine tool. FIG. 2 is a front view of the machine tool. FIG. 3 is a right side view of the machine tool, omitting a chain portion and the like. A machine tool 100 includes a base 10, a spindle head 20, a tool magazine 30, and the like. The base 10 is rectangular and extends forward and backward. The work holding part 11 is provided on the upper front side of the base 10 . The work holding unit 11 holds a work to be processed. The work holding part 11 is rotatable around a vertically extending C-axis. A support base 12 is provided on the rear side of the upper portion of the base 10 . An X-axis direction moving device 14 is provided on the upper surface of the support table 12 . The X-axis direction moving device 14 can move in the left-right direction (X-axis direction). The Y-axis direction moving device 15 is provided above the X-axis direction moving device 14 . The Y-axis direction moving device 15 supports the column 13 so as to be movable in the front-rear direction (Y-axis direction). The Z-axis direction moving device 16 is provided on the front surface of the column 13 . The Z-axis direction moving device 16 moves the spindle head 20 in the vertical direction (Z-axis direction).

The spindle head 20 has a spindle 21 extending vertically. The main shaft 21 rotates about its axis. A tool is mounted on the lower end of the spindle 21 . A spindle motor 22 is provided at the upper end of the spindle head 20 . The spindle 21 and the tool are rotated by the rotation of the spindle motor 22 . The rotated tool processes the work held by the work holding part 11 .

FIG. 4 is a schematic perspective view of the rail portion. FIG. 5 is a schematic perspective view of a tool magazine moving on rails. The tool magazine 30 has a rail portion 31 , a chain portion 32 and a magazine driving portion 33 . The tool magazine 30 moves the chain portion 32 along the rail portion 31 by driving the magazine driving portion 33 . The rail portion 31 includes two support beams 311 , a rail base 312 and a rail 313 . The support beam 311 is a plate-like structural member having a right triangle shape. The oblique sides of the support beams 311 are inclined downward toward the front. The support beams 311 are cantilevered on the left and right sides of the column 13 . The support beams 311 extend from left and right fixed portions of the column 13 to both side portions of the spindle head 20 . The upper end surface of the support beam 311 is inclined approximately 30 degrees from the horizontal plane from the lower front to the upper rear.

The rail base 312 is rectangular in plan view and extends forward and backward. A rail base 312 is fixed to the oblique side of the support beam 311 and surrounds the column 13 and the main shaft 21 . The rail platform 312 is inclined approximately 30 degrees from the horizontal plane. A positioning mechanism 314 for aligning the positions of the tool and the spindle 21 is provided at the center of the front lower end of the rail base 312 . The central portion of the lower end of the rail base 312 is positioned at the tool exchange position.

A rail 313 is provided above the rail base 312 to form an endless track. The rail 313 is substantially rectangular in plan view and has a substantially rectangular cross section. The rail 313 has two first straight portions 313a facing each other and two second straight portions 313b facing each other. The two first linear portions 313a are provided in front and rear of the spindle head 20, respectively, and extend linearly in the left-right direction. The two second linear portions 313b are provided on the left and right sides of the spindle head 20, respectively, and extend linearly in the front-rear direction, that is, in a direction orthogonal to the left-right direction. The rail base 312 and the rails 313 are arranged so that the longitudinal center of the first straight portion 313a and the axis of the main shaft 21 are aligned.

The mounting base 315 is provided inside the rear part of the rail base 312 . A magazine driving unit 33 is attached to the upper side of the mounting base 315 . The magazine driving section 33 has a motor 331 and a gear 332 . The axis of the gear 332 is substantially perpendicular to the oblique side of the support beam 311 . Gear 332 meshes with chain portion 32 . The motor 331 rotates, and the chain portion 32 and the plurality of pots P rotate.

A chain portion 32 is provided along the rail 313 . The chain portion 32 includes a plurality of moving bodies 34, a plurality of links 35 and a plurality of pots P. As shown in FIG. Pots P are arranged on rail 313 at unequal intervals. The link 35 has an elongated, substantially rectangular plate shape. That is, the link 35 extends linearly. Links 35 connect adjacent moving bodies 34 . A plurality of moving bodies 34 and links 35 form an endless chain.

FIG. 6 is a schematic partial enlarged plan view of the machine tool. A first space LA between two pots P arranged on the moving body 34 is narrower than a second space LB between two pots P adjacent to each other with the link 35 interposed therebetween. The first interval LA is the distance between the centers of adjacent pots P in the moving direction. The second interval LB is the distance between the axial centers of the connecting shafts 345 at both ends of the link 35 . In order to avoid complication, only some of the connecting shafts 345 are given reference numerals in FIG.

FIG. 7 is a block diagram showing the control device. The machine tool 100 includes a control device 40 that controls driving of the motor 331 . The control device 40 rotates the gear 332 by driving the motor 331 to rotate the plurality of pots P. As shown in FIG. The control device 40 includes a CPU 41 , a RAM 42 and a storage section 43 . The storage unit 43 has a rewritable storage medium such as EEPROM, EPROM, hard disk, or the like. The storage unit 43 stores the pot number assigned to each pot P, the distance of the first interval LA (first distance la), the distance of the second interval LB (second distance lb), a machining program for machining the workpiece, and the like. A processing program (program product) stored in a portable storage medium 43a such as a CD-ROM or flash memory may be stored in the storage unit 43, or each program may be stored in the storage unit 43 from a server via a network. The CPU 41 loads the machining program into the RAM 42 and executes the machining program. Also, the motor 331 has an encoder 331a. The encoder 331 a outputs a signal indicating the rotational position of the motor 331 to the control device 40 . The control device 40 includes motors of the X-axis direction moving device, Y-axis direction moving device, and Z-axis direction moving device, a spindle motor, etc., but the illustration thereof is omitted.

FIG. 8 is a schematic top view of the rail and pot. A pot number is assigned to each pot, and is assigned in order from 1 in a counterclockwise direction when viewed from the top as shown in FIG. In this embodiment, the number of pots P (total number of pots) is 28. A pot to which the pot number N is assigned is called a pot PN. A pot PN with an odd pot number is called an odd pot, and a pot PN with an even pot number is called an even pot.

In this embodiment, each odd-numbered pot is aligned with an even-numbered pot with a higher pot number via the moving body 34 and aligned with an even-numbered pot with a lower pot number via a link 35 . The distance between an odd-numbered pot of 1 and an even-numbered pot with a higher pot number by one differs from the distance between an odd-numbered pot of 1 and an even-numbered pot with a lower pot number by one. Specifically, the distance between each odd-numbered pot and the even-numbered pot with the pot number one higher is the first distance la, and the distance between the even-numbered pot with the pot number one lower is the second distance lb. The pot P28 and the pot P1 are arranged side by side via a link, and the distance between them is the second distance lb. Distance 1a and distance 1b are different.

The pot P arranged at the indexed position for mounting on the spindle is assumed to be the current pot. In FIG. 8, pot P1 is the current pot. Also, the pot PN that is scheduled to be placed at the indexing position to be used for machining the workpiece next time is set as the scheduled pot. Also, let the pot number of the current pot be the current pot number, and let the pot number of the planned pot be the planned pot number. In the following, the pot P10 is assumed to be the planned pot, and control in an example of moving the planned pot P10 to the indexing position will be described.

Based on the pot numbers of the planned pot P10 and the current pot P1, the control device 40 determines the moving direction for moving the planned pot P10 to the indexed position, and calculates the necessary number of pots to be moved. The clockwise direction in top view is the normal rotation direction, and the counterclockwise direction is the reverse rotation direction. Details of the method of determining the moving direction and the method of calculating the number of pots to be moved will be described later.

The CPU 41 of the control device 40 acquires from the storage unit 43 the first distance la, the second distance lb, and the starting point distance, which is the distance between the current pot P1 and the adjacent pot on the upstream side in the movement direction (starting point interval). In this example, the starting point interval is the distance between the pot P1 and the pot P2, so the starting point interval is the first interval and the starting point distance is the first distance la. A method of setting the starting point distance will be described later. The control device 40 divides the number of moving pots by 2, and calculates the quotient and remainder. In this example, the quotient is 4 and the remainder is 1. The control device 40 obtains the product of the sum of the first distance la and the second distance lb and the quotient, and then sums up the product of the starting point distance and the remainder to obtain the movement amount. That is, let the distance calculated by the following formula be the amount of movement.

The CPU 41 drives the motor 331 based on the calculated movement amount. Specifically, the storage unit 43 stores the driving distance of the pot P per rotation of the gear 332, and the control device 40 determines the amount of rotation of the motor 331 based on the driving distance and the amount of movement of the pot P per rotation of the gear 332, and drives the motor 331.

FIG. 9 is a flow chart explaining the method of determining the moving direction and the method of calculating the number of moving pots, which is activated when the tool change command in the machining program is executed. In FIG. 9, variables X and Y are used for explanation. The CPU 41 acquires the current pot number and the scheduled pot number (S1), and determines whether or not the scheduled pot number is greater than or equal to the current pot number (S2). The CPU 41 acquires the current pot number based on the rotational position of the motor 331 output from the encoder 331a, and acquires the planned pot number from the machining program read into the RAM42. If the scheduled pot number is greater than or equal to the current pot number (S2: YES), the CPU 41 sets X to the number obtained by subtracting the current pot number from the scheduled pot number (S3). If the scheduled pot number is less than the current pot number (S2: NO), the CPU 41 subtracts the current pot number from the scheduled pot number and then adds the total number of pots to X (S4). The CPU 41 determines whether or not X is larger than the total number of pots/2 (S5). When X is equal to or less than the quotient obtained by dividing the total number of pots by 2 (S5: NO), the CPU 41 sets Y to the same value as X (S7). The CPU 41 determines whether Y is 0 or more (S8), and if Y is 0 or more (S8: YES), sets the moving direction to the forward direction (S9), and calculates the number of moving pots as the same value as Y (S10). When Y is less than 0 (S8: NO), the CPU 41 sets the moving direction to the reverse direction (S11), and calculates the number of moving pots as -Y (S12). After calculating the number of pots to be moved in S10 or S12, the CPU 41 ends the process.

Through the above processing, the CPU 41 can determine a closer moving direction for locating the planned pot at the indexed position. In addition, it is possible to calculate the correct number of moving pots regardless of whether the moving direction is determined to be forward rotation or reverse rotation.

FIG. 10 is a flowchart for explaining drive control, which is activated after execution of the flowchart in FIG. 9 is completed. The CPU 41 acquires the first distance la and the second distance lb from the storage unit 43 (S21). The CPU 41 acquires the current pot number (S22) and determines whether or not the current pot number is an even number (S23). If the current pot number is an even number (S23: YES), the CPU 41 determines whether or not the moving direction of the pot P is forward rotation (S24). If the movement direction is normal rotation (S24: YES), the CPU 41 sets the starting point distance to the second distance (S27). If the movement direction is not forward rotation, that is, if it is reverse rotation (S24: NO), the CPU 41 sets the starting point distance to the first distance (S26). If the pot number is not even, that is, odd (S23: NO), the CPU 41 determines whether the moving direction of the pot P is forward rotation (S25). If the movement direction is normal rotation (S25: YES), the CPU 41 sets the starting point distance to the first distance (S26). If the movement direction is not forward rotation, that is, if it is reverse rotation (S25: NO), the CPU 41 sets the starting point distance to the second distance (S27). After setting the starting point distance in S26 or S27, the CPU 41 divides the number of moving pots by 2 to calculate the quotient and remainder (S28). The CPU 41 multiplies the sum of the first distance and the second distance by the quotient (S29), and multiplies the starting point distance by the remainder (S30). The CPU 41 adds up the calculation results in S29 and S30 to calculate the amount of movement (S31), and calculates the amount of rotation of the motor based on the amount of movement (S32). The CPU 41 rotates the motor (S33) and ends the process.

According to the above processing, even if the pots are alternately arranged on the rail at two types of intervals, it is possible to calculate the movement distance of the pots when changing tools.

The control device 40 of the first embodiment includes a storage unit 43 that stores the first distance la and the second distance lb. The control device 40 of the second embodiment includes a storage unit 43 that stores the distance for one round of the rail 313 (the total length of the rail), the total number of pots, and the ratio between the first interval and the second interval (first interval ratio RA: second interval ratio RB), and the first distance la and the second distance lb are calculated by the CPU 41. Embodiment 2 will be described below with reference to the drawings. Among the configurations of the second embodiment, the configurations similar to those of the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

FIG. 11 is a flowchart for explaining the first distance and second distance calculation processing. The CPU 41 acquires the distance for one round of the rail and the total number of pots from the storage unit 43 (S41), divides the total length of the rail by the total number of pots, and calculates the average distance between pots (average distance lm) (S42). The CPU 41 acquires the first interval ratio RA and the second interval ratio RB from the storage unit 43 (S43), and calculates the average (average interval ratio Rm) of the first interval ratio RA and the second interval ratio RB (S44). The CPU 41 calculates the first distance la by multiplying the average interval distance lm by the first interval ratio RA and dividing the average interval ratio Rm (S45), and calculates the second distance lb by multiplying the average interval distance lm by the second interval ratio RB and dividing the average interval ratio Rm (S46). That is, the average interval distance lm, the average interval ratio Rm, the first distance la, and the second distance lb are calculated by the following equations.

The storage unit 43 of the control device 40 of the second embodiment stores the distance for one round of the rail 313, the total number of pots, and the ratio between the first interval and the second interval. Therefore, when the configuration of the machine tool 100 is changed, it is possible to calculate the first distance and the second distance by re-storing the changed numerical values.

The pots P of the machine tool 100 of Embodiment 1 are arranged so that the first intervals and the second intervals alternate, while the pots P of the machine tool 100 of Embodiment 3 are arranged so that the first intervals, the second intervals, and the third intervals are arranged in rotation. Embodiment 3 will be described below with reference to the drawings. The same reference numerals are assigned to the same configurations as in the first embodiment, and detailed description thereof will be omitted.

FIG. 12 is a schematic top view of the rail and pot of Embodiment 3. FIG. In this embodiment, the total number of pots is assumed to be 24. The distance between the pot P1 and the pot P2 is the first distance, the distance between the pot P2 and the pot P3 is the second distance, and the distance between the pot P3 and the pot P4 is the third distance. Similarly, the first, second, and third intervals are arranged in rotation until pot P24. The distance between the pot P24 and the pot P1 is the third distance. As in the first embodiment, the distance of the first interval is the first distance la, the distance of the second interval is the second distance lb, and the distance of the third interval is the third distance lc. The storage unit 43 of Embodiment 3 stores the first distance la, the second distance lb, and the third distance lc.

In the following, the control in an example of moving the planned pot P12 to the indexing position will be described with the pot P12 as the planned pot. Note that the quotient in the following description represents an integer quotient in division. The control device 40 determines the direction of movement and calculates the number of pots to be moved, as in the first embodiment. In this example, the moving direction is normal rotation, and the number of moving pots is eleven.

The CPU 41 of the control device 40 acquires from the storage unit 43 the first distance la, the second distance lb, the third distance lc, the starting point distance that is the distance between the current pot P1 and the adjacent pot on the upstream side in the movement direction (starting point distance), and the end point distance that is the distance between the planned pot P12 and the adjacent pot on the downstream side in the moving direction (end point distance). A method of setting the start point distance and the end point distance will be described later, but in this example, the start point distance is la and the end point distance is lb.

The control device 40 divides the number of moving pots by 3 and calculates the first quotient and first remainder. In this example, the first quotient is 3 and the first remainder is 2. The control device 40 further divides the number obtained by adding 1 to the first remainder by 2 to obtain a second quotient. The second quotient is 1 in this example. Also, the control device 40 divides the first remainder by 2 to obtain the third quotient. In this example, the third quotient is one. The control device 40 sums the product of the sum of the first distance la, the second distance lb, and the third distance lc and the first quotient, the product of the second quotient and the start point distance, and the product of the third quotient and the end point distance, and obtains the movement amount. That is, in this example, the movement amount is calculated by the following formula.

13 and 14 are flowcharts for explaining the method of setting the starting point distance and the ending point distance according to the third embodiment. After determining the moving direction and calculating the number of pots to be moved (see FIG. 9), the CPU 41 of the control device 40 sets the starting point distance and the ending point distance. The CPU 41 acquires the first distance la, the second distance lb, and the third distance lc from the storage unit 43 (S51). The CPU 41 acquires the current pot number (S52), and determines whether or not the current pot number is a multiple of 3 (S53). If the current pot number is a multiple of 3 (S53: YES), the CPU 41 determines whether the moving direction of the pot P is forward rotation (S54). If the movement direction is normal rotation (S54: YES), the CPU 41 sets the starting point distance to the third distance (S58). If the movement direction is not forward rotation, that is, if it is reverse rotation (S54: NO), the CPU 41 sets the starting point distance to the second distance (S60). If the current pot number is not a multiple of 3 (S53: NO), the CPU 41 determines whether the remainder obtained by dividing the current pot number by 3 is 1 (S55). If the remainder is 1 (S55: YES), the CPU 41 determines whether or not the moving direction of the pot P is forward rotation (S56). If the movement direction is normal rotation (S56: YES), the CPU 41 sets the starting point distance to the first distance (S59). If the movement direction is not forward rotation, that is, if it is reverse rotation (S56: NO), the CPU 41 sets the starting point distance to the third distance (S58). If the remainder obtained by dividing the current pot number by 3 is not 1, that is, if the remainder is 2 (S55: NO), the CPU 41 determines whether or not the movement direction is forward rotation (S57). If the movement direction is normal rotation (S57: YES), the CPU 41 sets the starting point distance to the second distance (S60). If the movement direction is not forward rotation, that is, if it is reverse rotation (S57: NO), the CPU 41 sets the starting point distance to the first distance (S59).

After setting the starting point distance in S58, S59 or S60, the CPU 41 of the control device 40 acquires the scheduled pot number (S61) and determines whether or not the scheduled pot number is a multiple of 3 (S62). When the scheduled pot number is a multiple of 3 (S62: YES), the CPU 41 determines whether or not the moving direction of the pot P is forward rotation (S63). If the movement direction is normal rotation (S63: YES), the CPU 41 sets the end point distance to the second distance (S67). If the movement direction is not forward rotation, that is, if it is reverse rotation (S63: NO), the CPU 41 sets the end point distance to the third distance (S68). If the scheduled pot number is not a multiple of 3 (S62: NO), the CPU 41 determines whether the remainder obtained by dividing the scheduled pot number by 3 is 1 (S64). When the remainder is 1 (S64: YES), the CPU 41 determines whether or not the movement direction of the pot P is normal rotation (S65). If the movement direction is normal rotation (S65: YES), the CPU 41 sets the end point distance to the third distance (S68). If the movement direction is not forward rotation, that is, if it is reverse rotation (S65: NO), the CPU 41 sets the end point distance to the first distance (S69). When the remainder obtained by dividing the scheduled pot number by 3 is not 1, that is, when the remainder is 2 (S64: NO), the CPU 41 determines whether or not the movement direction is forward rotation (S66). If the movement direction is normal rotation (S66: YES), the CPU 41 sets the end point distance to the first distance (S69). If the movement direction is not forward rotation, that is, if it is reverse rotation (S66: NO), the CPU 41 sets the end point distance to the second distance (S67). After setting the end point distance in S67, S68 or S69, the CPU 41 ends the process.

FIG. 15 is a flowchart for explaining the drive control of the third embodiment, which is activated after the execution of the flowcharts of FIGS. 13 and 14 is completed. The CPU 41 divides the number of moving pots by 3 to calculate a first quotient and a first remainder (S71). The method for calculating the number of pots to be moved is the same as that of the first embodiment (see FIG. 9), so details will be omitted. The CPU 41 divides the first remainder +1 by 2 to calculate a second quotient (S72), and divides the first remainder by 2 to calculate a third quotient (S73). The CPU 41 multiplies the sum of the first distance, the second distance, and the third distance by the first quotient (S74), multiplies the start point distance by the second quotient (S75), and multiplies the end point distance by the third quotient (S76). The CPU 41 adds up the calculation results in S74, S75, and S76 to calculate the amount of movement (S77), and calculates the amount of rotation of the motor based on the amount of movement (S78). The CPU 41 rotates the motor (S79) and terminates the process.

According to the above processing, even when the pots are arranged on the rail in rotation at three different intervals, it is possible to calculate the pot movement distance when changing tools.

The pots P of the machine tool 100 of Embodiment 1 are arranged so that the first intervals and the second intervals alternate, but the pots P of the machine tool 100 of Embodiment 4 are arranged at irregular intervals in order to hold tools of various sizes. Embodiment 4 will be described below with reference to the drawings. The same reference numerals are assigned to the same configurations as in the first embodiment, and detailed description thereof will be omitted.

FIG. 16 is a schematic top view of the rail and pot of Embodiment 4. FIG. FIG. 17 is an explanatory diagram showing a coordinate table. As shown in FIG. 16, the pots P are arranged on the rail at irregular intervals. As shown in FIG. 17, the storage unit 43 of the control device 40 stores a coordinate table in which coordinates are associated with pot numbers. The coordinate value stores the counterclockwise distance from the pot P1 in top view. Hereinafter, the coordinates of the current pot will be referred to as current coordinates, and the coordinates of the planned pot will be referred to as planned coordinates.

FIG. 18 is a flowchart for explaining drive control in the fourth embodiment. The CPU 41 acquires the current pot number and the scheduled pot number (S81), and acquires the current coordinates and the scheduled coordinates from the coordinate table of the storage unit 43 based on the current pot number and the scheduled pot number (S82). The CPU 41 determines whether or not the planned coordinates are greater than or equal to the current coordinates (S83), and if the planned coordinates are greater than or equal to the current coordinates (S83: YES), the CPU 41 sets the number obtained by subtracting the current coordinates from the scheduled coordinates to X (S84). If the planned coordinates are less than the current coordinates (S83: NO), the CPU 41 subtracts the current coordinates from the planned coordinates and adds the total length of the rail, and sets X to the number (S85). The CPU 41 determines whether or not X is greater than the total rail length/2 (S86), and if it is greater (S86: YES), sets Y to the number obtained by subtracting the total rail length from X (S87). When X is equal to or less than the total rail length/2 (S86: NO), the CPU 41 sets Y to the same value as X (S88). The CPU 41 determines whether Y is 0 or more (S89), and if Y is 0 or more (S89: YES), sets the moving direction to the normal direction (S90), and calculates the moving amount as the same value as Y (S91). When Y is less than 0 (S89: NO), the CPU 41 sets the movement direction to the reverse direction (S92), and calculates the movement amount as -Y (S93). After calculating the amount of movement in S91 or S93, the CPU 41 calculates the amount of rotation of the motor 331 based on the amount of movement (S94), drives the motor 331 to rotate (S95), and ends the process.

According to the above processing, even when the pots are arranged on the rail at irregular intervals, it is possible to calculate the moving distance of the pots at the time of tool change. The moving distance of the pot in this embodiment is the distance between the current pot and the planned pot. The coordinates stored in the coordinate table may be an angle with the center of the track of the rail 313 as the center of the circle. In this case, the movement amount is calculated based on the angle and the total length of the rail.
The CPU 41 that executes S21, S41 to S46, S51, and S81 to S88 corresponds to the acquisition unit, the CPU 41 that executes S28 to S31, S71 to S77, and S89 to S93 corresponds to the calculation unit, and the CPU 41 that executes S32, S33, S78, S79, S94, and S95 corresponds to the control unit. The CPU 41 that executes S82 to S92 corresponds to the movement direction determination section.

The embodiments disclosed this time should be considered as examples in all respects and not restrictive. The technical features described in each embodiment can be combined with each other, and the scope of the present invention is intended to include all modifications within the scope of the claims and the scope of claims and equivalents.

REFERENCE SIGNS LIST 100 machine tool 30 tool magazine 313 rail 331 motor 332 gear 34 moving body 35 link 40 control device 41 CPU
42 RAM
43 storage unit 43a storage medium P pot

Claims

a main shaft;
A control device for a machine tool comprising an endless rail and a tool magazine comprising a plurality of pots arranged at unequal intervals on the rail and storing tools,
the plurality of pots includes a current pot arranged at an indexed position to be mounted on the main shaft and a planned pot to be arranged at the indexed position;
an acquisition unit that acquires the distances between the plurality of pots;
a calculation unit that calculates a movement amount for moving the planned pot to the indexed position based on the information about the current pot and the planned pot and the distance acquired by the acquisition unit;
A control device, comprising: a control unit that performs control to move the pot along the rail based on the movement amount calculated by the calculation unit.
said spacing includes a first spacing and a second spacing wider than said first spacing, said pots being arranged such that said first spacing and said second spacing alternate;
The control device according to claim 1, wherein the calculator calculates the movement amount based on a first distance that is the distance of the first interval and a second distance that is the distance of the second interval.
The information includes a number assigned to the pot and a starting point interval indicating the interval between the current pot and the adjacent pot on the upstream side in the moving direction,
3. The control device according to claim 2, wherein the calculation unit calculates the number of moving pots based on the numbers assigned to the current pot and the scheduled pot, and calculates the movement amount by adding the product of the sum of the first distance and the second distance and the quotient obtained by dividing the number of moving pots by 2 with the product of the distance of the starting point interval and the remainder obtained by dividing the number of moving pots by 2.
A storage unit that stores the first distance and the second distance,
The control device according to claim 2 or 3, wherein the acquisition unit acquires the first distance and the second distance from the storage unit.
A storage unit that stores the distance for one round of the rail, the total number of the pots, and the ratio between the first interval and the second interval,
The control device according to claim 2 or 3, wherein the acquisition unit acquires the first distance and the second distance based on the distance for one round of the rail, the total number of the pots, and the ratio between the first distance and the second distance.
the information includes coordinates of the current pot and the planned pot;
A storage unit storing coordinates corresponding to the coordinates assigned to the pot,
The control device according to claim 1, wherein the acquisition unit acquires the coordinates of the current pot and the planned pot from the storage unit, calculates a difference between the coordinates of the current pot and the planned pot from the storage unit, and acquires the distance based on the difference.
a moving direction determining unit that determines a moving direction for moving the pot based on the coordinates assigned to the current pot and the planned pot;
The control device according to any one of claims 1 to 6, wherein the calculation section calculates the movement amount based on the movement direction determined by the movement direction determination section.
a main shaft;
A control method for a machine tool comprising: an endless rail; and a tool magazine comprising a plurality of pots arranged at unequal intervals on the rail and storing tools,
the plurality of pots includes a current pot to be mounted on the spindle and a planned pot to be arranged at the indexing position;
obtaining distances between the plurality of pots;
A control method comprising calculating a movement amount for moving the planned pot to the indexed position based on the information about the current pot and the planned pot and the distance, and moving the pot along the rail based on the movement amount.
a main shaft;
A program executable by a control device of a machine tool comprising an endless rail and a tool magazine comprising a plurality of pots arranged at uneven intervals on the rail and storing tools,
the plurality of pots includes a current pot to be mounted on the spindle and a planned pot to be arranged at the indexing position;
obtaining distances between the plurality of pots;
calculating a movement amount for moving the planned pot to the indexed position based on the information about the current pot and the planned pot and the distance;
A computer program that causes the control device to move the pot along the rail based on the amount of movement.