WO2023144873A1

WO2023144873A1 - Output device, and machine tool

Info

Publication number: WO2023144873A1
Application number: PCT/JP2022/002601
Authority: WO
Inventors: 昌治伊藤; 大祐福岡; 徹山口
Original assignee: 株式会社Fuji
Priority date: 2022-01-25
Filing date: 2022-01-25
Publication date: 2023-08-03

Abstract

The objective of the present invention is to provide an output device capable of employing a threshold to detect an operating state of an operating device capable of holding a target object, and a machine tool provided with the output device.　The output device comprises: an actuator; an output member which is displaced in an axial direction on the basis of the drive of the actuator, thereby operating the operating device to hold the target object; a detected member which is displaced in the axial direction in accordance with the axial-direction displacement of the output member; a distance sensor which outputs a detection signal corresponding to a distance to the detected member; and a control device into which the detection signal from the distance sensor is input. The detected member has an inclined surface of which a distance to the distance sensor decreases with increasing distance from one side to the other side in the axial direction. The distance sensor outputs to the control device the detection signal corresponding to the distance to the inclined surface. The control device includes: an acquiring unit which acquires a threshold; and a determining unit which, on the basis of the threshold acquired by the acquiring unit, determines a detected value indicated by the detection signal output form the distance sensor, and detects the operating state of the operating device.

Description

Output devices and machine tools

The present disclosure relates to an output device that outputs axial motion to an actuator capable of holding an object.

Conventionally, various proposals have been made for output devices that output motion in the axial direction. For example, Patent Document 1 below discloses a clamp/unclamp detection mechanism for a spindle device, which describes a drawbar that urges a tool in a clamping direction against a shaft hole of a tool spindle rotatably supported by a tool headstock. A portion to be detected is formed so as to protrude in the circumferential direction at the rear end portion of the boss portion of the drawbar. The case to which the detection element that detects the part to be detected is attached can change the mounting rotation angle around a predetermined axis line, and the direction of the detection element to the part to be detected can be changed by changing the mounting rotation angle of the case. Adjustable. The user adjusts so that the detection center of the detection element coincides with the central portion (protrusion peak) of the detected portion when arranged at the clamp position. The detection element outputs a voltage value corresponding to a change in the distance from the detected part. The clamp/unclamp detection mechanism determines clamp/unclamp based on the voltage value.

Japanese Patent Application Laid-Open No. 2000-354939 (paragraphs 0029, 0032, 0033, FIGS. 7, 0048, and 8)

In the clamp/unclamp detection mechanism described above, clamping is determined when the output voltage of the detection element reaches a predetermined peak, and unclamping is determined otherwise. In the embodiment of FIG. 7, the position of the peak of the detected part changes each time the outer diameter of the tool to be clamped is changed, so it is necessary to change the mounting rotation angle of the case and adjust the detection direction of the detection element. be. Further, in the embodiment of FIG. 8, it is described that a predetermined threshold value is used to determine whether to clamp or unclamp. not listed in For this reason, in the technique according to Patent Document 1, there is room for improvement in the technique for determining the clamping state of the object using a threshold value.

The present disclosure has been made in view of the above problems, and provides an output device capable of detecting the operating state of an operating device capable of holding an object using a threshold value, and a machine tool including the output device. intended to

In order to solve the above problems, the present specification provides an output device for outputting axial motion to an actuator capable of holding an object, comprising: an actuator; an output member that is displaced to operate the operating device to hold the object; a detected member that is displaced in the axial direction according to the axial displacement of the output member; and the detected member of the output member. a distance sensor that outputs a detection signal corresponding to the distance between the According to an acquisition unit that acquires a threshold value; and a determination unit that determines a detection value indicated by the detection signal input from the distance sensor based on the threshold value acquired by the acquisition unit, and detects an operating state of the actuator. An output device comprising:
Note that the threshold in the present disclosure is not limited to a value indicating one of the detection values indicated by the detection signal, and may be a value having a certain width (range) or a combination of multiple values. Therefore, as the value used as the threshold value, a value within a certain range from the lower limit to the upper limit may be used, or a plurality of values within that range may be used. Further, matching a threshold value with a detected value means not only that the detected value matches one threshold value, but also that the detected value is included in a certain range of threshold values, or that the detected value matches any of a plurality of threshold values. It is a concept that includes doing.
Moreover, the content of the present disclosure is extremely useful not only when implemented as an output device, but also when implemented as a machine tool having an output device.

According to the output device and machine tool of the present disclosure, the control device acquires the threshold value, determines the detection value indicated by the detection signal of the distance sensor based on the acquired threshold value, and detects the operating state of the output device. Therefore, it is possible to appropriately detect the operation state of the actuator by acquiring and determining a threshold value set in advance according to the type of workpiece or a threshold value set by the user.

A block diagram of a machine tool. Partial sectional view of a drive. The enlarged view which expanded the part of the dog of FIG. Schematic diagram showing the relationship between a proximity sensor and a dog. The figure which shows the setting screen of a threshold value. 4 is a flowchart of chuck drive processing;

An embodiment embodying the output device and machine tool of the present disclosure will be described below with reference to the drawings. FIG. 1 shows a block diagram of a machine tool 10 of this embodiment. A machine tool 10 of this embodiment is, for example, an NC lathe, and as shown in FIG. Note that the machine tool of the present disclosure is not limited to lathes, and may be machining centers, milling machines, drilling machines, and the like. Also, the machine tool of the present disclosure may have two or more lathes, or may be a compound machine tool that has both a lathe and a machining center.

The processing device 11 is a device that executes processing on a work (not shown). The processing device 11 includes a spindle device 21 , a turret device 22 and a slide device 23 . The spindle device 21 grips the workpiece and rotates it around the spindle. Details of the spindle device 21 will be described later. The turret device 22 includes a tool post to which a plurality of tools can be attached, and rotates the tool post to index (replace) the tools. The slide device 23 is a device that slides the turret device 22 . The slide device 23 slides the turret device 22, for example, in the Z-axis direction parallel to the main shaft of the spindle device 21 and in the X-axis direction perpendicular to the Z-axis direction.

The loader 13 is, for example, a gantry-type work transfer device, and is provided on top of the machine tool 10 to transfer work to and from various devices. The various devices mentioned here include the spindle device 21, the reversing device for reversing the work, the machine tools for the pre-process and the post-process, the temporary table for placing the work, and the like. The loader 13 moves, for example, a head having a plurality of claws for chucking a work in the Z-axis direction, the X-axis direction, and the Y-axis direction perpendicular to both axial directions.

The operation panel 15 is a user interface, and includes, for example, a touch panel 15A and operation switches 15B. The operation switch 15B is a push button switch, a slide switch, a rotary switch, or the like. The operation panel 15 receives operation inputs from the user via the touch panel 15A and the operation switches 15B, and outputs signals corresponding to the received operation inputs to the control device 17 . Further, the operation panel 15 changes the display contents of the touch panel 15A based on the control of the control device 17 . The operation panel 15 is an example of the reception device and the display reception device of the present disclosure. Note that the reception device and the display reception device of the present disclosure are not limited to the configurations described above. For example, the reception device and the display reception device may have a liquid crystal panel and operation switches, and may be configured to select items displayed on the liquid crystal panel with the operation switches. In other words, the reception device and the display reception device do not have to have a touch panel.

The air supply device 16 has, for example, a compressor, a control valve, etc., and supplies air to each device provided in the machine tool 10 . The air supplied from the air supply device 16 is used, for example, as air for driving an air cylinder functioning as a drive source, or as detection air for detecting seating of a workpiece, which will be described later.

The control device 17 is a processing device mainly composed of a computer including a CPU and the like, and executes numerical control and sequence control to comprehensively control the operation of the machine tool 10 . The control device 17 is electrically connected to each device of the machine tool 10 (drive source such as the spindle motor 33, etc.), and is capable of controlling the operation of each device. The control device 17 also includes a storage device 18 . The storage device 18 includes, for example, RAM, ROM, flash memory, hard disk, and the like. The storage device 18 stores various control data D1.

The control data D1 includes, for example, data such as a program for controlling the operation of the spindle device 21 and the turret device 22, the type of work to be produced, the type of tool used for work, and the position of the tool relative to the work during work. there is The program referred to here is, for example, a sequence control program (ladder circuit), an NC program, or the like. The control data D1 also includes threshold data D2 for determining a detection value indicated by a detection signal of the proximity sensor 49, which will be described later. Further, the control device 17 can execute the program of the control data D1 by the CPU, and set the threshold in the threshold data D2 according to the operation input of the operation panel 15. FIG. Details of the processing using the threshold data D2 will be described later. In the following description, the fact that the control device 17 executes the program of the control data D1 to control each device may be simply referred to as the device name. For example, "the control device 17 controls the spindle device 21" means that "the control device 17 executes the program of the control data D1 by the CPU and controls the spindle device 21 based on the program". .

The control device 17 controls each device with the above-described configuration to process the workpiece. For example, the control device 17 transfers the workpiece received by the loader 13 from the device of the previous process to the spindle device 21 of the processing device 11 . The processing device 11 rotates the spindle device 21 to rotate the workpiece under the control of the control device 17 . The control device 17 controls the turret device 22 and the slide device 23 to adjust and index the position of the tool, and machine the workpiece of the spindle device 21 with the indexed tool.

(Regarding spindle device 21)
In this example, an example in which the output device of the present application is applied to the driving device 31 of the spindle device 21 and the control device 17 that controls the driving device 31 will be described. FIG. 2 shows a partial cross-sectional view of the driving device 31 of the spindle device 21. As shown in FIG. In the following description, as shown in FIG. 2, the direction along the main shaft 25 of the main shaft device 21 is referred to as the axial direction, the side of the inducer 57 in the axial direction is referred to as the proximal side, and the side of the chuck device 32 is referred to as the distal side. will be named and explained. FIG. 2 does not show a cross section of a hydraulic cylinder 47 or a rotary joint 48, which will be described later, but shows the internal structure transparently (in broken lines). As shown in FIGS. 1 and 2, the spindle device 21 includes a drive device 31 (FIG. 2), a chuck device 32 (FIG. 2), a spindle motor 33 (FIG. 1), an encoder 34 (FIG. 1), and the like. . A chuck device 32 is attached to the driving device 31 in a range indicated by a dashed line. The chuck device 32 is an example of an actuating device of the present disclosure. The spindle device 21 drives the chuck device 32 by the output of the drive device 31 in the axial direction (base end and tip direction in FIG. 2) to grip the work. The spindle device 21 transmits rotational motion to the chuck device 32 via the driving device 31 to rotate the workpiece around the spindle 25 . A work is an example of an object of the present disclosure.

Specifically, the driving device 31 includes a turntable 41, a spindle 43, pulleys 45 and 46, a hydraulic cylinder 47, a rotary joint 48, a proximity sensor 49, and the like. The turntable 41 has a cylindrical shape along a direction parallel to the axial direction of the main shaft 25 . The spindle 43 is rotatably provided within the turntable 41 . The chuck device 32 is attached to the tip of the spindle 43 . The chucking device 32 has, for example, a contact metal and a plurality of small claws, and clamps (chucks) the work according to the driving of the driving device 31 .

A pulley 45 is fixed to the spindle 43 on the proximal end side of the rotating table 41 . A belt 51 is stretched between the pulley 45 and a pulley (not shown) fixed to the rotating shaft of the main shaft motor 33 (see FIG. 2). Therefore, the spindle 43 is rotated by the rotation driving force of the spindle motor 33 transmitted through the belt 51 , and rotates the chuck device 32 . As a result, the workpiece chucked by the chuck device 32 is rotated about the main shaft 25 . A pulley 46 is attached to the spindle 43 on the tip side of the pulley 45 . A timing belt 53 is stretched between the pulley 46 and a pulley (not shown) of the encoder 34 for detecting the rotation speed of the spindle device 21 . The control device 17 detects the rotation speed of the spindle device 21 based on the detection signal from the encoder 34 .

A draw bar 55 is inserted inside the spindle 43 . The draw bar 55 has a cylindrical shape along the axial direction of the main shaft 25 . An actuator for driving the chuck device 32 is connected to the draw bar 55 . The machine tool 10 of this example includes a hydraulic cylinder 47 as an example of the actuator of the present disclosure. The hydraulic cylinder 47 includes a cylinder 47A, a piston 47B sliding inside the cylinder 47A, and a rod 47C fixed to the piston 47B. The hydraulic cylinder 47 is a so-called double rod cylinder in which a rod 47C protrudes in both directions of the piston 47B in the axial direction. The rod 47C has a cylindrical shape as a whole, and a draw bar 55 is coaxially connected to a portion protruding from the piston 47B toward the tip side. The rotation axes of the rod 47C and the draw bar 55 are, for example, along the axial direction of the main shaft 25, which is the rotation center of the work. The hydraulic cylinder 47 moves the rod 47C to the proximal side along a direction parallel to the axial direction by being supplied with hydraulic oil via a rotary joint 48 connected to the proximal side, for example. Moreover, the hydraulic cylinder 47 moves the rod 47C to the tip side by discharging hydraulic oil. This axial movement of the rod 47C is output to the chuck device 32 via the drawbar 55. As shown in FIG.

A portion of the rod 47C protruding from the piston 47B to the proximal side extends to an inducer 57 provided at the proximal end of the driving device 31. An air pipe 59 is inserted inside the cylindrical rod 47C and the draw bar 55 . The air pipe 59 has a proximal end connected to the port of the inducer 57 and a distal end connected to the flow path in the chuck device 32 . The air pipe 59 allows the compressed air supplied from the air supply device 16 (see FIG. 1) through the inducer 57 to flow through the flow path inside the chuck device 32 . The control device 17 controls the air supply device 16 to supply compressed air, and, for example, determines whether or not the workpiece is seated on the metal of the chuck device 32 by determining the pressure of the supplied compressed air.

A dog 61 is attached to the rod 47C on the proximal end side of the rotary joint 48. The dog 61 has, for example, a substantially disc shape centered on the same axis (the main shaft 25) as the rod 47C and the drawbar 55. As shown in FIG. The dog 61 has a predetermined thickness in the axial direction of the main shaft 25 and rotates around the main shaft 25 . An inclined surface 61A is formed on the outer peripheral surface of the dog 61 in the radial direction (vertical direction in FIG. 2). The inclined surface 61A, for example, is inclined at a constant angle, and is inclined outward from the proximal side to the distal side.

For example, the proximity sensor 49 is attached at a position facing the inclined surface 61A in the radial direction of the dog 61 with a predetermined distance therebetween. Further, the proximity sensor 49 has its detection direction set, for example, in a direction perpendicular to the main shaft 25 and parallel to the radial direction of the dog 61 . The proximity sensor 49 outputs a detection signal to the control device 17 according to the distance to the inclined surface 61A. The method of communicating the detection signal between the proximity sensor 49 and the control device 17 is not particularly limited, but for example, communication using a communication interface such as IO-Link standardized by IEC 61131-9 can be adopted.

The control device 17 detects the operation state (an example of the operation state of the present disclosure) of the chuck device 32 based on the detection signal of the proximity sensor 49, that is, based on the distance between the proximity sensor 49 and the inclined surface 61A. . The spindle device 21 moves the drawbar 55 and the rod 47C (dog 61) in the axial direction according to the drive of the hydraulic cylinder 47, outputs linear motion in the axial direction from the rod 47C, and chucks the linear motion via the drawbar 55. communicate to device 32; The chuck device 32 converts the linear motion in the axial direction into motion for opening and closing the work by operating the child claws in the radial direction, and chucks and releases the chuck of the work. Therefore, the control device 17 can detect the operating state of the chuck device 32 by determining how much the dog 61 (draw bar 55) has been drawn from the distance between the proximity sensor 49 and the inclined surface 61A.

The detection method of the proximity sensor 49 is not particularly limited. For example, a detection method using electromagnetic induction that detects eddy currents generated on the inclined surface 61A using a magnetic field may be used. A detection direction using a capacitance for detecting a change in capacitance occurring between the dog 61) may be used. The proximity sensor 49 may output a voltage value or a current value having a magnitude corresponding to the distance from the inclined surface 61A as a detection signal. Proximity sensor 49 is an example of the distance sensor of the present disclosure. Further, the distance sensor of the present disclosure is not limited to sensors using magnetism or capacitance as described above, and may be other sensors such as infrared sensors and ultrasonic sensors.

FIG. 3 shows an enlarged view of the portion of the dog 61 in FIG. As shown in FIG. 3, for example, the dog 61 is driven by the hydraulic cylinder 47 by a distance L1 from an initial position P1 indicated by a solid line in FIG. It is possible to move (retract) to the side. The distance L1 is several tens of mm, for example. The proximity sensor 49 outputs a detection signal corresponding to the distance between the dog 61 and the initial detection position DP1 of the inclined surface 61A when the dog 61 is placed at the initial position P1. The initial detection position DP1 is a position away from the proximal end face 61B of the dog 61 by a distance L2 along the axial direction toward the distal end. That is, the initial detection position DP1 is set at a position deviated inward from the end of the dog 61. As shown in FIG.

Also, the proximity sensor 49 outputs a detection signal corresponding to the distance between the dog 61 and the final detection position DP2 of the inclined surface 61A when the dog 61 is placed at the maximum position P2. The final detection position DP2 is a position away from the distal end surface 61C of the dog 61 by a distance L3 along the axial direction toward the base end side. That is, the range from the initial detection position DP1 to the final detection position DP2, which is the detection range of the proximity sensor 49, is a range whose both ends are positions shifted inward from both ends of the dog 61. As shown in FIG. If the detection range of the proximity sensor 49 includes both ends of the dog 61 in the axial direction (such as the edge of the base end surface 61B), the detection signal may become unstable. Therefore, by narrowing down the detection range of the proximity sensor 49 to the distances L2 and L3 inward from both ends of the dog 61, the detection accuracy of the operating state based on the detection signal of the proximity sensor 49 can be improved.

FIG. 4 schematically shows the proximity sensor 49 and the dog 61. In order to facilitate the explanation of the determination method using the thresholds, FIG. 4 shows values of the thresholds TH1 to TH6 and black circles indicating the positions where the detection values of the proximity sensor 49 are the thresholds TH1 to TH6. ing. As shown in FIG. 4, the proximity sensor 49 can detect a range from an initial detection position DP1 when the dog 61 is placed at the initial position P1 to a final detection position DP2 when the dog 61 is placed at the maximum position P2.

The control device 17 detects the operating state of the chuck device 32 by comparing the detection value indicated by the detection signal of the proximity sensor 49 and the threshold values TH1 to TH6 of the threshold data D2. The operating state here is, for example, a chucking state, a chucking release state, an over-clamping state, or a chucking failure state. The chucking state is a state in which the chucking device 32 normally chucks the workpiece, and is an example of the holding state of the present disclosure. In the chucked state, the workpiece can be processed. The chuck release state is a state in which the chuck device 32 releases the chuck of the workpiece, and is an example of the hold release state of the present disclosure. In the chuck released state, the loader 13 can hold and move the workpiece received from the chuck device 32 . An over-clamped state (which can also be referred to as an empty clamped state) is, for example, a state in which the work is not placed at the contact metal position (an example of the holding position of the present disclosure) of the chuck device 32, and the child claw is moved in the direction of chucking the work. , the chuck device 32 could not normally chuck the workpiece. Alternatively, the over-clamped state is, for example, a state in which the chuck device 32 cannot normally chuck the work when the child jaws are moved in the direction of chucking the work while the work seated on the contact metal is not in a normal posture. is. An overclamp condition is an example of a hold failure condition of the present disclosure. In the over-clamped state, the chuck device 32 is in a state in which the child jaws are further moved in the chucking direction than the chucked position. Further, the chucking failure state is, for example, when the workpiece is seated on the abutment in a normal posture, but chips adhere to the outer peripheral portion of the workpiece, and the chuck device 32 does not reach the chucking state. 61) is stopped. A chuck failure state is an example of a hold failure state of this disclosure.

Also, if the chuck device 32 chucks a wrong type of work (hereinafter sometimes referred to as a different type of work), the above-described over-clamping state or chucking failure state occurs. For example, when a different type of work having an outer diameter larger than that of the work to be processed is seated on the abutment of the chuck device 32 by the loader 13, the chuck device 32 stops the small claws (dogs 61) before entering the chucking state. , the chuck fails. Further, for example, when a different kind of work having an outer diameter smaller than that of the work to be processed is seated on the abutment of the chucking device 32 by the loader 13, the chucking device 32 chucks the child jaws further than the chucking position. It will be in an over-clamped state in which it is moved in the direction. The control device 17 detects each operating state by comparing the detection value of the proximity sensor 49 with the thresholds TH1 to TH6.

As shown in FIG. 4, the detection value of the proximity sensor 49 is, for example, the largest at the initial detection position DP1 where the distance between the proximity sensor 49 and the dog 61 is the longest in the detection range and becomes "80". Also, the detection value is the smallest at DP2 where the distance is the shortest, and becomes "10". Since the inclined surface 61A is inclined at a predetermined angle, the detected value decreases with a constant amount of change from the initial detection position DP1 toward the final detection position DP2.

The control device 17 uses, for example, six threshold values TH1, TH2, TH3, TH4, TH5, and TH6 to determine the detection values and detect the operating state of the chuck device 32 . The thresholds TH1 and TH2 are thresholds for detecting the chuck release state. Thresholds TH3 and TH4 are thresholds for detecting a chucking state or a chucking failure state. Thresholds TH5 and TH6 are thresholds for detecting an over-clamped state.

For example, when chucking the chuck device 32, the control device 17 controls the hydraulic cylinder 47 to pull the draw bar 55 toward the base end side, and obtains a detection signal from the proximity sensor 49 at predetermined timings. When the work can be chucked normally, the child claws of the chuck device 32 come into contact with the work at a desired position. Therefore, the drawbar 55 stops at a predetermined position due to the balance between the drawing force of the hydraulic cylinder 47 and the reaction force applied to the child claws from the work. The thresholds TH3 and TH4 are set to values corresponding to detection values detected by the proximity sensor 49 at the position where the draw bar 55 stops when the chuck device 32 normally chucks the workpiece. Therefore, the thresholds TH3 and TH4 have different appropriate values depending on the type of work. In the example shown in FIG. 4, "32.2" is set as the threshold TH3, and "31.9" is set as the threshold TH4.

When the chucking device 32 is to be shifted from the chucking state to the chucking release state, the control device 17 controls the hydraulic cylinder 47 to push the draw bar 55 toward the leading end side, and outputs the detection signal of the proximity sensor 49 at predetermined timings. get. The detected value, for example, gradually increases from a value within the range of thresholds TH3 to TH4. For example, when the child jaws of the chuck device 32 are moved in the opening direction from the chucking position in a state in which the loader 13 chucks the workpiece after machining by the chuck device 32, the loader 13 is moved when the child jaws are opened to a predetermined position. , the work seated on the contact can be removed while avoiding interference between the work and the sub-claw. The thresholds TH1 and TH2 are values corresponding to detection values of the proximity sensor 49 when the chuck device 32 releases the chucking of the workpiece and the draw bar 55 (dog 61) is arranged at a position where the workpiece can be properly picked up by the loader 13. be. When the detection value indicated by the acquired detection signal reaches the range of threshold values TH1 and TH2 while transitioning to the chuck release state, the control device 17 detects the chuck release state, ie, that the chuck of the workpiece has been released.

For example, if the detection values in the state where the draw bar 55 (dog 61) is arranged at the position where the chuck of the work having the largest outer diameter can be released among the works that can be processed by the machine tool 10 are set as the thresholds TH1 and TH2, other The chuck release state can be detected even for small-diameter workpieces. However, if the same threshold values TH1 and TH2 as those for large-diameter workpieces are used for small-diameter workpieces, it takes a long time to detect the chuck release state. Therefore, it is preferable to set appropriate values for the thresholds TH1 and TH2 according to the type of work. In the example shown in FIG. 4, "71.0" is set as the threshold TH1, and "69.0" is set as the threshold TH2.

Also, in the over-clamped state, the dog 61 does not stop even if the detected value falls within the range of the threshold values TH3 to TH4, and is further pulled. When the chucking device 32 performs a chucking operation, the control device 17 detects the over-clamping state when the detected value falls within the range of the thresholds TH5 and TH6. In the example shown in FIG. 4, the same value "31.9" as the threshold TH4 is set as the threshold TH5. Further, the same value as the value "10.0" of the final detection position DP2 is set as the threshold TH6. In this case, the control device 17 detects an over-clamped state and issues an error notification, for example, when the detected value is greater than the threshold TH4 (TH5). The thresholds TH5 and TH6 may be set to values larger than the threshold TH4, that is, different values for each work. Alternatively, any value greater than the threshold TH4 may be set, such as "20.0" as the threshold TH5 and "15.0" as the threshold TH6. In this case, the same thresholds TH5 and TH6 "20.0, 15.0" may be used for all works.

The above thresholds TH1 to TH6 are set in the threshold data D2. For example, before delivering the machine tool 10 to the client, the vendor may preset the thresholds TH1 to TH6 based on the work of the client. Alternatively, the user may newly set the thresholds TH1 to TH6 after purchasing the machine tool 10, or may change the values set by the vendor.

FIG. 5 shows an example of a setting screen for thresholds TH1 to TH6. For example, the control device 17 causes the touch panel 15A to display the setting screen 65 shown in FIG. 5 in response to a predetermined operation input on the touch panel 15A. As shown in FIG. 5, the control device 17 arranges No, name, current value, minimum value, and maximum value in one line and displays them on the setting screen 65 . The minimum/maximum value of each line is the maximum/minimum value of the range for detecting the item indicated by the name of each line. For example, in the first line (No. 1) "chuck loose end", the threshold TH2 for detecting the chuck release state is set as the minimum value, and the threshold TH1 is set as the maximum value. Further, in No. 2 "chuck tightening end", the threshold TH4 for detecting the chuck state or the chuck failure state is set as the minimum value, and the threshold TH3 is set as the maximum value. Further, in No. 3 "chuck overclamp", the threshold TH5 for detecting the overclamp state is set to the maximum value, and the threshold TH6 is set to the minimum value. The user can change each value, for example, by performing a touch operation on the portion where each minimum value and maximum value are displayed. This allows the user to set appropriate thresholds TH1 to TH6.

In addition, the control device 17 displays, in each item of the current value 68 on the setting screen 65, the detected value currently detected by the proximity sensor 49, that is, the detected value obtained by detecting the position of the dog 61 in real time. As a result, the user can, for example, actually place the workpiece to be processed on the contact metal of the chuck device 32, drive the hydraulic cylinder 47, and stop the hydraulic cylinder 47 at an appropriate chuck position while closing the child jaws. At this time, the user can confirm and set the optimum thresholds TH3 and TH4 for the work to be processed by confirming the current value 68 . Similarly, regarding the threshold values TH1 and TH2 for detecting the chuck release state, for example, the user checks the states of the child claws of the chuck device 32 and the loader 13 while pushing out the draw bar 55, and then pulls the hydraulic cylinder 47 at an appropriate chuck release position. to stop At that time, the user can confirm and set appropriate threshold values TH1 and TH2 by confirming the current value 68 .

After receiving settings and changes of the threshold values TH1 to TH6 for each item of the minimum value and maximum value, the control device 17 sets the threshold value received on the setting screen 65 when the setting button 67 displayed on the setting screen 65 is touched. TH1 to TH6 are stored in threshold data D2. In subsequent processing, the control device 17 uses the thresholds TH1 to TH6 newly set in the threshold data D2 to execute determination.

Also, the threshold data D2 stores, for example, thresholds TH1 to TH6 for each type of workpiece. The threshold data D2 stores a workpiece NO indicating the type of workpiece and thresholds TH1 to TH6 used for processing the workpiece in association with each other. Then, the control device 17 accepts the thresholds TH1 to TH6 for each type of workpiece on the setting screen 65 . For example, when the work selection button 69 displayed on the setting screen 65 is touch-operated, the control device 17 displays a screen (not shown) for receiving the work No. When the work number is received on the reception screen, the control device 17 reads the thresholds TH1 to TH6 corresponding to the work number received from the threshold data D2 and displays them on the setting screen 65 . This allows the user to set appropriate thresholds TH1 to TH6 for each type of work.

(Chuck driving process)
Next, chuck drive processing executed by the control device 17 will be described. FIG. 6 shows a flowchart of chuck drive processing. By executing the chuck driving process, the control device 17 executes the chucking of the workpiece by the chucking device 32, the machining of the workpiece, and the release of the chucking of the workpiece after machining. The control device 17 executes the chuck driving process by executing a predetermined control program of the control data D1 with the CPU. For example, when a screen for accepting a machining start instruction is displayed on the touch panel 15A based on the user's operation input, the control device 17 starts the chuck driving process shown in FIG. It should be noted that the contents of the chuck driving process shown in FIG. 6, the order of the processes, and the conditions for starting the processes described above are examples.

When the chuck driving process is started, the control device 17 receives a work NO indicating the type of work to be processed on a screen for receiving a start instruction in step (hereinafter simply referred to as "S") 11. For example, when the start button is touch-operated with the work number input, the control device 17 sets thresholds corresponding to the input work number, that is, thresholds TH1 to TH6 associated with the input work number. It is obtained from the threshold data D2 in the storage device 18 (S11).

Next, the control device 17 places the workpiece on the spindle device 21 (S13). For example, the control device 17 controls the loader 13 to receive a work to be processed from a device in a previous process or a work stocker, and move the loader 13 that has received the work to place it in front of the spindle device 21. . After locating the loader 13 at a position where the workpiece can be transferred to and from the chuck device 32, the control device 17 starts to pull the draw bar 55 (S15). The control device 17 drives the hydraulic cylinder 47 to start drawing the drawbar 55, and acquires a detection signal from the proximity sensor 49 at predetermined timings. The detected value decreases as the drawbar 55 (dog 61) moves.

Next, the control device 17 determines whether the drawbar 55 has stopped (S17). The method of determining whether the drawbar has stopped is not particularly limited. , it is determined that the drawbar 55 has stopped. Alternatively, the positional information of the drawbar 55 and dog 61 in the axial direction is output to the control device 17 using a device that outputs positional information such as an encoder or linear scale, and the control device 17 stops the drawbar 55 based on the positional information. You can judge. Further, the control device 17 may determine stoppage of the drawbar 55 based on an increase in the external force (reaction force from the workpiece) applied to the hydraulic cylinder 47 or the drawbar 55 .

When the control device 17 determines that the drawbar 55 that is being drawn is not stopped (S17: NO), it determines whether the detection value of the proximity sensor 49 is greater than the threshold TH5 (S19). As shown in Fig. 4, during the retraction operation, for example, the posture of the seated work is incorrect, a work of a different type with a small outer diameter is placed, or the work is not placed on the contact due to the fall of the work (empty clamp). In the case of , the dog 61 does not stop at the threshold values TH3 to TH4, but is pulled to the tip side beyond the threshold value TH5, resulting in an over-clamped state. Therefore, when the control device 17 determines in the pull-in operation that the detected value is greater than the threshold TH5 (S19: YES), that is, when it detects an over-clamped state, it issues an error notification (S21). The control device 17, for example, stops the operation of the machine tool 10, and displays an error message such as "Please confirm the type and orientation of the work placed on the spindle device" on the touch panel 15A (S21). The control device 17 ends the processing shown in FIG. As a result, it is possible to avoid starting an erroneous machining operation such as machining a different kind of workpiece. Note that the control device 17 may use the threshold TH6 instead of the threshold TH5 in the determination process of S19. Alternatively, the control device 17 may determine in S19 that the detected value is equal to or greater than the threshold TH6 and less than the threshold TH5.

On the other hand, when the detected value is equal to or less than the threshold TH5 (S19: NO), the control device 17 executes the determination of S17. When the control device 17 determines that the drawbar 55 has stopped (S17: YES), it determines whether or not the detected value at the time of stop is equal to or greater than the threshold TH3 (S23). For example, when a different type of workpiece with a large outer shape is placed, when chips are caught between the child claw and the workpiece, or when the posture of the workpiece is incorrect, the dog 61 is positioned closer to the proximal end than the position of the threshold value TH3. It stops at the (front side) position and becomes a chuck failure state. Therefore, when the detected value is not equal to or greater than TH3 (S23: NO), that is, when the chuck failure state is detected, the controller 17 notifies an error (S21). For example, in S21, the control device 17 displays a message such as "the outer diameter of the work is larger than that of the work to be processed, or there is a possibility that chips are caught in the work" on the touch panel 15A.

Also, when the detected value at the time of stopping is equal to or greater than the threshold TH3 (S23: YES), the control device 17 determines whether the detected value at the time of stopping is equal to or less than the threshold TH4 (S25). For example, if a different type of work with a small outer shape is placed, or if the posture of the work is incorrect, it will be pulled in excessively and chuck failure will occur. Therefore, when the detected value is greater than the threshold TH4 (S25: NO), that is, when the chuck failure state is detected, the controller 17 notifies an error (S21). The control device 17 displays a message such as "Please check the workpiece" on the touch panel 15A.

Therefore, the operating state of the present embodiment includes an over-clamping state in which the workpiece cannot be held normally when the chucking device 32 is chucked in a state in which no workpiece is placed on the abutment of the chucking device 32. . The operating state also includes a chucking failure state in which the workpiece cannot be held normally when the chucking device 32 is operated while the workpiece seated on the abutment of the chucking device 32 is not arranged in a normal posture. . The controller 17 acquires a threshold TH5 for detecting an over-clamped state and thresholds TH3 and TH4 for detecting a chuck failure state (S11). Then, the control device 17 compares the acquired threshold values TH3, TH4, and TH5 with the detection values, and detects a holding failure state (S19, S23, S25). According to this, by using the detection value of the proximity sensor 49 and the thresholds TH3, TH4, and TH5, an over-clamped state in which the workpiece cannot be chucked normally or a chucking error state can be detected. It is possible to notify the user of the error, etc., and prompt the user to take appropriate measures.

When the detected value is equal to or less than TH4 (S25: YES), the control device 17 executes S27. By determining that the detected value is equal to or greater than the threshold TH3 and equal to or less than the threshold TH4, the control device 17 can detect that the workpiece corresponding to the workpiece NO has been chucked. In other words, it can be confirmed that a suitable workpiece to be machined is in a suitable chuck state. Therefore, the control device 17 releases the chuck of the loader 13 and retracts the loader 13 from the position facing the spindle device 21 (S27). The control device 17 controls the turret device 22 and the slide device 23 to start machining the workpiece chucked by the spindle device 21 .

Therefore, in S11, the control device 17 acquires the thresholds TH1 to TH6 corresponding to the work No., ie, the work to be processed. If the detection value of the proximity sensor 49 becomes equal to or greater than the threshold TH3 and equal to or less than the threshold TH4 (S23: YES, S25: YES) when the drawbar 55 is displaced to the base end side in the axial direction, the controller 17 controls the chuck. It detects that the operation state of the device 32 is the chuck state. According to this, by setting and acquiring appropriate values according to the workpiece to be processed as the threshold values TH3 and TH4, the chucking state of the workpiece can be accurately detected.

Also, the chuck device 32 can hold a plurality of types of workpieces. Threshold values TH1 to TH6 corresponding to the types of workpieces are stored in the threshold data D2 of the storage device 18, respectively. As shown in FIG. 5, the control device 17 receives the work No. (work type information) using the setting screen 65 of the touch panel 15A, and stores it in the threshold data D2 in association with the work No. Then, during processing, the control device 17 acquires from the storage device 18 the threshold values TH1 to TH6 corresponding to the work No. received by the touch panel 15A (S11). The control device 17 determines whether the acquired thresholds TH1 to TH6 match the detection values, and detects that the operating state is the chucking state. According to this, the user can set the threshold values TH3, TH4, etc. according to the type of work to be processed only by changing the work No.

For example, black squares in FIG. 4 indicate thresholds TH3A and TH4A when a work having a large outer shape is to be processed compared to the work using the thresholds TH3 and TH4 described above. In this case, the child claws come into contact with the work outside (open state) and stop when the work is chucked using the thresholds TH3 and TH4. The dog 61 stops on the tip side where the retraction amount is smaller. Therefore, the thresholds TH3A and TH4A are preferably values detected at positions closer to the proximal side than the thresholds TH3 and TH4. In the example shown in FIG. 4, "42.2" is set as the threshold TH3A, and "41.9" is set as the threshold TH4A. In this case, as the threshold TH5 for detecting the over-clamped state, the same value as the threshold TH4A may be used, the threshold TH4 may be used, or any value equal to or greater than the threshold TH4 may be used. By changing the thresholds TH3 and TH4 in accordance with the type of workpiece in this manner, the chucking state can be detected with high accuracy.

Also, the proximity sensor 49 maintains the detection direction for detecting the distance to the inclined surface 61A before and after the type of work is changed. For example, in the case shown in FIG. 3, the detection direction of the proximity sensor 49 is maintained in the vertical direction of the drawing (the direction orthogonal to the axial direction of the main shaft 25). Further, the control device 17 executes determination based on the detection signal of the proximity sensor 49 set (fixed) in the same detection direction before and after the type of workpiece is changed. Such a configuration eliminates the need for the user to adjust the detection direction of the proximity sensor 49 in response to a setup change or the like. Since there is no need to work on the proximity sensor 49 attached to the spindle device 21, it is possible to shorten the stoppage time of machining due to a setup change and improve production efficiency.

Further, as shown in FIG. 4, the control device 17 accepts the thresholds TH1 to TH6 in a state in which the detection values that fluctuate based on the driving of the proximity sensor 49 are displayed on the setting screen 65 as the current values 68. When the control device 17 determines that the detected value is within the range of the threshold TH3 to the threshold TH4 received on the setting screen 65, it detects that the operation state is the chucking state. According to this, the user can confirm the current value 68 by actually chucking the workpiece to be processed by the chuck device 32 at the work site, and can set the thresholds TH3 and TH4 according to the current value 68 . It is possible to reduce the work load of setting the thresholds TH3 and TH4 by the user, and to detect the chucking state more accurately.

After starting machining in S27, the control device 17 determines whether or not the machining of the target work received from the loader 13 is completed (S29), and executes S29 until the machining is completed (S29: NO). When the machining is finished (S29: YES), the control device 17 executes control to transfer the finished workpiece from the spindle device 21 to the loader 13 (S31). The control device 17 moves the loader 13 to a position for receiving the workpiece from the spindle device 21 and chucks the workpiece chucked by the spindle device 21 by the loader 13 .

When the work is chucked by the loader 13, the control device 17 controls the hydraulic cylinder 47 to start the process of pushing out the draw bar 55 (S33). The control device 17 acquires the detection signal of the proximity sensor 49 at predetermined timings while pushing out the drawbar 55 . The detected value increases as the drawbar 55 (dog 61) moves. The control device 17 determines whether or not the detection value indicated by the acquired detection signal is equal to or less than the threshold TH2 (S35). When the control device 17 determines that the detected value is not equal to or less than the threshold TH2, it determines whether or not the drawbar 55 has stopped (S37). The control device 17 determines whether the drawbar 55 has stopped in the same manner as in S17 described above. If the drawbar 55 has stopped (S37: YES), an error is notified (S21). In this case, the drawbar 55 stops before the chuck is released due to some problem, so the controller 17 displays a message such as "Please check the chuck state of the spindle device 21" on the touch panel 15A. If the drawbar 55 is not stopped (S37: NO), the control device 17 executes S35. Note that the control device 17 may use the threshold TH1 instead of the threshold TH2 in the determination process of S35. Alternatively, the control device 17 may determine in S35 that the detected value is equal to or greater than the threshold TH2 and less than the threshold TH1.

On the other hand, when the acquired detection value is equal to or less than the threshold TH2 (S35: YES), the control device 17 starts moving the loader 13 that has chucked the workpiece of the spindle device 21 (S39). Therefore, the controller 17 acquires the threshold TH2 for detecting the chuck released state in S11, and when the drawbar 55 is displaced from the chucked state in the direction of releasing the chuck, the detected value becomes equal to or less than the threshold TH2 (S35: YES) Detects that the operating state is the chuck release state. Then, the control device 17 starts moving the loader 13 that has received the workpiece from the chuck device 32 (S39). When the detected value becomes equal to or less than the threshold value TH2, the workpiece seated on the spindle device 21 can be taken out while avoiding interference with the small claws, etc., and can be taken out before the small claws are fully opened (at the earliest possible timing). Therefore, the loader 13 can more quickly and appropriately receive the machined workpiece from the spindle device 21 . The loader 13, under the control of the control device 17, transports the work to, for example, a post-process machine tool, discharge device, or the like.

The control device 17 stops pushing the drawbar 55 when the detected value becomes equal to or less than the threshold TH2 (S35: YES). That is, the drawbar 55 is stopped without being pushed to the fully open position of the initial detection position DP1. As a result, the drawing of the drawbar 55 can be started from the position where the child jaws are closed to some extent at the timing of starting the chucking of the next work, that is, at the timing of executing S15 next time, and the time required to chuck the work can be shortened. can. The control device 17 may push the drawbar 55 until the dog 61 reaches the position of the threshold value TH1 or the initial detection position DP1. That is, the draw bar 55 may be pushed to the position where the child claws are completely opened. Further, the control device 17 may start moving the loader 13 after pushing the dog 61 to the position where the detection value is equal to or less than the threshold TH1 or to the initial detection position DP1.

After executing S39, the control device 17 determines whether or not machining of all workpieces has been completed (S41). For example, the control device 17 receives the number of workpieces to be processed on the start screen of S11. The control device 17 makes a negative determination in S41 until the processing of the accepted number of workpieces is completed (S41: NO), and executes S13. As a result, machining can be started for the next workpiece to be machined. When the machining of all workpieces is completed (S41: YES), the control device 17 ends the processing shown in FIG. In this manner, the control device 17 can detect the operation of the chuck device 32 based on the thresholds TH1 to TH6 preset by the vendor and the thresholds TH1 to TH6 preset by the user, and can appropriately process the workpiece. .

As shown in FIG. 1, the control device 17 has an acquisition section 17A and a determination section 17B. The acquisition unit 17A and the like are, for example, processing modules realized by executing the control data D1 (NC program, ladder circuit, etc.) in the CPU of the control device 17. FIG. Note that the acquisition unit 17A and the like may be configured with hardware instead of software, or may be configured by combining software and hardware.

The acquisition unit 17A is a functional unit that acquires threshold values TH1 to TH6. The determination unit 17B is a functional unit that determines the detection value indicated by the detection signal input from the proximity sensor 49 based on the thresholds TH1 to TH6 acquired by the acquisition unit 17A, and detects the operating state of the chuck device 32.

By the way, the loader 13 is an example of a robot. The operation panel 15 is an example of the reception device and the display reception device of the present disclosure. A work is an example of an object. The chuck device 32 is an example of an operating device. The drive device 31 and the control device 17 are an example of an output device. The hydraulic cylinder 47 is an example of an actuator. The drawbar 55 is an example of an output member. Dog 61 is an example of a member to be detected. Proximity sensor 49 is an example of a distance sensor.

As described above, the present embodiment described above has the following effects.
In one aspect of the present embodiment, the inclined surface 61A of the dog 61 has a shorter distance from the proximity sensor 49 as it goes from the proximal side to the distal side in the axial direction (see FIG. 3). The control device 17 acquires the thresholds TH1 to TH6 from the threshold data D2 in the storage device 18 (S11). The control device 17 determines the detection value of the proximity sensor 49 based on the acquired threshold values TH1 to TH6, and detects the operating state of the chuck device 32. FIG. According to this, the operation state of the chuck device 32 can be appropriately detected by obtaining and judging the threshold values TH1 to TH6 set in advance according to the type of work and the threshold values TH1 to TH6 set by the user. As a result, it is no longer necessary to adjust the detection direction of the sensor each time the tool to be clamped is changed, as in the prior art document. For example, by setting the thresholds TH1 to TH6 according to the type of workpiece to be processed by the user in advance on the vendor side, the user can set the appropriate thresholds TH1 to TH6 simply by selecting the workpiece number. Therefore, it is not necessary to adjust the detection direction of the proximity sensor 49 when the work or child claws are changed due to a setup change or the like.

It goes without saying that the present disclosure is not limited to the above embodiments, and that various improvements and modifications are possible without departing from the scope of the present disclosure.
For example, in the above-described embodiment, the chuck device 32 that chucks the workpiece with the child claws was adopted as the operating device of the present disclosure, but the present invention is not limited to this. For example, the operating device may be a collet chuck device that holds a work using a collet. Also, the operating device may be a chuck device for chucking a rotating tool of a machining center. Therefore, the object of the present disclosure is not limited to the workpiece, and may be a tool or the like. Further, the operating device is not limited to a device for chucking an object, and may be, for example, a device for rotating the head of a reversing device for reversing a work, or a core pushing device for pushing a work toward a spindle. Therefore, the output member of the present disclosure is not limited to a pull-in member such as the draw bar 55, but may be a push-out member such as a connecting member that rotates the head or a center pushing member.
In addition, although the control device 17 accepts the change of the thresholds TH1 to TH6 from the user on the setting screen 65 shown in FIG. 5, the configuration may not accept the change.

Although the control device 17 detects the chucking state when the detected value falls within the range of the threshold TH3 to the threshold TH4, it is not necessary to use such a value with a certain width as the threshold. For example, the control device 17 may determine the chucking state when the detected value matches the threshold TH3, and may determine the chucking failure state when the detected value does not match the threshold TH3.
The actuator of the present disclosure is not limited to the hydraulic cylinder 47, and may be a pneumatic cylinder. Further, the actuator may be configured to drive the draw bar 55 and the dog 61 through a gear mechanism using a servomotor as a drive source.

In the above embodiment, as the inclined surface of the present disclosure, the inclined surface 61A in which the distance between the proximity sensor 49 and the proximity sensor 49 gradually decreases from the proximal side to the distal side in the axial direction of the main shaft 25 is adopted. Not exclusively. The inclined surface is an inclined surface in which the distance from the proximity sensor 49 gradually decreases from the distal end side to the proximal end side in the axial direction, that is, the inclined surface 61A is inverted with respect to a straight line perpendicular to the axial direction. An inclined surface is also acceptable. In this case, the detection value of the proximity sensor 49 becomes smaller as the drawbar 55 is pulled in, contrary to the above embodiment. Therefore, the magnitude relationship of the thresholds TH1 to TH6 is changed according to the decrease in the detected value.
Although the machine tool 10 has thresholds TH1 to TH6 for each type of workpiece, the storage device 18 may store only one set of thresholds TH1 to TH6. In this case, the user may appropriately change the thresholds TH1 to TH6 according to the change in the type of work.
The screen configuration of the setting screen 65 is an example. The control device 17 does not have to display the current value 68 on the setting screen 65 . Further, the control device 17 may accept, on the setting screen 65, only the change of the thresholds TH3 and TH4 among the thresholds TH1 to TH6.

The robot of the present disclosure is not limited to the loader 13, and may be a robot capable of transferring other works such as an articulated robot.
In the above-described embodiment, as shown in FIG. 4, the initial detection position DP1 located on the distal side (inner side) of the proximal end face 61B of the dog 61 by a distance L2 and the final detection position DP1 on the proximal side (inner side) of the distal end face 61C by a distance L3. The detection range of the proximity sensor 49 is up to the position DP2. However, the base end side of the base end face 61B and the tip end side of the tip end face 61C may be included in the detection range. For example, after the detection value becomes 10 or less (the detection value at the tip side of the final detection position DP2), the control device 17 increases the detection value by crossing the tip surface 61C and the dog 61 disappears from the detection range. An overclamp condition may be detected if it increases.

10 machine tool, 13 loader (robot), 15 operation panel (reception device, display reception device), 17 control device (output device), 17A acquisition unit, 17B determination unit, 18 storage device, 31 drive device (output device), 32 Chuck device (actuating device), 47 Hydraulic cylinder (actuator), 49 Proximity sensor (distance sensor), 55 Drawbar (output member), 61 Dog (detected member), 61A Inclined surface, TH1 to TH6 Threshold.

Claims

An output device for outputting axial motion to an actuator capable of holding an object,
an actuator;
an output member that is axially displaced based on driving of the actuator to operate the actuator to hold the object;
a member to be detected that is axially displaced according to the axial displacement of the output member;
a distance sensor that outputs a detection signal corresponding to the distance to the member to be detected;
a control device for inputting the detection signal of the distance sensor;
with
The member to be detected is
having an inclined surface in which the distance from the distance sensor becomes shorter as it goes from one side to the other side in the axial direction;
The distance sensor is
outputting the detection signal corresponding to the distance from the inclined surface to the control device;
The control device is
an acquisition unit that acquires a threshold;
a determination unit that determines a detection value indicated by the detection signal input from the distance sensor based on the threshold value acquired by the acquisition unit, and detects an operating state of the actuator;
An output device having
The operating state includes:
a holding state in which the actuator holds the object;
The acquisition unit
Acquiring the threshold corresponding to the object;
The determination unit is
2. The apparatus according to claim 1, wherein when the output member is displaced in the axial direction by driving the actuator and the detected value matches the threshold, it is detected that the operating state is the holding state. output device.
The actuator is
capable of holding a plurality of types of said objects;
The output device is
a storage device that stores a plurality of threshold values corresponding to each of a plurality of types of objects;
a reception device that receives the type of the object;
further comprising
The acquisition unit
obtaining from the storage device the threshold value corresponding to the type of the object received by the reception device;
The determination unit is
3. The output device according to claim 2, wherein a match between said threshold acquired by said acquisition unit and said detection value is determined to detect that said operating state is said holding state.
A display reception device that displays the detected value and receives the threshold,
The acquisition unit
In a state in which the detection value indicated by the detection signal, which varies as the output member is displaced in the axial direction based on the driving of the actuator, is displayed on the display reception device, and the detection value is displayed. receiving a value used as the threshold value by the display receiving device to obtain the threshold value;
The determination unit is
4. The output device according to claim 2, wherein a match between said threshold value acquired by said acquisition unit and said detection value is determined to detect that said operating state is said holding state.
The operating state includes:
The operating device is operated in a direction to hold the object in a state in which the object is not placed at the holding position of the operating device, or in a state in which the object at the holding position is not placed in a normal posture. includes a holding failure state in which the actuator cannot hold the object normally when
The acquisition unit
obtaining the threshold for detecting the retention failure state;
The determination unit is
5. The apparatus according to any one of claims 1 to 4, wherein the threshold obtained by the obtaining unit is compared with the detection value indicated by the detection signal to detect that the operating state is the retention failure state. output device.
The actuator is
capable of holding a plurality of types of said objects;
The distance sensor is
A detection direction for detecting a distance to the inclined surface is maintained before and after the type of the object is changed,
The determination unit is
6. The method according to any one of claims 1 to 5, wherein the determination is performed based on the detection signal of the distance sensor set in the same detection direction before and after the type of the object is changed. output device.
The object is
A work to be processed,
an output device according to any one of claims 1 to 6;
the actuator;
a robot that transfers the workpiece to and from the actuator;
A machine tool comprising
The operating state includes:
A work holding state in which the actuator holds the work and a work holding release state in which the work is released from holding,
The acquisition unit
obtaining the threshold value for detecting the work holding release state;
The determination unit is
When the output member is displaced from the work holding state in the axial direction for releasing the holding of the work, if the detection value indicated by the detection signal becomes equal to or less than the threshold value, the operating state is the work holding release state. A machine tool that detects that something is there and causes the robot that has received the workpiece from the actuator to move.