CN102717286B - Machine tool and control method - Google Patents
Machine tool and control method Download PDFInfo
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- CN102717286B CN102717286B CN201210086432.XA CN201210086432A CN102717286B CN 102717286 B CN102717286 B CN 102717286B CN 201210086432 A CN201210086432 A CN 201210086432A CN 102717286 B CN102717286 B CN 102717286B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/15546—Devices for recognizing tools in a storage device, e.g. coding devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/16—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine controlled in conjunction with the operation of the tool
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
- B23Q2003/155428—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable about a common axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2716/00—Equipment for precise positioning of tool or work into particular locations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
The invention provides a machine tool being free of bad cutting and being short in cutter changing time, and a control method for controlling the cutter changing motion. When the cutter accommodated in a cutter sleeve is a standard one, and the machine tool parallelly executes the motion of moving the cutter sleeve close to the cutter changing arm and the motion of moving the a machining shaft (main shaft head) to the cutter changing position. Because the motion of moving the cutter sleeve close to the cutter changing arm and the motion of moving the a machining shaft (main shaft head) to the cutter changing position are carried out synchronously, the bad cutting can be prevented.
Description
Technical field
The present invention relates to the cutter for exchanging large footpath or the path being contained in accommodation section and be arranged on the lathe of the cutter in the processing department of processing work and the control method for controlling tool changing action.
Background technology
Lathe carries out the various processing such as Milling Process, tapping.Lathe, based on the instruction from control part, takes out the cutter of regulation from the accommodation section for holding much knives tool.Lathe exchanges the cutter that takes out and is arranged on the cutter on machining shaft (processing department), and carries out the processing that will implement.In No. 114757th, Japanese Laid-Open Patent Publication 1999, open one comprises the lathe of machining shaft, tool magazine, tool changing arm and control device (control part).Tool magazine comprises multiple broach shell (accommodation section) for holding cutter.Tool magazine is ring-type, and fore-and-aft direction or left and right directions is rotated as axis direction.Tool magazine is to the bottom position conveying broach shell that can exchange broach shell.Spend to the downward sideway swivel roughly 90 of broach shell after the conveying of bottom position.Machining shaft and tool changing arm is provided with in the downside of processing head (moving part).Processing head moves between tool change position and Working position.Tool change position is the position for carrying out tool changing.Working position is the position for processing work.Working position is positioned at the below of tool change position.During tool changing, processing head moves to tool change position.Tool changing arm is near the broach shell rotated to downside.Tool changing arm comprises arm, mechanical finger.Mechanical finger is located at the two ends of arm respectively.Each mechanical finger rotates to the cutter in the broach shell of downside and the cutter be arranged on machining shaft for holding to be contained in.Tool changing arm can move up and down and can revolve turnback.During tool changing, each mechanical finger holds the cutter on machining shaft and the cutter in broach shell, and after this, tool changing arm declines.Tool changing arm revolves turnback in lowest point, and afterwards, tool changing arm rises.When tool changing arm has risen, the cutter on machining shaft and the cutter in broach shell are exchanged.After this, each mechanical finger removes the holding to cutter.
The cutter carrying out tool changing has large footpath cutter (large-scale cutter) and standard cutter (small-sized cutter).The diameter of standard cutter is less than the diameter of large footpath cutter.When the large footpath Cutting tool installation manner that will be contained in broach shell is on machining shaft, tool changing action is carried out as follows.After processing head moves to tool change position, the downward sideway swivel of broach shell.If processing head rotates at broach shell move to tool change position to the state of downside, then large footpath cutter can contact with tool changing arm.Therefore, broach shell downward sideway swivel after processing head moves to tool change position.For path cutter, even if processing head rotates at broach shell move to tool change position to the state of downside, path cutter also can not contact with tool changing arm.Therefore, the broach shell being accommodated with path cutter can rotate before machining shaft rises.But, if rotate broach shell in the process utilizing machining shaft processing work, then there is the vibration passing caused by the rotation of broach shell and occur to workpiece and cutter to cut bad such problem.Cutting bad method as preventing, there is the situation implementing tool changing according to the method identical with large footpath cutter.But, in these cases, produce elongated another problem like this of tool change time again.
Summary of the invention
The object of the present invention is to provide the lathe that do not cut and poorly shorten tool change time and the control method for controlling tool changing action.
The lathe of technical scheme 1 comprises: multiple accommodation section, and they are respectively used to hold large-scale cutter or the diameter small-sized cutter less than large-scale cutter; Processing department, it carrys out processing work by installing the cutter be contained in accommodation section; Tool changing portion, it is for changing the cutter be arranged in processing department; Moving part, it moves together with tool changing portion and processing department between the tool change position for carrying out tool changing and the Working position for processing work; Actuator (actuator), it is for realizing accommodation section to the close of tool changing portion or leaving from tool changing portion; Storage part, it is for storing the tool changing order carrying out tool changing; Tool-information table, it is for storing the dimension information of identifying information for identifying cutter and the large-scale or small-sized difference of the expression corresponding with this identifying information; And control part, it is based on tool-information table and tool changing order, controls the action in moving part, actuator and tool changing portion, and performs the cutter be arranged in processing department and the exchange being contained in the cutter in accommodation section.Control part comprises: next cutter decision maker, and whether it is that small-sized cutter judges to the cutter that and then will be arranged on after being arranged on the cutter in processing department in processing department; First executed in parallel device, it is when utilizing next cutter decision maker to be judged to be that the cutter that will be arranged in processing department is small-sized cutter, and the action of executed in parallel accommodation section near tool changing portion and moving part are to the action of tool change position movement; Operation determining device, whether it is to utilizing complete two actions of the first executed in parallel device to judge; And tool changing actuating unit, it is when utilizing operation determining device to be judged to be complete two action, performs the tool changing undertaken by tool changing portion.
Whether next cutter decision maker of control part is that small-sized cutter judges to the cutter that next will use, when the cutter that next will use is small-sized cutter, the action near tool changing portion of the first executed in parallel device executed in parallel accommodation section of control part and moving part are to the action of tool change position movement.Therefore, lathe, when the cutter that next will use is small-sized cutter, after the process finishing of being undertaken by processing department, carries out the close action of the accommodation section needed for tool changing, therefore, along with the vibration produced near action can not affect the cutting to workpiece.Therefore, lathe can not occur cut bad.And, parallel carry out the shift action of processing department and this is near action, therefore, with compared with carry out the situation of shift action after action, can tool change time be shortened.
The lathe of technical scheme 2 also comprises: terminate decision maker, whether it terminates to judge to the tool changing undertaken by tool changing portion; Hold decision maker, whether it, after utilization end decision maker is judged to be that the tool changing undertaken by tool changing portion has terminated, is that small-sized cutter judges to the cutter be contained in above-mentioned accommodation section; And the second executed in parallel device, it is when this accommodation decision maker is judged to be that the cutter be contained in above-mentioned accommodation section is small-sized cutter, and the action that executed in parallel accommodation section is left from tool changing portion and moving part are to the action of Working position movement.
After the end decision maker of control part is judged to be the complete tool changing in tool changing portion, hold whether decision maker is that small-sized cutter judges to the cutter be contained in after tool changing in accommodation section.
When the cutter be contained in after tool changing in accommodation section is small-sized cutter, carry out the action to Working position movement of the action left from tool changing portion accommodation section and moving part simultaneously.Therefore, compared with during the action left in front enforcement accommodation section, carry out two actions simultaneously and can shorten tool change time.In addition, compared with when implementing the action left accommodation section after moving to Working position with at moving part, also can not occur to cut bad.
The control method of technical scheme 3 controls with the control method of each action of lower component based on the tool changing order carrying out tool changing: tool changing portion, and it is be contained in the cutter for holding in multiple accommodation sections of cutter for the large-scale cutter that will be arranged in the processing department of processing work or the diameter small-sized cutter changing less than this large-scale cutter; Moving part, it is provided with this tool changing portion and processing department, and this moving part moves between the tool change position carrying out tool changing and the Working position of processing work; And actuator, it is for realizing above-mentioned accommodation section to the close of above-mentioned tool changing portion or above-mentioned accommodation section leaving from above-mentioned tool changing portion, wherein, comprise: next cutter determination step, whether it is that small-sized cutter judges to the cutter that and then will be arranged on after being arranged on the cutter in above-mentioned processing department in above-mentioned processing department; First parallel execution of steps, it is when this next cutter determination step is judged to be that the cutter that will be arranged in above-mentioned processing department is small-sized cutter, and the action of the above-mentioned accommodation section of executed in parallel near above-mentioned tool changing portion and above-mentioned moving part are to the action of above-mentioned tool change position movement; Action determination step, in this first parallel execution of steps, whether complete above-mentioned two actions judge for it; And tool changing performs step, it, when this action determination step is judged to be complete above-mentioned two action, performs the tool changing undertaken by above-mentioned tool changing portion.Therefore, the effect identical with technical scheme 1 is obtained.
The control method of technical scheme 4 also comprises: terminate determination step, whether it terminates to judge to the tool changing undertaken by above-mentioned tool changing portion; Hold determination step, whether it, after the above-mentioned end determination step of execution, is that small-sized cutter judges to the cutter be contained in accommodation section; And second parallel execution of steps, it is when this accommodation determination step is judged to be that the cutter be contained in above-mentioned accommodation section is small-sized cutter, and the action that the above-mentioned accommodation section of executed in parallel is left from above-mentioned tool changing portion and above-mentioned moving part are to the action of above-mentioned Working position movement.Therefore, the effect identical with technical scheme 2 is obtained.
Accompanying drawing explanation
Fig. 1 is the outside drawing that outline represents lathe.
Fig. 2 is the longitudinal section that outline represents the structure near machining shaft.
Fig. 3 is the side view that outline represents tool magazine.
Fig. 4 is the longitudinal section that outline represents tool magazine.
Fig. 5 is the upward view that outline represents tool changing arm.
Fig. 6 is the block diagram of lathe.
Fig. 7 is the figure of the example representing procedure and the tool-information table being stored in Nonvolatile memory devices.
Fig. 8 be illustrate the size of the cutter be arranged on machining shaft and the size of cutter that next will be arranged on machining shaft judged and perform tool changing, the cutter that utilizes control device to carry out judges the flow chart of tool changing process.
Fig. 9 is the flow chart that the first tool changing process performed when to be arranged on the cutter on machining shaft be standard cutter is described.
Figure 10 is the key diagram of the action that the broach shell of the first tool changing process, machining shaft, tool changing arm are described.
Figure 11 is the flow chart that the second tool changing process performed when being arranged on the cutter on machining shaft and being large footpath cutter is described.
Figure 12 is the key diagram of action of the broach shell illustrated in the second tool changing process, machining shaft, tool changing arm.
Detailed description of the invention
The lathe of embodiments of the present invention is described based on accompanying drawing.Lathe comprises base 1, and column 2 stands upright on base 1.Elongated guide rail 4,4 is located on a side of column 2 along the vertical direction, and guide rail 4,4 sky is opened suitable compartment of terrain and is oppositely arranged.Main tapping (moving part) 3 and guide rail 4,4 link, and guide rail 4,4 guides main tapping 3 along the vertical direction.Main tapping 3 carries machining shaft 9 described later.Z axis feeding motor 5 is located at the top of column 2.Feed screw 6 links with the rotating shaft of Z axis feeding motor 5, and extends downwards between guide rail 4,4.Main tapping 3 and feed screw 6 link and utilize rotation (Z-direction) movement along the vertical direction of Z axis feeding motor 5.
Workbench 7 is located on base 1, can direction (X-direction, Y direction) move along the horizontal plane.Work piece configuration on the table 7.Main tapping 3 carries machining shaft motor 8, machining shaft (processing department) 9 and tool magazine 10.Machining shaft 9 utilizes moving up and down of main tapping 3 and moves between tool change position up and the Working position of below (with reference to Fig. 4).Machining shaft 9 is rotated by the driving of machining shaft motor 8.As shown in Figure 2, machining shaft 9 comprises tool mounting portion 11, draw bar 53 and cutter releasing pin 54.Tool mounting portion 11 keeps cutter 24 in the mode can loading and unloading cutter 24.Cutter is removed pin 54 and is linked via draw bar 53 and tool mounting portion 11.As shown in Figure 1, tool changing motor 15 is located on main tapping 3.Tool changing motor 15 is removed pin 54 via cam mechanism and cutter and is linked.Tool changing motor 15 cutter removed pin 54 press down time, cutter 24 departs from from tool mounting portion 11.
As shown in Figure 3, tool magazine 10 comprises circular cutter path 10a.Opening 10b is located at the foot of cutter path 10a.Multiple broach shell 31 is accommodated in cutter path 10a.Each broach shell 31 holds cutter 24 in the mode can loading and unloading cutter 24.Broach shell 31 moves in cutter path 10a based on the driving of tool magazine motor 14.When exchanging the cutter 24 be arranged on machining shaft 9 and the cutter 24 be contained in broach shell 31, the broach shell 31 accommodating the cutter 24 that will exchange moves to opening 10b.
Fig. 4 is the vertical section that outline represents tool magazine 10.Tool magazine 10 comprises the bolster 161 for supporting broach shell 31.Bolster 161 can make broach shell 31 support broach shell 31 rotatably.Locking (latch) mechanism is located in broach shell 31.Retaining mechanism comprises recess 33, Compress Spring 34 and ball 35.Recess 33 is formed at the inner peripheral surface of broach shell 31.Compress Spring 34 is located in recess 33, and exerts a force towards the inner side of broach shell 31 to ball 35.Cutter 24 has blind rivet 121 at base end part.When being firmly pressed in broach shell 31 by cutter 24, blind rivet 121 engages with ball 35.Therefore, broach shell 31 keeps cutter 24.When firmly being extracted from broach shell 31 by cutter 24, ball 35 comes off from blind rivet 121.Therefore, cutter 24 departs from from broach shell 31.Pin 162 is located at the rearward end (right side of Fig. 4) of broach shell 31.Tool magazine 10 comprises sliding part (slider) 164.Sliding part 164 slides along the vertical direction, and have can supply and marketing 162 engage U-shaped groove 163.Top and the bar 171 of sliding part 164 link.Bar 171 is connected with cylinder 170.Cylinder 170 is driven by control signal, and makes bar 171 rise and decline.When broach shell 31 moves to opening 10b, pin 162 engages with U-shaped groove 163.Cylinder 170 is equivalent to actuator.
As shown in the imaginary line of Fig. 4, when bar 171 is risen by the driving of cylinder 170, broach shell 31 turn 90 degrees for the downward sidespin of fulcrum with bolster 161, and cutter 24 downward.The position that cutter 24 becomes the broach shell 31 of state downward to utilize tool changing arm 18 described later to carry out the position of tool changing.When bar 171 is declined by the driving of cylinder 170, broach shell 31 with bolster 161 for fulcrum upwards sidespin turn 90 degrees, cutter 24 becomes towards transverse direction.The position of broach shell 31 is the positions that tool changing arm 18 cannot be utilized to carry out tool changing.Rotating shaft 19 is located on main tapping 3, and side is given prominence to downwards.Rotating shaft 19 is between machining shaft 9 and tool magazine 10.Tool changing arm 18 is located at the bottom of rotating shaft 19.
With reference to Fig. 5, tool changing arm 18 is described.Tool changing arm 18 comprise arm main body 16 and can the mechanical finger of opening and closing to 17,17.Each mechanical finger is located at the both ends of arm main body 16 to 17,17.Mechanical finger is positioned at the position of symmetry relative to the center of arm main body 16 to 17,17, and extends out laterally from arm main body 16.Spring 58,59 is located at mechanical finger to 17,17.Camshaft 51 is located at arm main body 16.Mechanical finger carries out opening and closing to 17,17 by the driving of camshaft 51 and the force of spring 58,59.Rotating shaft 19 and cam mechanism link.Cam mechanism by the converting rotary motion of tool changing motor 15 for moving up and down.Rotating shaft 19 is by driving (axis) movement along the vertical direction of tool changing motor 15.When rotating shaft 19 rises, the revolving force of tool changing motor 15 is passed to camshaft 51, and mechanical finger carries out opening and closing to 17,17.Mechanical finger holds the cutter 24 be arranged on machining shaft 9 or the cutter 24 be contained in broach shell 31 to 17,17.
The cutter 24 be contained in broach shell 31 downward time, cutter 24 is between mechanical finger is to 17,17.Mechanical finger holds cutter 24 to 17,17.At the cutter 24 be contained in broach shell 31 towards time horizontal, cutter 24 is not between mechanical finger is to 17,17, and therefore, mechanical finger cannot hold cutter 24 to 17,17.Rotating shaft 19 declines and arm main body 16 rotates time, exchange be held in mechanical finger to 17,17 the position of cutter 24,24.Then, rotating shaft 19 rises, and cutter 24,24 is contained in broach shell 31 respectively, is arranged on machining shaft 9.Mechanical finger decontrols cutter 24,24 to 17,17.Tool changing motor 15 with specify rotating speed rotate during in, lathe carries out mechanical finger to the on-off action of 17,17, the knee-action of tool changing arm 18 and spinning movement.Tool changing arm 18 moves along the vertical direction (with reference to Fig. 4) based on moving up and down of main shaft 3 together with machining shaft 9.When tool changing arm 18 is positioned at upside together with machining shaft 9, carry out above-mentioned tool changing action.
With reference to Fig. 6, control device 60 is described.Lathe comprises the control device 60 (control part) for controlled working action and tool changing action.Control device 60 comprise CPU61, storing control program ROM 62, for the RAM63 of temporary storage data and Nonvolatile memory devices 64.The control program being stored in ROM 62 reads in RAM63 by CPU61, and performs cutter described later judgement tool changing process, the first tool changing process, the second tool changing process etc.Control device 60 comprises input interface 65 and output interface 66.Nonvolatile memory devices 64 is for storing processing described later/tool changing program, tool-information table etc.Nonvolatile memory devices 64 uses EEPROM, flash memory, EPROM etc.Lathe comprises input unit 50, arm sensor 180, Z axis sensor 90, broach shell decline sensor 31a and broach shell rising sensor 31b.Input unit 50 is made up of keyboard or touch panel etc., for accepting operation.Whether arm sensor 180 pairs of tool changing arms 18 rise to initial point is detected.Whether Z axis sensor 90 pairs of machining shafts 9 rise to the tool change position carrying out tool changing is detected.Broach shell decline sensor 31a detects to the rotation of downside at opening 10b broach shell 31.Broach shell rising sensor 31b detects to the rotation of upside at opening 10b broach shell 31.Input unit 50, arm sensor 180, Z axis sensor 90, broach shell decline sensor 31a and broach shell rising sensor 31b via input interface 65 to control device 60 input signal.Lathe comprises X motor 71, Y motor 72 and display unit 51.Workbench 7 moves along the arrow X-direction of Fig. 1 based on the driving of X motor 71, and the driving based on Y motor 72 is moved along the arrow Y-direction of Fig. 1.Display unit 51 shows various information.Control device 60 exports control signal via output interface 66 to X motor 71, Y motor 72, cylinder 170, display unit 51, Z axis feeding motor 5, machining shaft motor 8, tool magazine motor 14 and tool changing motor 15.Lathe comprises broach shell identification sensor 40.Broach shell identification sensor 40 comprises light-projecting component 41, photo detector 42 and broach shell identification plate 43.Broach shell identification plate 43 between light-projecting component 41 and photo detector 42, and is arranged on tool magazine 10.Broach shell identification plate 43 comprises the transmittance section that one by one can identify each broach shell 31.Transmittance section has the pattern corresponding with each broach shell 31.Broach shell identification plate 43 and multiple broach shell 31 rotate integratedly.Control device 60 inputs light projector signal via output interface 66 to light-projecting component 41.Photo detector 42 receives the light corresponding with each pattern of transmittance section.Photo detector 42 exports by optical signal to input interface 65.CPU61 detects based on being delivered to opening 10b by optical signal to which broach shell 31.When detecting that the broach shell 31 of regulation is delivered to opening 10b, control device 60 stops tool magazine motor 14, and the cutter 24 of regulation is positioned opening 10b.
Procedure shown in the A of Fig. 7 is described.G100 represents tool changing order, and T represents the identiflication number of the cutter 24 that next will be arranged on machining shaft 9.The p of the A of such as Fig. 7 is capable represents that order is tool changing order (G100), and the cutter 24 that next will exchange is No. 6 (T6).R+1 is capable represents that order is processing order (G50), uses No. 2 cutters to process at position Xn, Yn, Zn.Xn, Yn, Zn represent the position of X-direction, Y direction, Z-direction respectively.
Tool-information table shown in the B of Fig. 7 is described.Tool-information table stores identiflication number, dimension information, positional information with corresponding to each other.Identiflication number is the numbering for identifying cutter 24.Dimension information represents that cutter 24 is large footpath cutter or standard cutter.Positional information represents which of each broach shell 31 or machining shaft 9 cutter 24 be positioned on.C PU61 is along with the exchange rewriting tool-information table of cutter 24.The diameter of standard cutter is less than the diameter of large footpath cutter.
Be described by using the process of Fig. 8 ~ Figure 12 to tool changing.The process of Fig. 8 starts when the instruction that next will perform is tool changing instruction to start.When have read the program representing tool changing order (G100), whether CPU61 reference tool information table is that large footpath cutter judges (step S1) to the cutter that next will be arranged on machining shaft 9.When being arranged on the cutter on machining shaft 9 and not being large footpath cutter (step S1: no), CPU61 performs the first tool changing process (step S2) described later.When being arranged on the cutter on machining shaft 9 and being large footpath cutter (step S1: yes), CPU61 performs the second tool changing process (step S3) described later.When being arranged on the cutter on machining shaft 9 and not being large footpath cutter, the broach shell 31 accommodating the standard cutter remembered in tool changing order T is delivered to opening 10b by tool magazine 10 in advance.Now, broach shell 31 is towards horizontal side, and machining shaft 9 is positioned at Working position (A with reference to Figure 10).When CPU61 is to cylinder 170 output drive signal, broach shell 31 sideway swivel downwards.Meanwhile, CPU61 is to Z axis feeding motor 5 output drive signal.Machining shaft 9 moves (step S61) to tool change position.Whether CPU61 rotates to downside to broach shell 31, whether machining shaft 9 is present in tool change position judges (step S62).CPU61 performs above-mentioned judgement by the output of reception broach shell decline sensor 31a, Z axis sensor 90.Broach shell 31 do not rotate not to be present in tool change position to downside or machining shaft 9 time (step S62: no), CPU61 is standby.When broach shell 31 rotates to downside and machining shaft 9 is present in tool change position (B of step S62: be, Figure 10), CPU61 is to tool changing motor 15 output drive signal.The standard cutter be arranged on machining shaft 9 is replaced by the standard cutter (step S63) be contained in broach shell 31 by CPU61.Whether C PU61, by receiving the output of arm sensor 180, terminates to judge (step S64) to tool changing.At the end of tool changing does not have (step S64: no), CPU61 is standby.At the end of tool changing (C of step S64: be, Figure 10), whether CPU61 is that standard cutter judges (step S65) to the cutter be contained in after tool changing in broach shell 31.When the cutter be contained in after tool changing in broach shell 31 is standard cutter (step S65: yes), CPU61 is to cylinder 170 output drive signal.Broach shell 31 upwards sideway swivel.CPU61 is to Z axis feeding motor 5 output drive signal.Machining shaft 9 moves (step S66) to Working position.Carry out the movement (D of Figure 10) to Working position of the action of broach shell 31 and machining shaft 9 simultaneously.The D of Figure 10 represents the state of the broach shell 31 upwards midway of side movement.
When the cutter be contained in after tool changing in broach shell 31 is large footpath cutter (step S65: no), CPU61 is to cylinder 170 output drive signal.Broach shell 31 upwards sideway swivel (step S67).CPU61 by receiving the output of broach shell rising sensor 31b, to broach shell 31 whether upwards sideway swivel roughly 90 degree judge (step S68).Do not rotate to (step S68: no) during upside at broach shell 31, CPU61 is standby.When broach shell 31 upwards spend by sideway swivel roughly 90 (E of step S68: be, Figure 10), CPU61 is to Z axis feeding motor 5 output drive signal.Machining shaft 9 moves (F of step S69, Figure 10) to Working position.The broach shell 31 accommodating large footpath cutter is formerly positioned at upside, and afterwards, machining shaft 9 moves to Working position.Thus tool changing arm 18 can not with the cutter interference of large footpath.In step sl, when being arranged on the cutter on machining shaft 9 and being large footpath cutter, the broach shell 31 accommodating the large footpath cutter remembered in tool changing order T is delivered to opening 10b by tool magazine 10 in advance.Now, broach shell 31 is towards horizontal side, and machining shaft 9 is positioned at Working position (A with reference to Figure 12).CPU61 is to Z axis feeding motor 5 output drive signal, and machining shaft 9 moves (step S71) to tool change position.Whether CPU61 is present in tool change position to machining shaft 9 judges (step S72).When machining shaft 9 is not present in tool change position (step S72: no), CPU61 is standby.When machining shaft 9 is present in tool change position (B of step S 72: be, Figure 12), CPU61 to cylinder 170 output drive signal, therefore, broach shell 31 sideway swivel (step S 73) downwards.Whether CPU61 rotates broach shell 31 judges (step S74) to downside.Do not rotate to (step S74: no) during downside at broach shell 31, CPU61 is standby.Rotate to (C of step S74: be, Figure 12) during downside at broach shell 31, CPU61 is to tool changing motor 15 output drive signal, and therefore, the cutter be arranged on machining shaft 9 carries out exchanging (step S75) with the cutter be contained in broach shell 31.Whether CPU61 terminates to judge (step 76) to tool changing.At the end of tool changing does not have (step S76: no), CPU61 is standby.At the end of tool changing (D of step S76: be, Figure 12), whether CPU61 is that standard cutter judges (step S77) to the cutter be contained in broach shell 31.When to be contained in the cutter in broach shell 31 be standard cutter (step S77: yes), CPU61 makes broach shell 31 upwards sideway swivel to cylinder 170 output drive signal, and to Z axis feeding motor 5 output drive signal, therefore, machining shaft 9 moves (E of step S78, Figure 12) to Working position.CPU61 carries out the movement to Working position of the action of broach shell 31 and machining shaft 9 simultaneously.The E of Figure 12 represents the state of the broach shell 31 upwards midway of side movement.When being contained in the cutter in broach shell 31 and being large footpath cutter (step S77: no), CPU61 is to cylinder 170 output drive signal, and therefore, broach shell 31 upwards sideway swivel roughly 90 spends (step S79).CPU61 by receiving the output of broach shell rising sensor 31b, to broach shell 31 whether upwards sideway swivel roughly 90 degree judge (step S80).Do not rotate to (step S80: no) during upside at broach shell 31, CPU61 is standby.Rotate to (F of step S80: be, Figure 12) during upside at broach shell 31, CPU61 is to Z axis feeding motor 5 output drive signal, and therefore, machining shaft 9 moves (G of step S81, Figure 12) to Working position.
In the lathe and control method of present embodiment, when being arranged on the cutter on machining shaft 9 and the cutter be contained in broach shell 31 and being all standard cutter, executed in parallel broach shell 31 moves to the action of tool change position near the action of tool changing arm 18 and machining shaft 9 (main tapping 3).In the lathe and control method of present embodiment, at the end of the tool changing undertaken by tool changing arm 18, the action that executed in parallel broach shell 31 leaves from tool changing arm 18 and machining shaft 9 (main tapping 3) are to the action of Working position movement.Because standard cutter is small-sized cutter, so can not contact with tool changing arm 18.Thus shortening tool change time.
Tool-information table is stored in Nonvolatile memory devices 64, but also can by arranging rewritable nonvolatile memory in addition and tool-information table being stored in this memory.Also by arranging hard disk, tool-information table can be stored in this hard disk.
The broach shell 31 of present embodiment, when tool changing, turn 90 degrees from the downward sidespin of the state of transverse direction, but angle also can be the angle beyond 90 degree.Horizontal state may not be just laterally and a little obliquely downward or oblique upper.Also all broach shells can be made all downward.Broach shell moves (moving in parallel) the position that can hold cutter to the mechanical finger of tool changing arm when tool changing.
In addition, the step S1 performed by CPU61 is next cutter determination step, and S61 is the first parallel execution of steps, S62 is action determination step, and S63 is that tool changing performs step, and S64 terminates determination step, S65 holds determination step, and S66 is the second parallel execution of steps.
Claims (4)
1. a lathe, it comprises: multiple accommodation section (31), and they are respectively used to hold large-scale cutter or the diameter small-sized cutter less than large-scale cutter; Processing department (9), it carrys out processing work by installing the cutter be contained in this accommodation section; Tool changing portion (18), it is for changing the cutter be arranged in this processing department; Moving part (3), it moves together with this tool changing portion and processing department between the tool change position for carrying out tool changing and the Working position for processing work; Actuator (170), it is for realizing above-mentioned accommodation section to the close of above-mentioned tool changing portion or above-mentioned accommodation section leaving from above-mentioned tool changing portion; Storage part (64), it is for storing the tool changing order carrying out tool changing; Tool-information table, it is for the dimension information of the large-scale or small-sized difference of the expression storing identifying information for identifying cutter and correspond to each other with this identifying information; And control part (60), it is based on this tool-information table and tool changing order, controls the action in above-mentioned moving part, actuator and tool changing portion, and performs the cutter be arranged in processing department and the exchange being contained in the cutter in accommodation section, and the feature of this lathe is,
Above-mentioned control part comprises:
Next cutter decision maker (61), whether it is that small-sized cutter judges to the cutter that and then will be arranged on after being arranged on the cutter in above-mentioned processing department in above-mentioned processing department;
First executed in parallel device (61), it is when utilizing this next cutter decision maker to be judged to be that the cutter that will be arranged in above-mentioned processing department is small-sized cutter, after the process finishing of being undertaken by above-mentioned processing department, the action of the above-mentioned accommodation section of executed in parallel near above-mentioned tool changing portion and above-mentioned moving part are to the action of above-mentioned tool change position movement;
Operation determining device (61), whether it is to having utilized complete above-mentioned two actions of this first executed in parallel device to judge; And
Tool changing actuating unit (61), it is when utilizing this operation determining device to be judged to be that executed completes above-mentioned two action, performs the tool changing undertaken by above-mentioned tool changing portion.
2. lathe according to claim 1, is characterized in that,
Above-mentioned control part also comprises:
Terminate decision maker (61), whether it terminates to judge to the tool changing undertaken by above-mentioned tool changing portion;
Hold decision maker (61), whether it, utilizing this to terminate at the end of decision maker is judged to be the tool changing undertaken by above-mentioned tool changing portion, is that small-sized cutter judges to the cutter be contained in above-mentioned accommodation section; And
Second executed in parallel device (61), it is when this accommodation decision maker is judged to be that the cutter be contained in above-mentioned accommodation section is small-sized cutter, and the action that the above-mentioned accommodation section of executed in parallel is left from above-mentioned tool changing portion and above-mentioned moving part are to the action of above-mentioned Working position movement.
3. a control method, it controls each action with lower component based on the tool changing order carrying out tool changing: tool changing portion (18), and it is for being be contained in the cutter for holding in multiple accommodation sections (31) of cutter by the large-scale cutter be arranged in the processing department of processing work or the diameter small-sized cutter changing less than this large-scale cutter; Moving part (3), it is provided with this tool changing portion and processing department, and moving part (3) moves between the tool change position carrying out tool changing and the Working position of processing work; And actuator (170), it, for realizing above-mentioned accommodation section to the close of above-mentioned tool changing portion or above-mentioned accommodation section leaving from above-mentioned tool changing portion, is characterized in that, comprising:
Next cutter determination step (S1), whether it is that small-sized cutter judges to the cutter that and then will be arranged on after being arranged on the cutter in above-mentioned processing department in above-mentioned processing department;
First parallel execution of steps (S61), it is when this next cutter determination step is judged to be that the cutter that will be arranged in above-mentioned processing department is small-sized cutter, after the process finishing of being undertaken by above-mentioned processing department, the action of the above-mentioned accommodation section of executed in parallel near above-mentioned tool changing portion and above-mentioned moving part are to the action of above-mentioned tool change position movement;
Action determination step (S62), it judges in this first parallel execution of steps, whether executed completes above-mentioned two actions; And
Tool changing performs step (S63), and it, when this action determination step is judged to be that executed completes above-mentioned two action, performs the tool changing undertaken by above-mentioned tool changing portion.
4. control method according to claim 3, is characterized in that, also comprises:
Terminate determination step (S64), whether it terminates to judge to the tool changing undertaken by above-mentioned tool changing portion;
Hold determination step (S65), whether it, after the above-mentioned end determination step of execution, is that small-sized cutter judges to the cutter be contained in accommodation section; And
Second parallel execution of steps (S66), it is when this accommodation determination step is judged to be that the cutter be contained in above-mentioned accommodation section is small-sized cutter, and the action that the above-mentioned accommodation section of executed in parallel is left from above-mentioned tool changing portion and above-mentioned moving part are to the action of above-mentioned Working position movement.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011-070935 | 2011-03-28 | ||
| JP2011070935A JP2012200855A (en) | 2011-03-28 | 2011-03-28 | Machine tool, and control method |
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| Publication Number | Publication Date |
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| CN102717286A CN102717286A (en) | 2012-10-10 |
| CN102717286B true CN102717286B (en) | 2015-01-21 |
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| JP (1) | JP2012200855A (en) |
| KR (1) | KR101387869B1 (en) |
| CN (1) | CN102717286B (en) |
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| JP5994681B2 (en) * | 2013-02-27 | 2016-09-21 | ブラザー工業株式会社 | Machine tool and tool change method |
| DE102013012446A1 (en) * | 2013-07-26 | 2015-01-29 | Kuka Laboratories Gmbh | Method for monitoring a payload-carrying robot arrangement |
| CN103419054A (en) * | 2013-08-01 | 2013-12-04 | 纽威数控装备（苏州）有限公司 | Method for one-key recovery of horizontally-moving hydraulic tool changer and tool arms |
| JP5667254B1 (en) * | 2013-08-02 | 2015-02-12 | キタムラ機械株式会社 | Automatic tool storage mechanism |
| KR101663677B1 (en) * | 2015-04-08 | 2016-10-07 | 문현주 | Machining apparatus having a function of automatic tool setting and alignment and a method thereof |
| CN106802633A (en) * | 2015-11-26 | 2017-06-06 | 珠海市研泰电子科技有限公司 | A kind of complex milling machine tool digital control system |
| CN113021044A (en) * | 2020-12-31 | 2021-06-25 | 江苏德杰机械设备有限公司 | Angle adjusting device of tool magazine tool changing mechanism |
| CN114367851A (en) * | 2022-02-16 | 2022-04-19 | 深圳领威科技有限公司 | Tool changing method and device and machining center |
| CN114670047A (en) * | 2022-05-30 | 2022-06-28 | 苏州珈玛自动化科技有限公司 | Tool magazine for vertical comprehensive machining center and machining center |
| CN115179081A (en) * | 2022-08-08 | 2022-10-14 | 乔治费歇尔机床(常州)有限公司 | Device for reading and identifying cutter information and automatically correcting and self-locking cutter |
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- 2011-03-28 JP JP2011070935A patent/JP2012200855A/en not_active Withdrawn
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| CN1038237A (en) * | 1987-12-05 | 1989-12-27 | 嵊县崇仁镇第二建筑材料厂 | Manufacturing process of microporous light hollow brick |
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| JPH11114757A (en) * | 1997-10-16 | 1999-04-27 | Brother Ind Ltd | Method for controlling tool change |
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Also Published As
| Publication number | Publication date |
|---|---|
| KR20120110055A (en) | 2012-10-09 |
| KR101387869B1 (en) | 2014-04-22 |
| CN102717286A (en) | 2012-10-10 |
| JP2012200855A (en) | 2012-10-22 |
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